阅读说明：本技术 辊道运输厚钢板自动定位纠偏方法 (Automatic positioning and deviation rectifying method for thick steel plate conveyed by roller way ) 是由 陈功 陈国锋 黄枭雄 刘燕恒 谢志才 李道圆 于 2020-03-30 设计创作，主要内容包括：本发明公开了一种辊道运输厚钢板自动定位纠偏方法,包括如下步骤：S1、利用辊道组速度和预设速度修正系数值转化为钢板速度,得到钢板计算位置；S2、获得的钢板实际位置；S3、对比钢板计算位置和钢板实际位置之间的偏差,当偏差小于预设阀值时,则认为当前速度修正系数值合适并保存,当偏差大于预设阀值时,根据偏差值调整更新速度修正系数值并保存；S4、执行步骤S1至步骤S3对该辊道组运输的下一块钢板进行位置计算；S5、循环执行步骤S4,进行速度修正系数值的迭代学习,直至偏差小于预设阀值。本发明在不新增额外的位置检测传感器的前提下,可消除通过辊道速度间接转换钢板速度所产生的钢板定位误差,提高辊道运输方式的钢板定位精度。(The invention discloses an automatic positioning and deviation rectifying method for thick steel plates conveyed by a roller way, which comprises the following steps: s1, converting the speed of the roller way group and a preset speed correction coefficient value into the speed of the steel plate to obtain a calculated position of the steel plate; s2, obtaining the actual position of the steel plate; s3, comparing the deviation between the calculated position of the steel plate and the actual position of the steel plate, when the deviation is smaller than a preset threshold value, considering that the current speed correction coefficient value is appropriate and storing, and when the deviation is larger than the preset threshold value, adjusting and updating the speed correction coefficient value according to the deviation value and storing; s4, executing the steps S1 to S3 to calculate the position of the next steel plate transported by the roller way group; and S5, circularly executing the step S4, and carrying out iterative learning on the speed correction coefficient value until the deviation is smaller than a preset threshold value. According to the invention, on the premise of not adding an additional position detection sensor, the steel plate positioning error generated by indirectly converting the steel plate speed through the roller way speed can be eliminated, and the steel plate positioning precision of the roller way transportation mode is improved.)

1. An automatic positioning and deviation rectifying method for thick steel plates conveyed by a roller way is characterized by comprising the following steps:

s1, collecting the speed of the roller way group, converting the speed of the roller way group and a preset speed correction coefficient value into the speed of the steel plate after the steel plate enters the roller way group, and performing integral calculation on the speed of the steel plate to obtain the calculation position of the steel plate;

s2, when the steel plate triggers a position detection sensor arranged on the roller way group, acquiring the actual position of the steel plate at the moment;

s3, comparing the deviation between the steel plate calculation position and the actual steel plate position at the moment, when the deviation is smaller than a preset threshold value, considering that the current speed correction coefficient value is appropriate and stored, taking the steel plate calculation position as a steel plate positioning position, and when the deviation is larger than the preset threshold value, adjusting and updating the speed correction coefficient value according to the deviation value and storing the speed correction coefficient value;

s4, executing the steps S1 to S3 to calculate the position of the next steel plate transported by the roller way group, and replacing the speed correction coefficient value preset in the step S1 with the speed correction coefficient value stored in the step S3 during calculation to obtain the steel plate positioning position of the next steel plate;

and S5, circularly executing the step S4, and carrying out iterative learning on the speed correction coefficient value until the deviation is smaller than a preset threshold value.

2. The automatic positioning and deviation rectifying method for thick steel plates transported by a roller way according to claim 1, wherein in step S1, the calculation formula of the steel plate speed is as follows:

Speed_plate＝λ*Speed_Roll

in the formula, Speed_plateSpeed of the steel plate_RollThe speed of the roller way group where the steel plate is located is shown as lambda, and the value of the speed correction coefficient is shown as lambda.

3. The automatic positioning and deviation rectifying method for thick steel plates transported by roller ways according to claim 2, wherein in step S3, the calculation formula of the deviation between the current steel plate calculation position and the current speed correction coefficient value is:

|Pos.mea-Pos.grat|≤

where pos.mea is the calculated position of the steel plate, pos.grat is the actual position of the steel plate, and is a preset threshold.

4. The automatic positioning and deviation rectifying method for thick steel plates transported by roller ways according to claim 3, wherein in step S5, the iterative learning rate calculation formula of the speed correction coefficient value is:

λ_i+1＝λ_i+η_i·d_i

wherein, η_iFor the direction of iteration, 1 means λ increases, -1 means λ decreases; d_iIs the step size of the iteration.

