CN101168173A - Device and method for controlling winding temperature - Google Patents

Device and method for controlling winding temperature Download PDF

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Publication number
CN101168173A
CN101168173A CNA2007100073905A CN200710007390A CN101168173A CN 101168173 A CN101168173 A CN 101168173A CN A2007100073905 A CNA2007100073905 A CN A2007100073905A CN 200710007390 A CN200710007390 A CN 200710007390A CN 101168173 A CN101168173 A CN 101168173A
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temperature
steel plate
control
water tank
cooling
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CNA2007100073905A
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CN101168173B (en
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鹿山昌宏
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Hitachi Ltd
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Hitachi Ltd
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Priority claimed from JP2006002615A external-priority patent/JP4340659B2/en
Priority claimed from JP2006066879A external-priority patent/JP4605054B2/en
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Abstract

To control the winding temperature of a steel sheet rolled with a hot rolling mill, by performing simple and highly accurate cooling control.After giving a priority order to cooling headers (160) of a cooling device (153), the opening/closing patterns of the cooling headers are formulated with controlling codes, which have a relation of a monotonous function with the winding temperatures. Paying attention to the length of a steel sheet (151), a preset controlling means (111) decides a controlling code with a preset by a linear optimization method. Further, a final controlling code is calculated by smoothing that pays attention to dispersion in opening/closing of the cooling headers. The final controlling code is converted into a header pattern to make a preset command.

Description

Coiling temperature control device and control method
The application divides an application, the application number of its female case application: 200610142441.0, and the applying date: 2006.10.26, denomination of invention: coiling temperature control device and control method
Technical field
The present invention relates to the coiling temperature control device and the control method of hot rolling line, particularly be suitable for making coiling temperature coiling temperature control device consistent and control method with target temperature by simple calculating.
Background technology
As the temperature controlled method of reeling, the spy open in the flat 8-66713 communique describe corresponding with the velocity mode of the rolling stock of obtaining in advance, according to the information of rolling stock, the method for setting refrigerating mode.
Open the velocity mode of the rolling stock that description obtains before beginning according to cooling in advance in the flat 8-66713 communique and the information of rolling stock the spy, the coiling temperature of prediction rolling stock according to the result, is set refrigerating mode.
It is corresponding with the rolling stock cooling device for example to open in the 2000-167615 communique record the spy, cuts apart at length direction, and it as material cooled unit, to the constituent parts predicted temperature, is made the predicted temperature coiling temperature-controlled process consistent with target temperature.In addition, expression obtains the side variations in temperature that enters of the variations in temperature of rolling stock and transport platform, determines cooling water inflow in real time, according to it, and operated valve, thus can reduce the coiling temperature control device of the influence of external interference.
In addition, when the spy opens the speed change that is illustrated in steel plate in the flat 8-252625 communique,, calculate the control method of setting water volume in water tank with changing the Simple Calculation that preceding water injection rate multiply by the rate of acceleration or the rate of deceleration.
In addition, open shown in the flat 7-32024 communique, rolling stock is cut apart at length direction as the spy, can reflect learning outcome by each section setting based on the actual learning coefficient of control, calculate the temperature slippage of rolling stock, cool off control, make the temperature slippage become target temperature.
, in these gimmicks, do not consider high efficiency selected appropriate mode from the refrigerating mode that becomes huge combination, so there is the problem of decision needs a lot of computing times of refrigerating mode.In addition, focus on for the control of coiling temperature, the optimized operation of valve, so the problem that exists certain valve to repeat to open and close by time series.
Generally, the plate of rolling stock is low speed when going out milling train by speed, after downcoiler is reeled beginning, becomes rapidly at a high speed, by before the milling train, becomes low speed at coiled material once again.Open in the flat 8-66713 communique the spy, can carry out good control in the certain constant portion of speed, but transition state portion in velocity variations, velocity mode and coiling temperature model are directly not corresponding, so corresponding with velocity mode, in the gimmick of change refrigerating mode, there is the problem of the temperature controlled precise decreasing of reeling.
In addition, open in the control method of putting down in writing in the 2000-167615 communique the spy, the unit of cutting apart that is rolled the temperature prediction of material exists with ... device size, compares so exist with necessary value on the precision, cuts apart coarse problem.
Open in the flat 8-252625 communique the spy,, recomputate water volume in water tank by for velocity variations, can tackle, but the steel billet temperature before the expression cooling with preset calculating in the value of reordering different, or how coiling temperature pair and target temperature change water volume in water tank when having deviation.In the cooling control, be necessary to tackle simultaneously them, but do not represent easy gimmick of carrying out it.
In addition, open in the technology of representing in the flat 8-66713 communique, if predicting the outcome of the temperature of rolling stock is inappropriate, with regard to the problem that exists control accuracy significantly to worsen the spy.In addition, open in the technology shown in the flat 7-32024 communique the spy, about the multistage of cutting apart at the rolling stock length direction, give learning coefficient respectively, so because the real data external interference and the uncertain influence that comprise, might give the coefficient that meets before and after corresponding with rolling position and control situation, humidity province the making.
Summary of the invention
The present invention solves described problem at least, provides from the refrigerating mode that becomes huge combination high efficiency selected to be suitable for gimmick with the refrigerating mode of high accuracy control coiling temperature, reduces the computing time that is used to calculate refrigerating mode.In addition, generate the refrigerating mode that valve repeats to open and close not according to time series.
In addition, even the various variations that control environment that exist in the cooling control (deviation of steel plate speed and the value that temperature is supposed in presetting calculating before the cooling that goes out the steel plate that milling train one side measures, coiling temperature are from the deviation of desired value) are provided, also can efficiently from the refrigerating mode that becomes huge combination, select to be suitable for controlling the gimmick of the refrigerating mode of coiling temperature, reduce the computing time that is used to calculate refrigerating mode with high accuracy.
In addition, even the temperature prediction model of rolling stock descends in the degree of the actual cooling phenomenon of simulation, the control decrease of temperature is minimized.
In order to solve described problem, the present invention is a kind of coiling temperature control device, with the cooling device of the side setting of coming out of hot-rolling mill will by hot-rolling mill rolling steel plate cool off, the temperature of the steel plate before will being reeled by downcoiler is controlled at given target temperature, it is characterized in that, comprise: cooling water tank priority list, the dominance relation of the open ended sequential of a plurality of cooling water tanks that are provided with in the storage cooling device; Plate temperature rating model is used to infer the coiling temperature of this steel plate; Preset control section, with the combination of the switching of described cooling water tank is that the water tank pattern is corresponding with the control routine that the information of using this cooling water tank priority list generates, according to target volume around temperature and the information relevant with steel plate speed, use described plate temperature rating model to infer the coiling temperature, use the result who infers, calculating/output is used to realize that target volume is around the temperature controlling code; Dynamic control section, the state of the steel plate in the observation cooling control, according to observed result, the change amount of this control routine of calculating/output; With water tank mode conversion portion, will carry out revised result to this control routine that presets parts output by the control routine of dynamic control section part output and be transformed to the water tank pattern, cooling device is exported.
A kind of coiling temperature-controlled process, with the cooling device of the side setting of coming out of hot-rolling mill will by hot-rolling mill rolling steel plate cool off, to be controlled at given target temperature by the temperature of the steel plate of downcoiler before reeling, and it is characterized in that: the open ended sequential to the cooling water tank that is provided with in the cooling device is given priority; Use this priority, generating the combination that opens and closes with cooling water tank is the corresponding control routine of refrigerating mode; According to control routine and the information relevant, use the coiling temperature of this steel plate of plate temperature presumption model presumes with steel plate speed; Use estimation result, decision/output is used to realize that target volume is around the temperature controlling code; In the cooling control, to be used for compensating the correction calculating/output of the switching of target volume water tank of the deviation between the detected coiling temperature from steel plate as control routine around temperature and cooling control, to be used to compensate temperature before the cooling of the steel plate that presets when control supposition and the switching of the water tank of the deviation between the temperature is as the correction calculatings/output of described control routine before the detected cooling of steel plate, the switching of water tank that will be used to compensate the deviation between the steel plate speed of the steel plate speed supposed when presetting control and reality is as the correction calculating/output of described control routine; To be the water tank pattern with the value transform after this control routine of summation correction of the correction of this control routine, cooling device will be exported.
A kind of coiling temperature control device, with a plurality of water tanks of the side setting of coming out of hot-rolling mill will by hot-rolling mill rolling and steel plate that reel by downcoiler cool off, it is characterized in that, comprise: preset control section, around temperature and the information relevant with steel plate speed, computing is with the control routine of the switching information of coded representation described cooling water tank according to target volume; Dynamic control section is an observed result according to the state of described steel plate, the code update information that computing is revised described control routine; Water tank mode conversion portion will be transformed to the water tank pattern by the control routine that described code update information is revised, and the water tank control device is exported; Adapt to control part, according to described code update information, computing temperature update information; With the target temperature correction portion, according to described temperature update information, the described target volume of revising the next later steel plate arbitrarily of being reeled by described downcoiler is around temperature.
A kind of coiling temperature control device, with a plurality of water tanks of the side setting of coming out of hot-rolling mill will by hot-rolling mill rolling and steel plate that reel by downcoiler cool off, it is characterized in that, comprise: preset control section, around temperature and the information relevant with steel plate speed, computing is with the control routine of the switching information of coded representation described cooling water tank according to target volume; Dynamic control section is an observed result according to the state of described steel plate, the code update information that computing is revised described control routine; Water tank mode conversion portion will be transformed to the water tank pattern by the control routine that described code update information is revised, and the water tank control device is exported; With adapt to control part, according to described code update information, the code update information of using in the next later steel plate arbitrarily that computing is reeled by described downcoiler.
A kind of coiling temperature-controlled process, around temperature and the information relevant with steel plate speed, computing is by the control routine of the switching information of the described cooling water tank of coded representation according to target volume; State according to described steel plate is an observed result, the code update information that computing is revised described control routine; To be transformed to the water tank pattern by the control routine that described code update information is revised, the water tank control device will be exported; According to described code update information, computing temperature update information; According to described temperature update information, the described target volume of revising next later any steel plate of being reeled by described downcoiler is around temperature.
