非方板形控制系统解耦及内模控制与应用  

Decoupling and internal model control of non-square flatness control system and their applications

作　　者：宋明明 刘宏民 王东城 徐辉[2] 刘晓立[2] SONG Ming-ming;LIU Hong-min;WANG Dong-cheng;XU Hui;LIU Xiao-li(National Engineering Research Center for Equipment and Technology of Cold Rolling Strip,Yanshan University,Qinhuangdao 066004,Hebei,China;College of Mechanical and Equipment Engineering,Hebei University of Engineering,Handan 056001,Hebei,China)

机构地区：[1]燕山大学国家冷轧板带装备及工艺工程技术研究中心,河北秦皇岛066004 [2]河北工程大学机械与设备工程学院,河北邯郸056001

出　　处：《钢铁》2023年第5期92-103,共12页Iron and Steel

基　　金：国家自然科学基金区域创新发展联合基金重点资助项目(U21A20118);河北省自然科学基金资助项目(E2016203482)。

摘　　要：为研发某厂正在使用未配备板形闭环自动控制的1420 mm六辊UCM冷轧机的板形控制系统,以分量板形解耦控制为基础,以Labview为开发环境,实现轧机的板形自动控制。通过板形调节的计算分析,认识到轧辊倾斜、工作辊非对称弯辊可有效调节1次和3次板形分量,工作辊对称弯辊、中间辊对称弯辊、中间辊窜辊可有效调节2次和4次板形分量,难以调节6次板形分量,从而将板形控制系统确定为一个5输入4输出的非方控制系统,非方控制系统解耦过程中会出现不稳定极点,对此,提出了分解不稳定极点的解耦方法,解决了非方板形控制系统解耦的不稳定问题。并应用非方相对增益理论,将5输入4输出的非方控制系统分解为一个2输入2输出的方形系统和一个3输入2输出的非方系统,简化了板形控制系统的结构。由于板形仪的安装位置与辊缝有一定的距离,使板形控制系统存在时间滞后问题,加大了控制器的设计难度。对此将内模控制与Smith预估控制相结合,提出板形IMC-Smith控制模型,简化了控制器设计,解决了控制系统的时间滞后问题,实现了非方板形控制系统的工程应用。工业应用表明,该系统性能可靠,适应现场在线轧制要求,轧后板形满足后续工艺需求,板形控制效果较人工显著提高。In order to develop the flatness control system of 1420 mm six high UCM cold rolling mill which is not equipped with flatness closed-loop automatic control,a flatness automatic control system is built based on component flatness decoupling control with the development environment of Labview,and the flatness automatic control of the rolling mill is realized.Through the calculation and analysis of flatness adjustment,recognized that the roll tilting,and the non-symmetric work roll bending can effectively adjust the primary and cubic flatness components,the symmetric work roll bending,the symmetric intermediate roll bending and the intermediate roll shifting can effectively adjust the quadratic and quartic flatness components,and it is difficult to adjust the sixtic flatness components,so that the flatness control system can be determined to be a non-square control system with five inputs and four outputs,and unstable poles will appear in the process of non-square control system decoupling.A decoupling method is proposed to decompose unstable poles,which solves the unstable problem of non-square flatness control system decoupling.Using the non-square relative gain theory,the five inputs four outputs non-square control system is decomposed into a two inputs two outputs square system and a three inputs two outputs non-square system,simplifying the structure of the flatness control system.Because the installation position of the shape meter is a certain distance from the roll gap,the flatness control system has the problem of time delay,which increases the difficulty of controller design.Based on the combination of internal model control and Smith predictive control,a flatness IMC-Smith control model is proposed,which simplifies the controller design,solves the problem of the time delay of control system,and realizes the engineering application of non-square flatness control system.The industrial application shows that the system has reliable performance and can meet the requirements of on-site online rolling.The flatn

关 键 词：板形控制 非方板形控制系统 非方相对增益矩阵 广义逆矩阵解耦 IMC-Smith模型 

分 类 号：TG333[金属学及工艺—金属压力加工]