5. The automatic positioning and deviation rectifying method for thick steel plates transported by a roller way according to claim 4, wherein in step S5, the step length of iteration is a constant obtained according to the position accuracy and the field experience, and the specific selection strategy is as shown in the following table:

TABLE 1 iterative selection strategy

6. The method for automatically positioning and correcting the deviation of a thick steel plate transported by a roller way according to any one of claims 1 to 5, wherein in step S3, when the deviation is greater than a preset reasonable deviation value, the error signal of the position detection sensor is considered, and the value of the speed correction coefficient is not updated.

Technical Field

The invention belongs to the technical field of steel plate positioning and tracking, and particularly relates to an automatic steel plate positioning and correcting method in a full-line roller way transportation mode of a thick plate.

Background

The steel plate positioning and tracking technology is a technology for tracking the position of a steel plate in real time during steel plate logistics transportation, plays a crucial role in basic automation (L1 level) control of a steel mill, and sets and executes actions of equipment on a production line according to steel plate position information.

The steel plate positioning in the thick plate factory mainly refers to tracking and positioning in a roller way transportation mode. The general method for tracking and positioning converts the speed of a roller way into the speed of a steel plate to be integrated, and then corrects the speed by position detection sensors such as a grating and the like to obtain the real-time position of the steel plate, and comprises the following specific steps of:

step 1: and measuring the positions of the equipment, the roller way group and the position detection sensor according to the actual production line.

Step 2: and collecting the speeds of all groups of roller ways on the production line, converting the speeds into the speeds of the steel plates, integrating and calculating the positions of the steel plates, and triggering speed integration to start calculating the positions of the steel plates after the steel plates enter the production line.

Step 3: when the position detection sensor is triggered by the steel plate real object, the position of the position detection sensor in Step1 is corrected, the position of the position detection sensor is substituted for the position of the steel plate calculated through integral calculation at the moment, and then the position of the steel plate is continuously calculated according to the speed integral by the corrected position.

Step 4: the steel plates are transported in the production line, and the steps 2 and 3 are repeated until the steel plates are separated.

Theoretically, the position of the steel plate is accurate without error at the moment the correction signal is triggered, as long as the immediacy of the corrected position detection sensor signal and the accuracy of the physical position are guaranteed. The interval affecting the position accuracy of the steel plate should be a position interval between the two position detection sensors, which is calculated by simply relying on velocity integration. The real-time speed of the steel plate is obtained by the indirect conversion of the speed of the roller way, and then the accuracy of the real-time speed of the steel plate is the maximum interference item influencing the positioning precision of the steel plate by considering the external interference factors such as the speed change, the connection, the slippage and the like of the roller way group. In addition, in the process of roller way transportation of the steel plate, a part of area is a water cooling area of the steel plate, and due to the interference of water mist during cooling, conventional position detection sensors such as a grating and a thermal detector are difficult to install in the area for position correction, so that the accurate positioning of the steel plate is more difficult to realize.

In the literature, "research and application of a method for tracking a steel plate on a constant-speed roller bed" (2012-09-01, the 2012 st conference of the metallurgy conference of the china institute of metrology and technology and the proceedings of the seventeenth society of automation and application technology), a cold metal detector is used for measuring and calculating slip displacement to eliminate position deviation caused by inconsistency between the speed of the roller bed and the speed of the steel plate, so that not only is the calculation complicated, but also the influence of the material of the surface of the steel plate and the weight of the steel plate on the friction force needs to be considered, and the method is only limited to the field of the constant-speed roller.

In the document "development and application of control function of a wide and thick plate tracking system" (11 th year in 2014 by electronic manufacturing), manual intervention of position information of a steel plate by an operator is proposed to correct the position information, so that dependence on experience of people and labor cost are increased, and the stability of the tracking system is greatly influenced by subjective differences of different people.

Therefore, how to find a method or means suitable for most cases to eliminate the steel plate positioning error generated by indirectly converting the steel plate speed through the roller way speed on the premise of fully considering the cost (without additionally arranging a position detection sensor) is an urgent technical problem to be solved by technical personnel in the field.

The above discussion is intended to introduce the reader to various aspects of art that may be related to various aspects of the present invention, which are described and/or claimed below, and is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present invention, and is therefore to be understood in this light, and not as an admission of prior art.