A kind of coiling temperature-controlled process, around temperature and the information relevant with steel plate speed, computing is by the control routine of the switching information of the described cooling water tank of coded representation according to target volume; State according to described steel plate is an observed result, the code update information that computing is revised described control routine; To be transformed to the water tank pattern by the control routine that described code update information is revised, the water tank control device will be exported; According to described temperature update information, the code update information of using in next later any steel plate that computing is reeled by described downcoiler.
Be characterised in that: the cooling device that is provided with the side of coming out of hot-rolling mill is the steel plate cooling with hot mill rolling, the temperature of the steel plate before reeling with downcoiler is controlled at given target temperature, it is characterized in that, comprising: the cooling water tank priority list of the dominance relation of the open ended sequential of a plurality of cooling water tanks that are provided with in the storage cooling device; Be used to infer the plate temperature rating model of the coiling temperature of this steel plate; Is the combination of the switching of described cooling water tank that the water tank pattern is corresponding with the control routine that the information of using described cooling water tank priority list generates, from target volume around temperature and the information relevant with steel plate speed, use described plate temperature rating model to infer the coiling temperature, use the result who infers, calculate output and be used to realize the preset control section of target volume around the temperature controlling code; The control routine of this preset control section output is transformed to the water tank pattern, to the water tank mode conversion portion of cooling device output.
Described control routine correspondence, the state that makes whole water tanks open is maximum (or minimum of a value), is whole water tank closing state minimum of a value (or maximum), is accompanied by the increase of control routine, and the guess value of described coiling temperature is dull to reduce (or increasing).
Be characterised in that: described preset control section is corresponding with each position of the length direction of described steel plate, calculate the described control routine of output, described refrigerating mode transformation component discern each water tank under the position of length direction of steel plate, extract the control routine corresponding out with the position, it is transformed to the water tank pattern, cooling device is exported.
Be characterised in that, have: described preset control section is investigated the increase and decrease of described control routine in the steel plate length direction, when the control routine of a part than the control routine of front and back big or hour, by making this control routine consistent with front or rear control routine, the Correction and Control code makes the variation of control routine of steel plate length direction become the partes glabra of the function of unimodality.
In addition, a kind of temperature-controlled process, the cooling device that is provided with the side of coming out of hot-rolling mill is the steel plate cooling with hot mill rolling, the temperature of the steel plate before reeling with downcoiler is controlled at given target temperature, it is characterized in that: the open ended sequential to the cooling water tank that is provided with in the cooling device is given priority, use this priority, generating the combination that opens and closes with cooling water tank is the corresponding control routine of refrigerating mode, from control routine and the information relevant with steel plate speed, use the coiling temperature of this steel plate of plate temperature presumption model presumes, use estimation result, decision is used for real-world objects coiling temperature controlling code, output is transformed to the water tank pattern to this control routine, and cooling device is exported.
For target volume around the priority of the velocity mode of temperature and steel plate and cooling device as input information, model the best of using the plate temperature presumption model to calculate the pairing control routine of command value of the cooling device of realizing required coiling temperature presets portion, as dynamic control section, have: being used for compensating the coiling temperature deviation correction portion that target volume is calculated as the correction of control routine from the switching of the water tank of the deviation of the coiling temperature of steel plate detection around temperature and cooling control; Temperature deviation correction portion before the cooling that the switching of the water tank of the deviation of temperature is calculated as the correction of described control routine before the cooling that temperature before the cooling that is used for compensating the steel plate that presets when control supposition and cooling control are detected from steel plate; The velocity deviation correction portion of the switching that is used for compensating the water tank that presets steel plate speed of supposing when controlling and the steel plate velocity deviation of cooling off control as the correction calculating of described control routine.In the 3rd influence coefficient table of the influence that the variation of the second influence coefficient table of the influence that the first influence coefficient table of the influence that the variation that the coefficient that uses during these are calculated concentrates on the storage control routine brings the coiling temperature, the variation of the described steel plate speed of storage bring the coiling temperature, the speed of the described chilling temperature of storage brings the coiling temperature.And, coiling temperature control device is provided, comprise:,, control routine is transformed to the water tank mode conversion portion of the output mode of cooling device with the control routine of control routine correction model the best portion of presetting output of dynamic control section output to each position of steel plate length direction.
In addition, from target volume around temperature and the information relevant with steel plate speed, calculating is by the control routine of the switching information of the described cooling water tank of coded representation, state according to described steel plate is an observed result, calculate the code update information of revising described control routine, control routine with the correction of described code update information is transformed to the water tank pattern, the water tank control device is exported, according to described code update information accounting temperature update information, according to described temperature update information, revise by the described target volume in next later any steel plate of described downcoiler coiling around temperature.
Perhaps, from target volume around temperature and the information relevant with steel plate speed, calculating is by the control routine of the switching information of the described cooling water tank of coded representation, state according to described steel plate is an observed result, calculate the code update information of revising described control routine, control routine with the correction of described code update information is transformed to the water tank pattern, to the output of water tank control device, calculate by the code update information in next later any steel plate of described downcoiler coiling according to described code update information.
There is the temperature prediction model that uses in the temperature prediction of electing rolling stock as can be with the cooling phenomenon of high-precision analog reality.In addition, the influence that is used for guaranteeing external interference minimize or learn the real data used reliability learning data acquisition method and gather and regularly become possibility.In addition, be 2 places such as the leading section of steel plate and stabilizers by the adaptation unit that makes the rolling stock length direction, the calculating that adapts to control is oversimplified, and the reliability that adapts to the result is improved.Be not real data, and be conceived to operational ton, realize to adapt to control, thereby the control of influence of removing the unreliability of real data becomes possibility.
According to the present invention, in the coiling cooling step of hot rolling, by simple calculating, can be with the length direction control temperature of high accuracy at steel plate.In addition, can generate the cooling water tank that coolant valve repeats to open and close not according to time series.
In the coiling cooling step of hot rolling, in cooling control, even skew, coiling temperature and the desired value of temperature is inconsistent before the velocity variations of generation steel plate, the cooling, can minimize these to the coiling Temperature Influence by simple calculating, can be with the length direction control temperature of high accuracy at steel plate.
In the coiling cooling step of hot rolling, even because the variation that controls environment, plate temperature presumption model fully during the cooling phenomenon of the steel plate of pattern reality, by simple calculating, also can be controlled temperature with high accuracy in the length direction Zone Full of steel plate.
Description of drawings
Briefly explain accompanying drawing below.
Fig. 1 is the structure chart of an embodiment of expression control system of the present invention.
Fig. 2 is the key diagram of expression target volume around the structure of thermometer.
Fig. 3 is the key diagram of the structure of expression velocity mode table.
Fig. 4 is the key diagram of the structure of expression cooling water tank priority list.
Fig. 5 is the key diagram that the expression cooling water tank opens and closes the correspondence table of pattern and control routine.
Fig. 6 is the program flow diagram that representation model the best presets the processing of parts.
Fig. 7 is the program flow diagram of the detailed process of expression coiling temperature prediction calculating.
Fig. 8 is the key diagram of expression based on an example of the variation of the control routine of the optimal treatment of Fig. 6.
Fig. 9 is the key diagram of the correspondence table of steel plate part and control routine.
Figure 10 is the key diagram of smoothing processing.
Figure 11 is based on the key diagram of the correcting process of dynamic control section part.
Figure 12 is the program flow diagram of the processing of expression water tank mode conversion parts.
Figure 13 is the structure chart that the adjustment of control model is carried out the system of remote service.
Figure 14 is the key diagram of the structure of expression control system of the present invention.
Figure 15 is the key diagram of expression target volume around the structure of thermometer.
Figure 16 is the key diagram of the structure of expression velocity mode table.
Figure 17 is the key diagram of the structure of expression cooling water tank priority list.
Figure 18 is the key diagram that water tank opens and closes the corresponding example of pattern and control routine.
Figure 19 is the processing that model the best presets parts.
Figure 20 is the detailed process that the coiling temperature prediction calculates.
Figure 21 is the structure chart that cooling water tank opens and closes the correspondence table of pattern and control routine.
Figure 22 is the structure chart of the correspondence table of steel plate part and control routine.
Figure 23 is the key diagram of smoothing processing.
Figure 24 is based on the key diagram of the control routine correcting process of dynamic control section part.
Figure 25 is the structure chart of the first influence coefficient table.
Figure 26 is the structure chart of the second influence coefficient table.
Figure 27 is the structure chart of the 3rd influence coefficient table.
Figure 28 is the processing of temperature deviation correcting part before the cooling.
Figure 29 is the key diagram of the length direction segmentation of steel plate.
Figure 30 is the processing of velocity deviation correcting part.
Figure 31 is based on the control routine correcting process result's of dynamic control section part key diagram.
Figure 32 is the processing of water tank mode conversion parts.
Figure 33 is based on the key diagram of the control routine correcting process of dynamic control section part.
Figure 34 is the processing of water tank mode conversion parts.
Figure 35 is the structure chart that the adjustment of control model is carried out the system of remote service.
Figure 36 is the key diagram of the structure of expression coiling temperature control device of the present invention.
Figure 37 is the key diagram of expression target volume around the structure of thermometer.
Figure 38 is the key diagram of the structure of expression velocity mode table.
Figure 39 is the key diagram of the structure of expression cooling water tank priority list.
Figure 40 is the key diagram that water tank opens and closes the corresponding example of pattern and control routine.
Figure 41 is the processing of preset control section part.
Figure 42 is the detailed process that the coiling temperature prediction calculates.
Figure 43 is the structure chart that cooling water tank opens and closes the correspondence table of pattern and control routine.
Figure 44 is the structure chart of the correspondence table of steel plate part and control routine.
Figure 45 is based on the key diagram of the control routine correcting process of dynamic control section part.
Figure 46 is the structure chart of the first influence coefficient table.
Figure 47 is the structure chart of the second influence coefficient table.
Figure 48 is the structure chart of the 3rd influence coefficient table.
Figure 49 is the processing of temperature deviation correcting part before the cooling.
Figure 50 is the key diagram of the length direction segmentation of steel plate.
Figure 51 is the processing of velocity deviation correcting part 123.
Figure 52 is based on the control routine correcting process result's of dynamic control section part key diagram.
Figure 53 is the processing of water tank mode conversion parts.
Figure 54 is the structure chart that adapts to control assembly.
Figure 55 is the processing that front end adapts to control assembly.