Disclosure of Invention

In order to solve the technical problems, the invention provides an automatic positioning and deviation rectifying method for thick steel plates conveyed by a roller way.

The purpose of the invention is realized by the following technical scheme: the method for automatically positioning and rectifying the thick steel plate in the roller way transportation comprises the following steps: s1, collecting the speed of the roller way group, converting the speed of the roller way group and a preset speed correction coefficient value into the speed of the steel plate after the steel plate enters the roller way group, and performing integral calculation on the speed of the steel plate to obtain the calculation position of the steel plate; s2, when the steel plate triggers a position detection sensor arranged on the roller way group, acquiring the actual position of the steel plate at the moment; s3, comparing the deviation between the steel plate calculation position and the actual steel plate position at the moment, when the deviation is smaller than a preset threshold value, considering that the current speed correction coefficient value is appropriate and stored, taking the steel plate calculation position as a steel plate positioning position, and when the deviation is larger than the preset threshold value, adjusting and updating the speed correction coefficient value according to the deviation value and storing the speed correction coefficient value; s4, executing the steps S1 to S3 to calculate the position of the next steel plate transported by the roller way group, and replacing the speed correction coefficient value preset in the step S1 with the speed correction coefficient value stored in the step S3 during calculation to obtain the steel plate positioning position of the next steel plate; and S5, circularly executing the step S4, and carrying out iterative learning on the speed correction coefficient value until the deviation is smaller than a preset threshold value.

As a further improvement, in step S1, the calculation formula of the steel plate speed is:

Speed_plate＝λ*Speed_Roll

in the formula, Speed_plateSpeed of the steel plate_RollThe speed of the roller way group where the steel plate is located is shown as lambda, and the value of the speed correction coefficient is shown as lambda.

As a further improvement, in step S3, the calculation formula of the deviation between the current steel plate calculation position and the current speed correction coefficient value is:

|Pos.mea-Pos.grat|≤

where pos.mea is the calculated position of the steel plate, pos.grat is the actual position of the steel plate, and is a preset threshold.

As a further improvement, in step S5, the iterative learning rate calculation formula of the velocity correction coefficient value is:

λ_i+1＝λ_i+η_i·d_i

wherein, η_iFor the direction of iteration, 1 means λ increases, -1 means λ decreases; d_iIs the step size of the iteration.

As a further improvement, in step S5, the step size of the iteration is a constant obtained from the position accuracy and the field experience, and the specific selection strategy is shown in the following table:

TABLE 1 iterative selection strategy

As a further modification, in step S3, when the deviation is larger than the preset reasonable deviation value, the position detection sensor false signal is considered, and the update speed correction coefficient value is not corrected.

The invention provides an automatic positioning and deviation rectifying method for a thick steel plate transported by a roller way, which comprises the following steps: s1, collecting the speed of the roller way group, converting the speed of the roller way group and a preset speed correction coefficient value into the speed of the steel plate after the steel plate enters the roller way group, and performing integral calculation on the speed of the steel plate to obtain the calculation position of the steel plate; s2, when the steel plate triggers a position detection sensor arranged on the roller way group, acquiring the actual position of the steel plate at the moment; s3, comparing the deviation between the steel plate calculation position and the actual steel plate position at the moment, when the deviation is smaller than a preset threshold value, considering that the current speed correction coefficient value is appropriate and stored, taking the steel plate calculation position as a steel plate positioning position, and when the deviation is larger than the preset threshold value, adjusting and updating the speed correction coefficient value according to the deviation value and storing the speed correction coefficient value; s4, executing the steps S1 to S3 to calculate the position of the next steel plate transported by the roller way group, and replacing the speed correction coefficient value preset in the step S1 with the speed correction coefficient value stored in the step S3 during calculation to obtain the steel plate positioning position of the next steel plate; and S5, circularly executing the step S4, and carrying out iterative learning on the speed correction coefficient value until the deviation is smaller than a preset threshold value. The invention introduces a variable parameter of a speed correction coefficient value on the basis of a steel plate positioning technology in the related technology, corrects the real-time speed of the steel plate to describe the trend change, and corrects the speed of the steel plate by continuously verifying the tracking effect of each steel plate in the background through an iterative self-learning method, thereby improving the controllability of the positioning and tracking precision of the steel plate. According to the invention, on the premise of not adding an additional position detection sensor, the steel plate positioning error generated by indirectly converting the steel plate speed through the roller way speed can be eliminated, and the steel plate positioning precision of the roller way transportation mode is improved.

Drawings

The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.