Figure 56 is the stable processing that adapts to control assembly.
Figure 57 is the key diagram of the structure of expression coiling temperature control device.
The explanation of symbol.
The 100-control device; 111-model the best presets parts; The 112-smoothing unit; The 114-target volume is around thermometer; 115-velocity mode table; 116-cooling water tank priority list; 117-plate temperature presumption model; 120-dynamic control section part; 130-water tank mode conversion parts; 150-controls object; 153-coiling cooling end; 1205-adjusts and uses database; 1206-model adjustment component.
The specific embodiment
The optimal morphology that is used to implement coiling temperature control device of the present invention as shown in Figure 1, coiling temperature control device 100 target volume around the priority of the velocity mode of temperature, steel plate and cooling device as input information.And have: use plate temperature presumption model, model the best of calculating the control routine corresponding with the command value of the cooling device of realizing required coiling temperature presets parts 111; The command value smoothing unit 112 of the cooling device of the change of not wanting of the command value of inhibition cooling device.Also comprise: the cooling water tank transform component 130 that control routine is transformed to the output mode of cooling device.
In view of the above, in the control of the coiling of the steel plate after hot rolling,, can both obtain high-precision coiling temperature no matter at which position of steel plate length direction.As a result, can improve the composition quality of steel plate, can obtain simultaneously near smooth steel plate shape.
Fig. 1 represents the structure of the coiling temperature control device and the control object of the embodiment of the invention 1.Coiling temperature control device 100 receives various signals from control object 150, to control object 150 output control signals.
The structure of control object 150 at first, is described.In the present embodiment, control object 150 is coiling temperature control lines of hot rolling,, reels with downcoiler 154 steel plate 151 coolings by 900 ℃～1000 ℃ rolling temperature of rolling 152 milling train 157 with coiling cooling end 153.The top cooling device 158 of water-cooled above the steel plate 151 is set and the bottom cooling device 159 of water-cooled below the steel plate 151 at coiling cooling end 153.Each cooling device has the storehouse 161 of the cooling water tank of emitting water 160 of a plurality of combination somes respectively.
In the present embodiment, be that example describes with the operational order of each cooling water tank 160 when opening or closing.Go out the temperature of milling train one side thermometer 155 instrumentations, the temperature before coiling thermometer 156 instrumentations are reeled by downcoiler 154 by rolling 152 rolling steel plate afterwards.The temperature controlled purpose of reeling be make by the temperature of coiling thermometer 156 instrumentations consistent with target temperature.Target temperature can be certain at each position of web length direction, also can set different values according to each position.
The structure of representing coiling temperature control device 100 below.Coiling temperature control device 100 has: before steel plate 155 coolings, calculate the preset control section part 110 of the control routine corresponding with the switching pattern of each cooling water tank 160 with coiling cooling end 153.In addition, have: by coiling cooling end 153 during, obtain the reality of the mensuration temperature etc. of coiling thermometer 156 in real time, the dynamic control section part 120 of change control routine steel plate 155 cooling.In addition, have: the water tank mode conversion parts 130 that control routine are transformed to the switching pattern of each cooling water tank 160.Following set the switching pattern of each cooling water tank 160 is called the water tank pattern.
Preset control section part 110 has: obtain information from target volume around thermometer 114, velocity mode table 115, cooling water tank priority list 116, by using the computing of plate temperature presumption model 117, model the best of calculating the water tank pattern presets parts 111.Have: preset the result of calculation of parts 111 for model the best, make the cooling device command value smoothing unit 112 of output smoothing of the time of water tank pattern.
Dynamic control section part 120 has: use the detected temperatures from coiling thermometer 156, revise the coiling temperature deviation correcting part 121 of the deviation of it and target temperature.In addition, have: use from the detected temperatures that goes out milling train one side thermometer 155, the deviation of supposing when revising it and presetting the control computing that goes out milling train one side temperature go out milling train one side temperature deviation correcting part 122.In addition, have: calculate the speed of steel plate 151 from the rotary speed of milling train 157 or downcoiler 154, the velocity deviation correcting part 123 of corrected Calculation result and the steel plate velocity deviation supposed when presetting the control computing.
Fig. 2 represents the structure of target volume around thermometer 114.Represent corresponding with the kind (steel grade) of steel plate, the example of target temperature layering.Preset control section part 110 is judged the steel grade of this coiled material, extracts corresponding target temperature from target volume out around thermometer 114.
Fig. 3 represents the structure of velocity mode table 115.Wide for steel grade, thickness of slab, plate, the front end of steel plate 151 comes out from milling train 157, and the speed before being reeled by downcoiler 154 is initial velocity.Then, the stabilized speed after anxious the acceleration, suddenly slow down before coming out from milling train 157 in the rear end of steel plate 151, and the speed before being reeled by downcoiler 154 is speed tailend, each speed layering.
Preset control section part 110 judges that steel grade, thickness of slab, the plate of this coiled material are wide, extracts corresponding velocity mode out from speed pattern list 115.For example steel grade is SUS304, thickness of slab 3.0～4.0mm, and plate is wide when being 1200mm, sets initial velocity 150mpm, stabilized speed 150mpm, tailend speed 150mpm.
Fig. 4 represents the structure of cooling water tank priority list 115.Below, with water tank to add up at 100 o'clock be that example describes.Fig. 4 gives 1～100 priority to the open ended sequential of 100 water tanks, for steel grade, thickness of slab, water tank classification (upper water box or lower header), the order of the cooling water tank that memory priority is open.
Consider that cooling effectiveness, surface and inner allowable temperature are poor, determine priority.When for example steel plate 151 approaches, be difficult to produce temperature difference, so consider cooling effectiveness, the preferential water tank of opening near the side of coming out of the high milling train 157 of the temperature of steel plate 151 on surface and inside.When steel plate 151 is thick, utilize backflow based on air cooling, for surface and temperature inside difference are suppressed in the scope of permissible value, the water tank of opening is as far as possible given priority discontinuously.Exist by water-cooled and air cooling are mixed, sacrifice cooling effectiveness a little, the surface and the temperature inside that suppress steel plate 151 are poor.
The control cooling water tank, thus only opening can realize the quantity of target volume around temperature.To storehouse, cooling water tank, give numbering by order, for example first cooling water tank in (1,1) expression first storehouse near milling train 157.
In Fig. 4, the expression steel grade is SUS304, and thickness of slab is 2.0～3.0mm, when cooling water tank is categorized as upper water box, with (1,1), (1,2), (1,3), (1,4), (1,5), (2,1) ..., (20,4), (20,5) order preferentially open.Promptly because thin plate, consider cooling effectiveness, preferentially open in order from the come out water tank of a side of milling train 157.In addition, steel grade is SUS304, and thickness of slab is 5.0～6.0mm, when cooling water tank is categorized as upper water box, with (1,1), (1,4), (2,1), (2,4), (3,1), (3,4) ..., (20,3), (20,5) order preferentially open.Represent that promptly steel plate 151 is thick slightly, so open water tank is given priority discontinuously.
In the present embodiment, the priority of upper water box and lower header is identical, but also can give different priority.
The water tank pattern is by the control routine performance of correspondence.Fig. 5 represents the control routine of preset control section part 110 outputs and the correspondence that cooling water tank opens and closes pattern.Control routine 0 is a standard-sized sheet, and 100 is complete shut-down.Below, carry out control routineization, the water tank switching pattern that makes the cooling water tank have only priority 1 open is 1, the water tank switching pattern that priority 1 and two cooling water tanks of 2 are opened is 2 ...
112 outputs of 110 pairs of smoothing units of preset control section part and so corresponding control routine of cooling water tank switching pattern.The control routine that is the state opened of whole cooling water tanks is 0, and all the control routine of cooling water tank closing state is 100 (100 are the last or sums of cooling water tank down).And if steel grade is SUS304, thickness of slab is 2.0～3.0mm, when cooling water tank is categorized as upper water box, just according to the priority of water tank, determines control routine.The state that for example has only (1,1) to open is a control routine 99, and the state that open (1,1), (1,2) is a control routine 98, and the state that open (1,1), (1,2), (1,3) is a control routine 97.Use this main points, below give control routine, the control routine 0 of the state of opening up to whole water tanks the open mode of water tank.
Fig. 6 representation model the best presets the algorithm that parts 111 are carried out.According to the value that in S6-1, obtains from speed pattern list 115, calculate be used for from initial velocity transfer to stabilized speed the acceleration starting position, be used for transferring to the deceleration starting position of speed tailend from stabilized speed.Then, calculate to go out milling train 157 from steel plate 151 and begin the velocity mode that finishes to coiling with downcoiler 154.Respectively can calculate acceleration starting position Saccp, acceleration end position Saccq, deceleration starting position Sdccp, deceleration end position Sdccq with the expression formula 1～expression formula 4 shown in following.
[expression formula 1]
S accp＝L md
, Lmd: 154 distance from milling train 157 to downcoiler.
[expression formula 2]
S accq＝S accp+(S mid-S start)*(S mid+S start)/(S accrate*2)
, Sstart: the initial velocity of steel plate 151, Smid: the stabilized speed of steel plate 151, Saccrate: rate of acceleration from the initial velocity of steel plate 151 to stabilized speed.
[expression formula 3]
S dccp＝L strip-(S mid-S end)*(S mid+S end)/(S dccrate*2)-L margin
; Lstrip: the length of steel plate 151; Send: speed tailend of steel plate 151, Sdccrate: the rate of deceleration from steel plate 151 stabilized speeies to speed tailend, Lmargin: the afterbody of expression steel plate 151 leaves and reaches the boundary which kind of degree front reduction gear finishes.
[expression formula 4]
S dccq＝L strip-L margin
According to the velocity mode that calculates, after S6-2, calculate the realization target volume with the calculating of using plate temperature presumption model 117 and change around the time of the water tank pattern of temperature.In the present embodiment, the example of water tank pattern is calculated in expression according to the anti-interpolation of linearity.
About each position of steel plate 151, definition clips two control routine nL, nH of the control routine of separating in S6-2.Here, between the standard-sized sheet of cooling water tank and complete shut-down, exist and separate, thus be nL=0 without exception, nH=0.Here, be accompanied by the increase of control routine, the cooling water tank opened merely reduces, so during n1＜n2, about coiling temperature T c1, the Tc2 corresponding with these water tank patterns, Tc1＜Tc2 sets up.