FIG. 1 is a flow chart of the automatic positioning and deviation rectifying method for thick steel plates transported by a roller way.

Fig. 2 is a timing flow chart of the automatic positioning and deviation rectifying method for the thick steel plate transported by the roller way.

FIG. 3 is a diagram illustrating the effect of the application verification of the present invention.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings and specific embodiments, and it is to be noted that the embodiments and features of the embodiments of the present application can be combined with each other without conflict.

The core of the invention is to provide an automatic positioning and deviation rectifying method for thick steel plates transported by a roller way, which is based on that although external interference factors such as speed change, connection, slipping and the like of a roller way group are random, the external interference factors are generally chronic and trend changes (such as most intuitive roller way abrasion and slipping, which can not be caused in a short time and often needs a degradation process). Therefore, on the basis of a steel plate positioning technology in the related technology, the invention introduces a variable parameter of a speed correction coefficient value, corrects the real-time speed of the steel plate to describe the trend change, and introduces an iterative learning control strategy to modify the speed correction coefficient value. The steel plate speed is corrected through verification of tracking effect of each steel plate without interruption in the background. The iterative learning control strategy is that the speed correction coefficient value is modified through the deviation between the actual position of the steel plate and the calculated position of the steel plate, the deviation is automatically and uninterruptedly verified in the background, and the speed correction coefficient value is modified, wherein the termination condition of the iterative learning is whether the deviation between the actual position of the steel plate and the calculated position is smaller than the maximum threshold value. According to the invention, on the premise of not adding an additional position detection sensor, the steel plate positioning error generated by indirectly converting the steel plate speed through the roller way speed can be eliminated, and the steel plate positioning precision of the roller way transportation mode is improved.

Referring to fig. 1, an embodiment of the present invention provides an automatic positioning and deviation rectifying method for thick steel plates transported by a roller way, including the following steps:

s1, collecting the speed of the roller way group, converting the speed of the roller way group and a preset speed correction coefficient value into the speed of the steel plate after the steel plate enters the roller way group, and performing integral calculation on the speed of the steel plate to obtain the calculation position of the steel plate;

s2, when the steel plate triggers a position detection sensor arranged on the roller way group, acquiring the actual position of the steel plate at the moment;

s3, comparing the deviation between the steel plate calculation position and the actual steel plate position at the moment, when the deviation is smaller than a preset threshold value, considering that the current speed correction coefficient value is appropriate and stored, taking the steel plate calculation position as a steel plate positioning position, and when the deviation is larger than the preset threshold value, adjusting and updating the speed correction coefficient value according to the deviation value and storing the speed correction coefficient value;

s4, executing the steps S1 to S3 to calculate the position of the next steel plate transported by the roller way group, and replacing the speed correction coefficient value preset in the step S1 with the speed correction coefficient value stored in the step S3 during calculation to obtain the steel plate positioning position of the next steel plate;

s5, executing step S4 in a loop, and performing speed correction coefficient valueUntil the deviation is smaller than the preset threshold value. The iterative learning control strategy is to modify the speed correction coefficient value through the deviation of the actual position of the steel plate and the calculated position of the steel plate, and automatically and uninterruptedly verify the deviation in the background and modify the speed correction coefficient value. The termination condition of the iterative learning is whether the deviation between the actual position and the calculated position of the steel plate is less than a maximum threshold value. The tracking calculation of such a steel plate is a learning process of the Speed correction coefficient value lambda, which does not directly act on the current steel plate, but by correcting the steel plate Speed_plateAffecting the tracking effect of the next steel plate.

In a more preferred embodiment, in step S1, the steel sheet speed is calculated by the following equation:

Speed_plate＝λ*Speed_Roll

in the formula, Speed_plateSpeed of the steel plate_RollThe speed of the roller way group where the steel plate is located is shown as lambda, and the value of the speed correction coefficient is shown as lambda.

In a further preferred embodiment, in step S3, the calculation formula of the deviation between the current steel plate calculation position and the current speed correction coefficient value is:

|Pos.mea-Pos.grat|≤

where pos.mea is the calculated position of the steel plate, pos.grat is the actual position of the steel plate detected by the position detection sensor, and is a preset threshold, which is 200mm in this embodiment. When the deviation between the two is larger than the threshold value, the velocity correction coefficient value lambda needs to be recalculated through iterative learning until the deviation is smaller than the threshold value, and the velocity correction coefficient value lambda at the moment is considered to be appropriate and can be directly applied to the tracking calculation of the next steel plate without modification.