Follow in S6-3 the average out to n0 of nL and nH.In S6-4, calculate the coiling temperature T c0 corresponding then with control routine n0.S6-4 reels to downcoiler from going out milling train about each position of the length direction of steel plate 150, calculates the temperature estimation computing according to plate temperature presumption model 117 continuously, infers the coiling temperature.In S6-5, judge to infer the symbol of the relative target volume of coiling temperature T c0 around temperature T target, when Tc0＞Ttarget, between n0 and nL, exist and separate, so n0 is placed on nH.On the contrary, when Tc0＜Ttarget, between n0 and nH, exist and separate, so n0 is placed on nL.In S6-6, the termination condition of decision algorithm when not satisfying, repeats S6-3～S6-5.
The end of algorithm repeating more than certain number of times of S5-3～S5-5 finish, coiling temperature estimation Tc and target volume around the deviation of temperature T target below certain value, n0 is consistent with condition with among nH, the nL any one, judge.
As the control routine adding method, can carry out correspondence, make that whole cooling water tanks are that the control routine of closed condition is 0 (minimum of a value), all cooling water tanks are that the control routine of open mode is 100 (maximums), be accompanied by the increase of control routine, the guess value of coiling temperature is dull to be increased.
Fig. 7 represents the details of the temperature estimation computing corresponding with S6-4.As the temperature estimation computing, expression is cut apart steel plate 151 at length direction and thickness direction, the example of the so-called calculus of finite differences of advancing that the time advances, calculates with certain scale.
Update calculation is calculated the plate speed Vt in the corresponding moment from the velocity mode that generates constantly among the S6-1 of Fig. 6 in S7-1.In S7-2, use the plate speed of calculating, calculate milling train length.Going out milling train length L n is rolling end, and the length of the steel plate that comes out from milling train can be calculated with expression formula 5., Ln-1 is the former length of coming out constantly.
[expression formula 5]
L n＝L n-1+Δ·Vt
In S7-3, judge the end of computing.Go out milling train length L n the total length of steel plate and milling train 157～downcoiler 154 distances and bigger than the time, the coiling temperature prediction corresponding with coiled material calculates and is all over, and finishes so become computing.
When computing does not finish, in S7-4, carry out the temperature of steel plate and follow the tracks of.Promptly from the relation of Ln and Ln-1 know for before the position of steel plate in the moment, through behind the delta time, steel plate has advanced what, so carry out the only processing of the distance of mobile correspondence of the Temperature Distribution of steel plate.In S7-5, the steel plate 151 of discharging from milling train is set the guess value of the steel billet temperature before cooling off between Δ.In S7-6, judge that from the switching information of the water tank corresponding each position is water-cooled or air cooling with each position of steel plate 151.When water-cooled, in S7-7, calculate the coefficient of heat conduction according to expression formula 6.
[expression formula 6]
hw＝9.72*10 5*ω 0.355*{(2.5-1.15*logTw)*D/(pl*pc)} 0.646/(Tsu--Tw)
, ω: water yield density, Tw: water temperature, D: nozzle diameter, pl: the nozzle interval of line direction, pc: with the nozzle interval of line orthogonal direction, Tsu: the surface temperature of steel plate 151.
Coefficient of heat conduction when expression formula 6 is the cooling of so-called thin plate.As water-cooling method, there is spraying cooling etc. various in addition, know the calculating formula of several coefficients of heat conduction.And during air cooling,, calculate the coefficient of heat conduction according to expression formula 7.
[expression formula 7]
hr＝σ·ε[{(273+T su)/100} 4-{(273+T a)/100} 4]/(T su-T a)
, σ: stefan boltzmann's constant (=4.88), ε: emissivity, Ta: air themperature (℃), Tsu: the surface temperature of steel plate 151.
About the surface and the back side of steel plate 151, expression formula 6 and expression formula 7 are calculated respectively.Then in S7-9 according to through the temperature before the Δ, the temperature at each position of steel plate 151 is calculated in moving of the heat between the plus-minus Δ.If in the time of ignoring thickness direction hot mobile of steel plate 151,, just can calculate like that by expression formula 8 about each position of the length direction of steel plate 151.
[expression formula 8]
T n＝T n-1-(h t+h b)*Δ/(ρ*C*B)
, Tn: present plate temperature, Tn-1: the plate temperature before the Δ, ht: the coefficient of heat conduction of surface of steel plate, hb: the coefficient of heat conduction at the steel plate back side, ρ: the density of steel plate, C: the specific heat of steel plate, B: steel plate thickness.
In addition, when being necessary to consider the heat conduction of thickness direction of steel plate 151, can calculate by finding the solution the heat equation of knowing.Heat equation is by expression formula 9 expressions, and the method for it being carried out Difference Calculation with computer discloses in various documents.
[expression formula 9]
∂ T / ∂ t = { λ / ( ρ * C ) } ( ∂ 2 T / ∂ t 2 )
, λ: pyroconductivity, T: material temperature.
Then, in S7-10, calculate the Zone Full of the steel plate 151 from milling train 157 to downcoiler in 154 the line before the end, repeat S6-6～S7-9.In addition, in S7-3, judge before the end of computing, repeat S7-1～S7-9.
Fig. 8 represents an example based on the variation of the optimal treatment of Fig. 6 of the control routine of among the S6-3 each position of steel plate 151 being given.In handling for the first time, be that (nL=0, processing nH=100) is so shown in the processing first time of Fig. 8, at the Zone Full of steel plate 151, give 50 to identical initial value at each position.In handling for the second time, bigger or little than Ttarget for control routine 50 according to predicting the outcome of the coiling temperature T c0 at each position of steel plate 151, the control routine difference of giving.In the present embodiment, expression is that the front end of the steel plate 151 of low speed, the partial update of rear end are the control routine of closing the direction of water tank near steel plate speed, and steel plate speed is updated to the example of the control routine of opening the water tank direction for the central portion of steel plate 151 at a high speed.
Particularly, shown in handling Fig. 8 for the second time, leading section, rearward end in the S6-5 of primary processing, be updated to the result of nL=50, nH=100 average for control routine is updated to 75.And being updated to the result of nL=0, nH=50 in the S6-5 of primary processing, central portion is updated to 25 for control routine.By S6-3～S6-6 of such repetition Fig. 6, upgrade control routine successively.
Fig. 9 represents the example of the control routine of preset control section part 110 final outputs.In the example of figure, steel plate 151 is corresponding with the distance from front end, with 1m unit, is divided into grid, and is corresponding with grid, distributes control routine.Cooling device is corresponding with the surface and the back side of steel plate, has top cooling device 158 and bottom cooling device 159, thus as control routine, corresponding with upper water box and lower header, output respectively.In the drawings, expression is about the length direction of steel plate 151, is 95 from the control routine of the upper water box of front end 1m, and the control routine of lower header is 95, and between 500m～501m, the control routine of upper water box is 14, and the control routine of lower header is 14.
In Fig. 9, identical with the control routine of corresponding upper water box in the same position of steel plate 151 and lower header, but also can set different control routines.
Figure 10 represents the result of smoothing unit 112.The output that smoothing unit 112 presets parts 111 for model the best is carried out the processing of the switching smoothing of cooling water tank.Model the best presets the control routine of parts 111 outputs in the interval of steel plate part 3m～4m, compares with the position of front and back, and is all little.At this moment, the cooling water tank of an output part is accompanied by passing through of position, the control instruction that moment opens and closes.
After the smoothing processing based on smoothing unit 112, by smoothly being control routine 12 14, control routine becomes dullness for the variation of steel plate part, eliminates level and smooth preceding problem.
Even generate the instruction that cooling water tank opened and closed with the short period, in fact because the operating lag of cooling water tank, so nonsensical.Therefore, carry out such smoothing processing, the instruction of cooling water tank in the time orientation smoothing.The control routine of each control routine and front and back relatively, all big or hour, by making its simple process consistent, can realize smoothing with front or rear control routine.
The control routine of preset control section part 110 output is by dynamic control section part 120, when actual cooling metal sheets 151, revises in real time.Dynamic control section part 120 has: use the detected temperatures from coiling thermometer 156, revise the coiling temperature deviation correcting part 121 of the deviation of it and target temperature.In addition, have: use from the detected temperatures that goes out milling train one side thermometer 155, revise it with the deviation that goes out milling train one side temperature that presets control supposition when calculating go out milling train one side temperature deviation correcting part 122.Also have: calculate the speed of steel plate 151 from the rotary speed of milling train 157 or downcoiler 154, corrected Calculation result and preset the velocity deviation correcting part 123 of control steel plate velocity deviation of supposition when calculating.The summation of these corrections is scaled the variable quantity of control routine, as the correction output of dynamic control section part 120.The calculating of correction can be realized by the application of PI control etc.According to the correction of output, revise the control routine of preset control section part 110 outputs.
The example of the correction result when Figure 11 represents that dynamic control section part 120 is revised the control routine of preset control section parts 110 outputs.The control routine of steel plate part 5m～6m is modified to 14 from 12.
Figure 12 represents the algorithm that water tank mode conversion parts 130 are carried out.In S11-1, calculate by the distance L h of the steel plate 151 under the cooling water tank from front end.Usually control device 100 has such range information in order to use with various purposes.
Judge that in S11-2 Lh is whether little than 0, hour, steel plate 151 no show cooling water tanks so jump out processing, enter S11-6.When big, steel plate 151 arrives cooling water tank, so extract the control routine corresponding with distance L h out in S11-3.Promptly compare the steel plate part of Lh and Fig. 9, extract the upper water box control routine and the lower header control routine at the position corresponding out with Lh.
In S11-4, extract cooling water tank out and open and close pattern from control routine.Use the control routine of Fig. 5 and the correspondence that cooling water tank opens and closes pattern, decision opens into what cooling water tank of priority.In S11-5, use canned data in the cooling water tank priority list 115, concrete definite open cooling water tank, the switching of this cooling water tank of final decision.In S11-6, judge whether the computing about whole cooling water tanks finishes, when not finishing, before finishing, repeat the processing of S11-1～S11-5.
In the present embodiment, with the cooling water tank number all be up and down 100 o'clock be that example describes, but as the water tank number, according to equipment, can be various numbers.In the present embodiment, smoothing unit 1112 is set, but also considers the abridged structure.
Other embodiment are described.In the present embodiment, expression is carried out the situation of the adjustment of water-cooled model or air cooling model as the service of factory's maker from long-range use internet.Figure 13 represents all structures of the system of present embodiment.
Maker is got from the speed of the coiling temperature that obtains of control object 150, the water tank pattern corresponding with it, steel plate 151, the real data that goes out milling train one side temperature etc. or thickness of slab, plate mainly information such as wide control device 100 server 1204 of our company by network 1211, server 1210, line network 1203.Store into then and adjust with in the database 1205.
Maker 1202 has model adjustment component 1206, according to requirement from iron company 1201, use the data of adjusting with storage in the database 1205, carry out hr, the hw that describes among the embodiment 1, the corrected Calculation of λ, result of calculation is sent to iron company 1201.Corrected Calculation is known variety of way as example of expression among " carrying out the structure and mode of learning of the adjustment neutral net that model adjusts with high accuracy " (electric paper magazine D of association, put down in April, 7 number).The equivalence that model is adjusted can be corresponding with the adjustment number of times, also can be the corresponding achievement remuneration of control result that improves with the result who adjusts.
Described embodiment can be widely used in the cooling control of hot rolling line.
Figure 14 represents other embodiment.Coiling temperature control device 1100 receives various signals from control object 1150, and control signal is exported control object 1150.At first the structure of object 1150 is controlled in explanation.In the present embodiment, control object 1150 is coiling temperature control lines of hot rolling,, reels with downcoiler 1154 steel plate 1151 coolings by 900 ℃～1000 ℃ rolling temperature of rolling 1152 milling train 1157 with coiling cooling end 1153.Coiling cooling end 1153 the top cooling device 1158 of water-cooled above the steel plate 1151 is set and below the steel plate 1151 the bottom cooling device 1159 of water-cooled, each cooling device has the storehouse 1161 of the cooling water tank of emitting water 1160 of a plurality of combination somes respectively.In the present embodiment, be that example describes with the operational order of each cooling water tank 1160 when opening or closing.Go out the temperature of milling train one side thermometer 1155 instrumentations, the temperature before coiling thermometer 1156 instrumentations are reeled by downcoiler 1154 by rolling 1152 rolling steel plate afterwards.In the present embodiment, as the temperature before the cooling, use out milling train one side temperature.The temperature controlled purpose of reeling be make by the temperature of coiling thermometer 1156 instrumentations consistent with target temperature.Target temperature can be certain at each position of web length direction, also can set different values according to each position.
The structure of representing coiling temperature control device 1100 below.Coiling temperature control device 1100 has: before steel plate 1155 coolings, calculate the preset control section part 1110 of the control routine corresponding with the switching pattern of each cooling water tank 1160 with coiling cooling end 1153; At steel plate 1151 during, obtain the reality of the mensuration temperature etc. of coiling thermometer 1156 in real time, the dynamic control section part 1120 of change control routine by coiling cooling end 1153 cooling; Control routine is transformed to the water tank mode conversion parts 1130 of the switching pattern of each cooling water tank 1160.Constitute by the preset information transferring elements 1118 of constant necessary in the constant that model the best is preset parts 1111 uses 1120 outputs of dynamic control section part.Preset information transferring elements 1118 at least the target volume of steel plate around the speed program of temperature, steel plate, go out milling train side plate temperature to 1120 outputs of dynamic control section part.
Following set the switching pattern of each cooling water tank 1160 is called the water tank pattern.Preset control section 1111 has: obtain information from target volume around thermometer 1114, velocity mode table 1115, cooling water tank priority list 1116, by using the computing of plate temperature presumption model 1117, model the best of calculating the water tank pattern presets parts 1111; Preset the result of calculation of parts 1111 for model the best, make the cooling device command value smoothing unit 1112 of output smoothing of the time of water tank pattern.In addition, dynamic control section part 1120 has: use the detected temperatures from coiling thermometer 1156, calculate the coiling temperature deviation correcting part 1121 of the switching number of the necessary water tank of deviation of revising it and target temperature; Use is from the detected temperatures that goes out milling train one side thermometer 1155, calculate revise it and preset the cooling of control switching number of the necessary water tank of deviation that milling train one side temperature of supposition when calculating before temperature deviation correcting part 1122; Calculate the speed of steel plate 1151, the velocity deviation correcting part 1123 of the switching number of the necessary water tank of supposing when calculating the corrected Calculation result and presetting the control computing of steel plate velocity deviation from the rotary speed of milling train 1157 or downcoiler 1154.Also have: the influence coefficient table 1124 that uses during these calculate; Be conceived to each position of steel plate length direction, the result of calculation of temperature deviation correcting part 1122, velocity deviation correcting part 1123 is calculated the operational ton compound component 1125 of the output of dynamic control section part 1120 before synthetic coiling temperature deviation correcting part 1121, the cooling.
Figure 15 represents the structure of target volume around thermometer 1114.Represent corresponding with the kind (steel grade) of steel plate, the example of target temperature layering.Preset control section part 1110 is judged the steel grade of this coiled material, extracts corresponding target temperature from target volume out around thermometer 1114.
Figure 16 represents the structure of velocity mode table 1115.Wide for steel grade, thickness of slab, plate, be layered as: the front end of steel plate 1151 comes out from milling train 1157, the speed (initial velocity) before being reeled by downcoiler 1154; Then, the stabilized speed after anxious the acceleration; The anxious deceleration before coming out from milling train 1157 in the rear end of steel plate 1151 is by the speed (speed tailend) before downcoiler 1154 coilings.Preset control section part 1110 judges that steel grade, thickness of slab, the plate of this coiled material are wide, extracts corresponding velocity mode out from speed pattern list 1115.For example represent that steel grade is SUS304, thickness of slab 3.0～4.0mm, plate is wide when being 1200mm, sets initial velocity 150mpm, stabilized speed 150mpm, tailend speed 150mpm.
Figure 17 represents the structure of cooling water tank priority list 1115.Below, with water tank to add up at 100 o'clock be that example describes.Figure 17 gives 1～100 priority to the open ended sequential of 100 water tanks, for steel grade, thickness of slab, water tank classification (upper water box or lower header), the order of the cooling water tank that memory priority is open.Consider that cooling effectiveness, surface and inner allowable temperature are poor, determine priority.When for example steel plate 1151 approaches, be difficult to produce temperature difference, so consider cooling effectiveness, the preferential water tank of opening near the side of coming out of the high milling train 1157 of the temperature of steel plate 1151 on surface and inside.When steel plate 1151 is thick, utilize backflow based on air cooling, for surface and temperature inside difference are suppressed in the scope of permissible value, the water tank of opening is as far as possible given priority discontinuously.Exist by water-cooled and air cooling are mixed, sacrifice cooling effectiveness a little, the surface and the temperature inside that suppress steel plate 1151 are poor.The control cooling water tank makes that an opening can realize the quantity of target volume around temperature.To storehouse, cooling water tank, give numbering by order, for example first cooling water tank in (1,1) expression first storehouse near milling train 1157.In the drawings, the expression steel grade is SUS304, and thickness of slab is 2.0～3.0mm, when cooling water tank is categorized as upper water box, with (1,1), (1,2), (1,3), (1,4), (1,5), (2,1) ..., (20,4), (20,5) order preferentially open.Promptly because thin plate, consider cooling effectiveness, preferentially open in order from the come out water tank of a side of milling train 1157.In addition, steel grade is SUS304, and thickness of slab is 5.0～6.0mm, when cooling water tank is categorized as upper water box, with (1,1), (1,4), (2,1), (2,4), (3,1), (3,4) ..., (20,3), (20,5) order preferentially open.Represent that promptly steel plate 151 is thick slightly, so open water tank is given priority discontinuously.In the present embodiment, the priority of upper water box and lower header is identical, but also can give different priority.
The water tank pattern is by the control routine performance of correspondence.Figure 18 represents the control routine of preset control section part 1110 outputs and the correspondence that cooling water tank opens and closes pattern.Control routine 0 is a standard-sized sheet, and 100 is complete shut-down.Below, carry out control routineization, the water tank switching pattern that makes the cooling water tank have only priority 1 open is 1, the water tank switching pattern that priority 1 and two cooling water tanks of 2 are opened is 2 ...1112 outputs of 1110 pairs of smoothing units of preset control section part and so corresponding control routine of cooling water tank switching pattern.The control routine that is the state opened of whole cooling water tanks is 0, and all the control routine of cooling water tank closing state is 100 (100 are the last or sums of cooling water tank down).And, if steel grade is SUS304, thickness of slab is 2.0～3.0mm, when cooling water tank is categorized as upper water box, just according to the priority of water tank, the state that has only (1,1) to open is a control routine 99, the state that open (1,1), (1,2) is a control routine 98, and the state that open (1,1), (1,2), (1,3) is a control routine 97, uses this main points, below give control routine to the open mode of water tank, the control routine 0 of the state of opening up to whole water tanks.
Figure 19 representation model the best presets the algorithm that parts 1111 are carried out.According to the value that in S16-1, obtains from speed pattern list 1115, calculating be used for from initial velocity transfer to stabilized speed the acceleration starting position, be used for transferring to the deceleration starting position of speed tailend from stabilized speed, calculate to go out milling train 1157 from steel plate 1151 and begin the velocity mode that finishes to coiling with downcoiler 1154.Respectively can calculate acceleration starting position Saccp, acceleration end position Saccq, deceleration starting position Sdccp, deceleration end position Sdccq with the expression formula 10～expression formula 13 shown in following.
[expression formula 10]
S accp＝L md
, Lmd: 1154 distance from milling train 1157 to downcoiler.
[expression formula 11]
S accq＝S accp+(S mid-S start)＊(S mid+S start)/(S accrate＊2)
, Sstart: the initial velocity of steel plate 1151, Smid: the stabilized speed of steel plate 1151, Saccrate: rate of acceleration from the initial velocity of steel plate 1151 to stabilized speed.
[expression formula 12]
S dccp＝L strip-(S mid-S end)＊(S mid+S end)/(S dccrate＊2)-L margin
; Lstrip: the length of steel plate 1151; Send: speed tailend of steel plate 1151, Sdccrate: the rate of deceleration from steel plate 1151 stabilized speeies to speed tailend, Lmargin: the afterbody of expression steel plate 1151 leaves and reaches the boundary which kind of degree front reduction gear finishes.