In a more preferred embodiment, in step S5, the iterative learning rate calculation formula for the velocity correction coefficient value is:

λ_i+1＝λ_i+η_i·d_i

wherein, η_iFor the direction of iteration, 1 means λ increases, -1 means λ decreases; d_iIs iterativeStep size.

As a further preferred embodiment, in step S5, the step size of the iteration is a constant obtained from the position accuracy and the field experience, and the specific selection strategy is shown in the following table:

as a further preferred embodiment, in step S3, when the deviation is larger than the preset reasonable deviation value (the reasonable deviation value is defined on site, and is generally 2m to 5m), it is considered that the position detection sensor has a false signal, and the update speed correction coefficient value is not corrected. This can avoid an operation error due to a failure of the position detection sensor.

The automatic positioning and deviation rectifying method for the thick steel plate transported by the roller way, provided by the embodiment of the invention, is used for continuously correcting the speed of the steel plate by verifying the tracking effect of each steel plate in the background through a self-learning method, and is not directly applied to the tracking calculation of the current steel plate and is applied to the positioning and tracking of the next steel plate. Through verification, the effect is good under the condition of the slow time-varying interference (such as abrasion and slippage of a roller way, measurement error of a roller way speed encoder and the like). The method of use for certain steel plant applications will now be described.

The general steel plate tracking technology in the related technology is combined with the automatic positioning and deviation rectifying method for the thick steel plate transported by the roller way, the method is mainly divided into three parts, and the flow chart of interaction and the total time sequence of the three parts is shown in figure 2:

1. and (4) calculating the position integral of the steel plate, wherein the position integral is calculated by integrating the real-time speed of the steel plate. When the position detection sensor position correction section transmits the position correction signal, the steel plate position at that time is replaced with the position at which the position detection sensor is triggered, and then the integration calculation of the steel plate position is continued.

2. The sensor position correction, when the part receives the hardware input signal of the position detection sensor, the deviation between the current calculated steel plate position and the position detection sensor position of the trigger signal is compared, if the deviation is too large (the deviation threshold is defined on site and is generally 2 m-5 m), the position detection sensor error signal is defaulted, and no correction is carried out; if the deviation is reasonable, a correction signal is sent to the steel plate position integral calculation part to request the steel plate position correction.

3. And calculating the speed of the steel plate, namely judging which groups of roller ways the steel plate is on by the real-time calculation position of the steel plate and the positions of all roller way groups input into a program, taking the average value of the speeds of the plurality of groups of roller ways as the speed of the steel plate at the time, multiplying the speed by a speed correction coefficient value of an automatic steel plate deviation correction method to obtain the speed of the steel plate at the time, and sending the speed of the steel plate to a position integral calculation part.

Examples of applications using this method are as follows:

the following of the cooling part area after rolling in a thick plate factory is taken as an example. This area is a steel plate water cooling area, and it is difficult to install a conventional position detection sensor such as a grating or a thermal detector in the area for position correction due to interference of water mist during cooling, and the tracking accuracy of the area on the steel plate is required to be high (it is required to be controlled within 200mm), so the tracking in this area is selected as an example.

And verifying the steel plate tracking effect between the two gratings before entering the area and after leaving the area. The grating (position detection sensor) before entering the area will, as described above, function to correct the position of the steel plate, ensuring that the tracking error is 0 at the time when the steel plate enters the area. The grating leaving the area plays a role in verifying the effect, and because no other position detection sensor in the two gratings can correct the position of the steel plate, the effect of the embodiment can be verified only by comparing the deviation between the calculated position and the actual position of the steel plate when the grating is triggered.

The samples of 20 steel plates in a certain time period are randomly extracted, the tracking precision is shown in fig. 3, when the lambda coefficient is 0.994, the deviation of one steel plate is-0.25 m, the self-learning mechanism of the speed and speed correction coefficient value lambda is triggered, the lambda coefficient is increased by 0.002 towards the positive direction, the modified lambda coefficient is 0.996, the tracking effect of the steel plates after being viewed again, the maximum deviation is-0.18 m, the average deviation is 0.07m, the threshold is not triggered again, therefore, the lambda coefficient is always 0.996, and the tracking effect is optimized.

In the description above, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore should not be construed as limiting the scope of the present invention.

In conclusion, although the present invention has been described with reference to the preferred embodiments, it should be noted that, although various changes and modifications may be made by those skilled in the art, they should be included in the scope of the present invention unless they depart from the scope of the present invention.