[expression formula 13]
S dccq＝L strip-L margin
According to the velocity mode that calculates, after S16-2, calculate the realization target volume with the computing of using plate temperature presumption model 1117 and change around the time of the water tank pattern of temperature.In the present embodiment, the example of water tank pattern is calculated in expression according to the anti-interpolation of linearity.
About each position of steel plate 1151, definition clips two control routine nL, nH of the control routine of separating in S16-2.Here, between the standard-sized sheet of cooling water tank and complete shut-down, exist and separate, thus be nL=0 without exception, nH=100.Here, be accompanied by the increase of control routine, the cooling water tank opened merely reduces, so during n1＜n2, about coiling temperature T c1, the Tc2 corresponding with these water tank patterns, Tc1＜Tc2 sets up.Follow in S16-3 the average out to n0 of nL and nH.In S16-4, calculate the coiling temperature T c0 corresponding then with control routine n0.S16-4 reels to downcoiler from going out milling train about each position of the length direction of steel plate 1151, calculates the temperature estimation computing according to plate temperature presumption model 1117 continuously, infers the coiling temperature.In S16-5, judge to infer coiling temperature T c0 with respect to the symbol of target volume around temperature T target, when Tc0＞Ttarget, between n0 and nL, exist and separate, so n0 is placed on nH.On the contrary, when Tc0＜Ttarget, between n0 and nH, exist and separate, so n0 is placed on nL.In S16-6, the termination condition of decision algorithm when not satisfying, repeats S16-3～S16-5.
The end of algorithm repeating more than certain number of times of S15-3～S15-5 finish, coiling temperature estimation Tc and target volume around the deviation of temperature T target below certain value, n0 is consistent with condition with among nH, the nL any one, judge.
As the control routine adding method, all cooling water tank is that the control routine of closed condition is 0, and all cooling water tank is that the control routine of open mode is 100, and is even correspondence is given therewith, also identical.
Figure 20 represents the details that the temperature estimation corresponding with S16-4 calculates.As the temperature estimation computing, expression is cut apart steel plate 1151 at length direction and thickness direction, the example of the so-called calculus of finite differences of advancing that the time advances, calculates with certain scale Δ.Update calculation is calculated the plate speed Vt in the corresponding moment from the velocity mode that generates constantly among the S16-1 of Figure 19 in S17-1.In S17-2, use the plate speed of calculating, calculate milling train length.Going out milling train length L n is rolling end, and the length of the steel plate that comes out from milling train can be calculated with expression formula., Ln-1 is the former length of coming out constantly.
[expression formula 14]
L n＝L n-1+Δ·Vt
In S17-3, judge the end of computing.Go out milling train length L n than the total length of steel plate 1151 and milling train 1157 to the time downcoiler 1154 distances and big, the coiling temperature prediction corresponding with coiled material calculates and is all over, so computing finishes.When computing does not finish, in S17-4, carry out the temperature of steel plate and follow the tracks of.Promptly from the relation of Ln and Ln-1 know for before the position of steel plate in the moment, through behind the delta time, steel plate has advanced what, so carry out the only processing of the distance of mobile correspondence of the Temperature Distribution of steel plate.In S17-5, the steel plate 1151 of discharging from milling train is set the guess value of the steel billet temperature before cooling off between Δ.In S17-6, judge that from the switching information of the water tank corresponding each position is water-cooled or air cooling with each position of steel plate 1151.When water-cooled, in S17-7, calculate the coefficient of heat conduction according to expression formula 15.
[expression formula 15]
hw＝9.72＊10 5＊ω 0.355＊{(2.5-1.15＊logTw)＊D/(pl＊pc)} 0.646/(Tsu-Tw)
, ω: water yield density
Tw: water temperature
D: nozzle diameter
Pl: the nozzle of line direction at interval
Pc: with the nozzle interval of line orthogonal direction
Tsu: the surface temperature of steel plate 1151
Coefficient of heat conduction when expression formula 15 is the cooling of so-called thin plate.As water-cooling method, there is spraying cooling etc. various in addition, know the calculating formula of several coefficients of heat conduction.
And during air cooling,, calculate the coefficient of heat conduction according to expression formula 16.
[expression formula 16]
hr＝σ·ε[{(273+T su)/100} 4-{(273+T a)/100} 4]/(T su-T a)
, σ: stefan boltzmann's constant (=4.88)
ε: emissivity
Ta: air themperature (℃)
Tsu: the surface temperature of steel plate 1151
About the surface and the back side of steel plate 1151, expression formula 15 and expression formula 16 are calculated respectively.Then, according to the temperature before the process Δ, the temperature at each position of steel plate 1151 is calculated in moving of the heat between the plus-minus Δ.If in the time of ignoring thickness direction hot mobile of steel plate 1151,, just can calculate like that by expression formula 17 about each position of the length direction of steel plate 1151.
[expression formula 17]
T n＝T n-1-(h t+h b)＊Δ/(ρ＊C＊B)
, Tn: present plate temperature
Tn-1: the plate temperature before the Δ
Ht: the coefficient of heat conduction of surface of steel plate
Hb: the coefficient of heat conduction at the steel plate back side
ρ: the density of steel plate
C: the specific heat of steel plate
B: steel plate thickness
In addition, when being necessary to consider the heat conduction of thickness direction of steel plate 1151, can calculate by finding the solution the heat equation of knowing.Heat equation is by expression formula 18 expressions, and the method for it being carried out Difference Calculation with computer discloses in various documents.
[expression formula 18]
∂ T / ∂ t = { λ / ( ρ * C ) } ( ∂ 2 T / ∂ t 2 )
, λ: pyroconductivity
T: material temperature
Then, in S7-10, calculate the Zone Full of the steel plate 1151 from milling train 1157 to downcoiler in 1154 the line before the end, repeat S16-6～S17-9.In addition, in S17-3, judge before the end of computing, repeat S17-1～S17-9.
Figure 21 represents an example based on the variation of the optimal treatment of Figure 19 of the control routine of among the S16-3 each position of steel plate 1151 being given.In handling for the first time, be that (nL=0, processing nH=100) is so shown in the processing first time of Figure 21, at the Zone Full of steel plate 1151, give 50 to identical initial value at each position.In handling for the second time, bigger or little than Ttarget for control routine 50 according to predicting the outcome of the coiling temperature T c0 at each position of steel plate 1151, the control routine difference of giving.In the present embodiment, expression is that the front end of the steel plate 1151 of low speed, the partial update of rear end are the control routine of closing the direction of water tank near steel plate speed, and steel plate speed is updated to the example of the control routine of opening the water tank direction for the central portion of steel plate 151 at a high speed.Particularly, shown in handling Figure 21 for the second time, leading section, rearward end in the S16-5 of primary processing, be updated to the result of nL=50, nH=100 average for control routine is updated to 75.And being updated to the result of nL=0, nH=50 in the S16-5 of primary processing, central portion is updated to 25 for control routine.By S16-3～S16-6 of such repetition Figure 19, upgrade control routine successively.
Figure 22 represents the example of the control routine of preset control section part 1110 final outputs.In the example of figure, steel plate 1151 is corresponding with the distance from front end, with 1m unit, is divided into grid, and is corresponding with grid, distributes control routine.Cooling device is corresponding with the surface and the back side of steel plate, has top cooling device 1158 and bottom cooling device 1159, thus as control routine, corresponding with upper water box and lower header, output respectively.In the drawings, expression is about the length direction of steel plate 1151, is 95 from the control routine of the upper water box of front end 1m, and the control routine of lower header is 95, and between 500m～501m, the control routine of upper water box is 14, and the control routine of lower header is 14.In Figure 21, identical with the control routine of corresponding upper water box in the same position of steel plate 1151 and lower header, but also can set different control routines.
Figure 20 represents the result of smoothing unit 1112.The output that smoothing unit 1112 presets parts 1111 for model the best is carried out the processing of the switching smoothing of cooling water tank.In Figure 23, model the best presets the control routine of parts 1111 outputs in the interval of steel plate part 3m～4m, compares with the position of front and back, and is all little.At this moment, the cooling water tank of an output part is accompanied by passing through of position, the control instruction that moment opens and closes.After the smoothing processing based on smoothing unit 1112, by smoothly being control routine 12 14, control routine becomes dullness for the variation of steel plate part, can eliminate level and smooth preceding problem.Even generate the instruction that cooling water tank opened and closed with the short period, in fact because the operating lag of cooling water tank, so nonsensical.Therefore, carry out such smoothing processing, the instruction of cooling water tank in the time orientation smoothing.The control routine of each control routine and front and back relatively, all big or hour, by making its simple process consistent, can realize smoothing with front or rear control routine.
Figure 24 represents the structure of dynamic control section part 120.The control routine of preset control section part 1110 output is by dynamic control section part 1120, when actual cooling metal sheets 1151, revises in real time.Dynamic control section part 1120 has: use the detected temperatures from coiling thermometer 1156, revise the coiling temperature deviation correcting part 1121 of the deviation of it and target temperature; Use is from the detected temperatures that goes out milling train one side thermometer 1155, revise it with the cooling of presetting control supposition when calculating before temperature deviation correcting part 1122 before the cooling of deviation of temperature; Calculate the speed of steel plate 1151 from the rotary speed of milling train 1157 or downcoiler 1154, corrected Calculation result and preset the velocity deviation correcting part 1123 of control steel plate velocity deviation of supposition when calculating.The influence coefficient table 1124 that uses during the calculating that also has correction.The summation of correction is scaled the variable quantity of control routine by operational ton compound component 1125 by each position of the length direction of steel plate 1151, from dynamic control assembly 1120 outputs.
Below, describe the action at each position in detail.Influence coefficient table 1124 have storage with respect to the first influence coefficient table 11101 of the coiling variation of temperature of the variation of control routine, storage with respect to the second influence coefficient table 11102 of the coiling variation of temperature of the variation of steel plate speed, storage with respect to cooling before the 3rd influence coefficient table 11103 of coiling variation of temperature of variation of temperature.
Figure 25 represents the structure of the first influence coefficient table 11101.In the first influence coefficient table 11101, the pairing numerical value of variable quantity of the coiling temperature T c when opening or closing a cooling water tank 1160
Figure A20071000739000341
By thickness of slab, plate speed, control routine layering storage.In the example of figure, the expression thickness of slab is below 3mm, and the speed of steel plate 1151 is below 150mpm, and control routine n is 9 when following,
Figure A20071000739000342
If open or close a cooling water tank 1160, then descend or rise 3 ℃ by the coiling temperature T c of coiling thermometer 1156 instrumentations.Also can reduce the layering project, also consider to append the preceding temperature of cooling.
Figure 26 represents the structure of the second influence coefficient table 11102.In the second influence coefficient table 11102, the pairing numerical value of variable quantity of the coiling temperature T c during increase of the speed of steel plate 1151 or minimizing 1mpm
Figure A20071000739000343
By thickness of slab, plate speed, control routine layering storage.In the example of figure, the expression thickness of slab is below 3mm, and the speed of steel plate 1151 is below 150mpm, and control routine n is 9 when following,
Figure A20071000739000351
If the speed of steel plate 1151 is increased or reduces 1mpm, then descend or rise 2.2 ℃ by the coiling temperature T c of coiling thermometer 1156 instrumentations.Can reduce the layering project too, also consider to append the preceding temperature of cooling.
Figure 27 represents the structure of the 3rd influence coefficient table 11103.In the 3rd influence coefficient table 11103, increase by temperature before the cooling of the steel plate 1151 that goes out milling train one side thermometer 1155 instrumentations or when reducing 1 ℃ the pairing numerical value of variable quantity of coiling temperature T c
Figure A20071000739000352
By thickness of slab, plate speed, control routine layering storage.In the example of figure, the expression thickness of slab is below 3mm, and the speed of steel plate 1151 is below 150mpm, and control routine n is 9 when following,
Figure A20071000739000353
Before the cooling during high or low 1 ℃ of the instrumentation value of temperature, descend or rise 0.9 ℃ by the coiling temperature T c of coiling thermometer 1156 instrumentations.Can reduce the layering project too, also consider to append the preceding temperature of cooling.
Below, the processing of coiling temperature deviation correcting part 1121 is described.Coiling temperature deviation correcting part 1121 is with the some cycles starting, and the temperature of reeling FB controls.The temperature deviation correcting part 1121 of promptly reeling has: for the deviation size of the relative target temperature of coiling temperature, calculate the coiling temperature deviation correction calculating unit 11104 of the change amount of suitable control routine.Coiling temperature deviation correction calculating unit 11104 is obtained when being provided with the Tc of supposition and by the difference of the Tc of coiling thermometer 1156 instrumentations, is obtained the influence coefficient of the layering that is equivalent to current state from the first influence coefficient table 11101
Figure A20071000739000354
By following computing, calculate the change amount of control routine.
[expression formula 19]
Δ n 1 = G 1 · { 1 / ( ∂ Tc / Δn ) } · ΔTc
, Δ n1: based on the control routine variable quantity of coiling temperature FB control
G1: constant (coiling temperature FB ride gain)
Figure A20071000739000356
The influence coefficient of the corresponding layering of extracting out from the first influence coefficient table 11101
Δ Tc: coiling temperature deviation
And temperature deviation correcting part 1122 cools off preceding temperature deviation FEEDFORWARD CONTROL too with the some cycles starting before the cooling.Promptly temperature deviation correcting part 1122 has before the cooling: for temperature before the cooling of presetting supposition when calculating with by the size that goes out the deviation that goes out milling train one side temperature that milling train one side thermometer 1155 detects, calculates the preceding temperature deviation correction calculating unit 11105 of cooling of the change amount of suitable control routine; Decision is applied to result of calculation the application site decision parts 11108 at which position of the length direction of steel plate 1151.Temperature deviation correction calculating unit 11105 is obtained during being provided with the Tf of supposition and by the difference delta Tf of the Tf that goes out 1155 detections of milling train one side thermometer before the cooling, obtains the influence coefficient of the layering that is equivalent to current state from the first influence coefficient table 11101 and the 3rd influence coefficient table 11103
Figure A20071000739000361
Figure A20071000739000362
By following computing, calculate the change amount of control routine.
[expression formula 20]
Δ n 2 = G 2 · ( Δn / ∂ Tf ) · ΔTf
= G 2 · { 1 / ( ∂ Tc / Δn ) } · ( ∂ Tc / ∂ Tf ) · ΔTf
, Δ n2: based on the control routine variable quantity of temperature deviation FF control before the cooling
G2: constant (temperature deviation FF ride gain before the cooling)
Figure A20071000739000365
The influence coefficient of the corresponding layering of extracting out from the 3rd influence coefficient table 11103
Δ Tf: go out milling train one side temperature deviation
The Δ n2 that calculates is to using 11108 outputs of position decision parts.
Figure 28 represents the processing of application site decision parts 11108.Here, to steel plate 1151, as shown in figure 29, at length direction definition phase 11601.In the example of figure, to the steel plate rear end, define n section from the steel plate front end, give segment number respectively.Promptly give 1, below give n the section of steel plate rear end to the section of steel plate front end.In S115-1, obtain out the segment number that milling train one side thermometer 1155 is provided with the position.Here the segment number that obtains is i.The control device of iron and steel system calculates the trace information of steel plate 1151 usually, uses in various uses.Promptly calculate starting position (length of coming out from milling train 157), the terminal position of steel plate 1151 periodically, so, can determine the segment number that milling train one side thermometer 1155 is provided with the position from this information and the relation that goes out the installation site of milling train one side thermometer 1155.Then, in S115-2, obtain the output Δ n2 of the preceding temperature deviation correction calculating unit 11105 of cooling.Then, S115-3, in S115-1, obtain go out the segment number i registration Δ n2 that milling train one side thermometer 1155 is provided with the position.Below, this value is (Δ n2) i.
Velocity deviation correction calculating unit 11106 with the some cycles starting, carries out the velocity deviation FEEDFORWARD CONTROL too.Be that velocity deviation correction calculating unit 11106 has:, calculate the velocity deviation correction calculating unit 11106 of the change amount of suitable control routine for the size of the steel plate speed that presets supposition when calculating with actual steel plate velocity deviation; Decision is applied to result of calculation the application site decision parts 11109 at which position of the length direction of steel plate 1151.The steel plate speed of supposition and the deviation delta V of actual speed during velocity deviation correction calculating unit 11106 is obtained and is provided with obtain the influence coefficient of the layering that is equivalent to current state from the first influence coefficient table 11101 and the second influence coefficient table 11102
Figure A20071000739000372
By following calculating, calculate the change amount of control routine.
[expression formula 21]
Δ n 3 = G 3 · ( Δn / ∂ V ) · ΔV
G 3 · { 1 / ( ∂ Tc / Δn ) } · ( ∂ Tc / ∂ V ) · ΔV
, Δ n3: based on the control routine variable quantity of plate speed deviation FF control
G3: constant (plate speed deviation FF ride gain)
Figure A20071000739000375
The influence coefficient of the corresponding layering of extracting out from the second influence coefficient table 11102
Δ V: plate speed deviation
The Δ n3 that calculates is to using 11109 outputs of position decision parts.
Figure 30 represents the processing of application site decision parts 11109.In S17-1, obtain the steel plate segment number of the steel plate of the intrusion position that is positioned at coiling cooling end 1153 and drain position from the trace information of steel plate 1151.Then in S17-2, need the section of the correction of control routine from the segment number decision that obtains, calculate the correction ratio of each section.The correction of steel plate segment number i can be calculated with following expression formula than Ri.
[expression formula 22]
Ri＝(i-I1)/(I2-I1)
, I1: the steel plate segment number of cooling device drain position
I2: the steel plate segment number of cooling device in-position
Then, in S17-3, obtain the output Δ n3 of velocity deviation correction calculating unit 11106.In S17-4, the correction ratio that calculates from Δ n3 and S17-2 calculates the control routine correction of each section, registers in the corresponding segment number.The correction amount n3 of steel plate segment number i can calculate with following expression formula.
[expression formula 23]
Δnri＝Δn 3×Ri
Below, the processing of description operation amount compound component 1125.Operational ton compound component 1125 calculates the operational ton of each steel plate section to Δ n1, (Δ n2) i, (Δ n3) the i addition of being calculated by coiling temperature deviation correcting part 121.Particularly, the output Ndi that calculates about the dynamic control section part 1120 of steel plate section i with expression formula 24.
[expression formula 24]
Ndi＝{Δn 1+(Δn 2)i+(Δn 3)i}
The correction that 1120 outputs of dynamic control section part are calculated according to this value, is revised the control routine of preset control section part 1110 outputs.
The above correction calculating based on dynamic control section part 1120 can be not in relation to whole steel plate sections to be carried out, and by being limited to the steel plate section of coiling cooling device 1153 as the cooling objects, carries out described processing, simplifies and calculates.
The example of the correction result when Figure 31 represents that dynamic control section part 1120 is revised the control routine of preset control section parts 1110 outputs.In the drawings, the control routine of steel plate part 5m～6m is modified to 10 from 12.In the present embodiment, each correction calculating unit 11104～11106 is with some cycles starting, but as starting method, consider steel plate 1151 from milling train 1157 come out certain-length each regularly.
Figure 32 represents the algorithm that water tank mode conversion parts 1130 are carried out.In S119-1, calculate by the distance L h of the steel plate 1151 under the cooling water tank from front end.Usually control device 1100 has such range information, uses with various purposes.In S119-2, judge that Lh is whether little than 0, hour, the corresponding cooling water tank of steel plate 1151 no shows so jump out processing, enters S119-6.When big, steel plate 1151 arrives corresponding cooling water tank, so in S119-3, extract the control routine corresponding with distance L h out.Promptly compare the steel plate part of Lh and Figure 21, extract the upper water box control routine and the lower header control routine at the position corresponding out with Lh.In S119-4, extract cooling water tank out from control routine and open and close pattern.Use the control routine of Figure 20 and the correspondence that cooling water tank opens and closes pattern, decision is opened to what cooling water tank of priority.In S119-5, use canned data in the cooling water tank priority list 1115, the cooling water tank that concrete decision is open, the switching of the corresponding cooling water tank of final decision.In S119-6, judge whether the computing about whole cooling water tanks finishes, when not finishing, repeat the processing of S119-1～S19-5, up to end.
In the present embodiment, with the cooling water tank number all be up and down 100 o'clock be that example describes, but as the water tank number, can be various numbers.In the present embodiment, smoothing unit 1112 is set, but also considers the abridged structure.
Further specify other embodiment.In the present embodiment, the output of cooling off preceding temperature deviation correcting part 1122 and velocity deviation correcting part 1123 in the result of calculation of dynamic control section parts 1120 is synthesized in expression with operational ton compound component 1125, after using this value to revise the output of preset control section part 1110, in the processing of water tank mode conversion parts 1130, the embodiment when the output of coiling temperature deviation correcting part 1121 being reflected in the switching of water tank.Figure 33 represents to handle structure.Operational ton compound component 1125 is by using the following computing of the output of cooling off preceding temperature deviation correcting part 1122 and velocity deviation correcting part 1123, and code is revised in generation.
[expression formula 25]
Ndi＝{(Δn 2)i+(Δn 3)i}
Then, the correction that 1120 outputs of dynamic control section part are calculated according to this value, is revised the control routine of preset control section part 1110 outputs.
Figure 34 represents the algorithm that water tank mode conversion parts 1130 are carried out.Among the S121-1, calculate by the distance L h of the steel plate 1151 under the cooling water tank from front end.Usually control device 1100 has such range information, uses with various purposes.In S121-2, judge that Lh is whether little than 0, hour, the corresponding cooling water tank of steel plate 1151 no shows so jump out processing, enters S121-7.When big, steel plate 1151 arrives corresponding cooling water tank, so in S121-3, extract the control routine corresponding with distance L h out.Promptly compare the steel plate part of Lh and Figure 21, extract the upper water box control routine and the lower header control routine at the position corresponding out with Lh.In S121-4, extract cooling water tank out from control routine and open and close pattern.Use the control routine of Figure 20 and the correspondence that cooling water tank opens and closes pattern, decision is opened to what cooling water tank of priority.In S121-5, use canned data in the cooling water tank priority list 1115, the cooling water tank that concrete decision is open.Then, in S121-6,,, carry out processing that the water tank state is put upside down, the switching of this cooling water tank of final decision by the number corresponding with Δ n3 from checking switching in order near the water tank of downcoiler 1154.In S121-7, judge whether the calculating about whole cooling water tanks finishes, when not finishing, repeat the processing of S121-1～S121-6, up to end.
According to present embodiment, by switching, eliminate the coiling temperature deviation near the water tank of downcoiler 1154, so can improve the response of FEEDBACK CONTROL, can shorten the time of elimination deviation.
Further specify other embodiment.In the present embodiment, expression is carried out the situation of the adjustment of water-cooled model or air cooling model as the service of factory's maker from long-range use internet.Figure 35 represents all structures of system.Maker is got from the speed of the coiling temperature that obtains of control object 1150, the water tank pattern corresponding with it, steel plate 1151, the real data that goes out milling train one side temperature etc. or thickness of slab, plate mainly information such as wide control device 1100 server 12204 of our company by network 12211, server 12210, line network 12203.Store into then and adjust with in the database 12205.Maker 12202 has model adjustment component 12206, according to requirement from iron company 12201, use the data of adjusting with storage in the database 12205, hr, the hw that describes among the embodiment before carrying out, the corrected Calculation of λ send to iron company 12201 to result of calculation.Corrected Calculation is known variety of way as example of expression among " carrying out the structure and mode of learning of the adjustment neutral net that model adjusts with high accuracy " (electric paper magazine D of association, put down in April, 7 number).The equivalence that model is adjusted can be corresponding with the adjustment number of times, also can be the corresponding achievement remuneration of control result that improves with the result who adjusts.
Can be widely used in the cooling control of hot rolling line.
Further specify other embodiment.For easy understanding, the symbol of giving accompanying drawing in conceptive use describes.Have: target volume around the priority of the velocity mode of temperature, steel plate and cooling device as input information, use plate temperature presumption model, calculate the preset control section part (2110) of the control routine corresponding with the command value of the cooling device of realizing required coiling temperature; The dynamic control section part (2120) of calculating correction of the control routine of preset control section part output in cooling control; Also have computing, calculate the adaptation control assembly (2116) of target volume around the correction of temperature by the operational ton that uses dynamic control section part (2120) to calculate.Have at dynamic control section part (2120): being used for compensating the coiling temperature deviation correcting part (21104) that target volume is calculated as the correction of control routine from the switching of the water tank of the deviation of the coiling temperature of steel plate detection around temperature and cooling control; Temperature deviation correcting part (21105) before the cooling that the switching of the water tank of the deviation of temperature is calculated as the correction of described control routine before the cooling that temperature before the cooling that is used for compensating the steel plate that presets when control supposition and cooling control are detected from steel plate; The velocity deviation correcting part (21106) of the switching that is used for compensating the water tank that presets steel plate speed of supposing when controlling and the steel plate velocity deviation of cooling off control as the correction calculating of described control routine; Adapt to leading section and stabilizers that control assembly (2116) is conceived to steel plate, by the computing of using coiling temperature deviation correcting part (21104), the preceding temperature deviation correcting part (21105) of cooling, velocity deviation correcting part (21106) output separately, calculate leading section correction temperature and the stabilizers correction temperature of target volume around temperature.Also have: from target volume around temperature with revise the target temperature correcting part (2117) of the actual target volume of calculating, using of temperature computation dynamic control section part (2120) around temperature.And, each position that has the steel plate length direction is provided, control routine with control routine correction preset control section part (2110) output of dynamic control section part (2120) output, calculate final control routine, this control routine is transformed to the coiling temperature control device (2100) of refrigerating mode transform component (2140) of the output mode of cooling device.
In the i.e. coiling of the steel plate after the hot rolling control,, can both obtain high-precision coiling temperature no matter at which position of steel plate length direction.As a result, can improve the composition quality of steel plate, can obtain simultaneously near smooth steel plate shape.
Among Figure 36, control device 2100 (perhaps being called coiling temperature control device 2100) receives various signals from control object 2150, to control object 2150 output control signals.The structure of control object 2150 at first, is described.In the present embodiment, control object 2150 is coiling temperature control lines of hot rolling,, reels with downcoiler 2154 steel plate 2151 coolings by 900 ℃～1000 ℃ rolling temperature of the milling train 2157 of roll mill 2152 with coiling cooling device 2153.Coiling cooling end 2153 the top cooling device 2158 of water-cooled above the steel plate 2151 is set and below the steel plate 2151 the bottom cooling device 2159 of water-cooled, each cooling device has the storehouse 2161 of the cooling water tank of emitting water 2160 of a plurality of combination somes respectively.In the present embodiment, be that example describes with the operational order of each cooling water tank 2160 when opening or closing.Go out the temperature of milling train one side thermometer 2155 instrumentations, the temperature before coiling thermometer 2156 instrumentations are reeled by downcoiler 2154 by roll mill 2152 rolling steel plates afterwards.The temperature controlled purpose of reeling be make by the temperature of coiling thermometer 2156 instrumentations consistent with target temperature.In the present embodiment, with target temperature each position, be that example describes when being set at different value, but can be irrelevant, for necessarily with the position according to the web length direction.
The structure of then representing coiling temperature control device 2100.Coiling temperature control device 2100 has: before steel plate 2151 coolings, calculate the preset control section part 2110 of the control routine corresponding with the switching pattern of each cooling water tank 2160 with coiling cooling device 2153; By coiling cooling device 2153 during, in cooling control, obtain out the reality of the mensuration temperature etc. of milling train one side thermometer 2155, coiling thermometer 2156 in real time, the dynamic control section part 2120 of change control routine steel plate 2151 cooling; Control routine is transformed to the water tank mode conversion parts 2140 of the switching pattern of each cooling water tank 2160.Constitute by the preset information transferring elements 2118 of constant necessary in the constant that preset control section part 2110 is used 2120 outputs of dynamic control section part.Preset information transferring elements 2118 at least the target volume of steel plate around the speed program of temperature, steel plate, go out milling train side plate temperature to 2120 outputs of dynamic control section part.
Following set the switching pattern of each cooling water tank 2160 is called the water tank pattern.Preset control section part 2110 is obtained information from target volume around thermometer 2112, velocity mode table 2113, cooling water tank priority list 2114, by using the computing of plate temperature presumption model 2115, calculates the water tank pattern.In addition, dynamic control section part 2120 has: use the detected temperatures from coiling thermometer 2156, calculate the coiling temperature deviation correcting part 2121 of the switching number of the necessary water tank of deviation of revising it and target temperature; Use is from the detected temperatures that goes out milling train one side thermometer 2155, calculate revise it and preset the cooling of control switching number of the necessary water tank of deviation that milling train one side temperature of supposition when calculating before temperature deviation correcting part 2122; Calculate the speed of steel plate 2151 from the rotary speed of milling train 2157 or downcoiler 2154, calculate the corrected Calculation result and preset the velocity deviation correcting part 2123 of control switching number of the necessary water tank of steel plate velocity deviation of supposition when calculating.Also have: the influence coefficient table 2124 that uses during these calculate; Be conceived to each position of steel plate length direction, the result of calculation of temperature deviation correcting part 2122, velocity deviation correcting part 2123 is calculated the operational ton compound component 2125 of the output of dynamic control section part 2120 before synthetic coiling temperature deviation correcting part 2121, the cooling.
Figure 37 represents the structure of target volume around thermometer 2112.Represent correspondingly,, give the example of different target temperatures in the steel plate length direction the target temperature layering with the kind (steel grade) of steel plate.Be the leading section of steel plate and the different target temperature of every 5m of rearward end preseting length direction, becoming the steel plate central portion of equilibrium temperature, set the target temperature different with the end, front and back.As a result, consider the coiling to downcoiler 2154, the fine setting that the steel plate front end is controlled to be a little the target temperature of high temperature becomes possibility.Preset control section part 2110 (perhaps being also referred to as front end preset control section part 2110) is judged the steel grade of this coiled material, extracts corresponding target temperature pattern from target volume out around thermometer 2112.
Figure 38 represents the structure of velocity mode table 2113.Wide for steel grade, thickness of slab, plate, be layered as: the front end of steel plate 2151 comes out from milling train 2157, the speed (initial velocity) before being reeled by downcoiler 2154; Then, the stabilized speed after anxious the acceleration; The anxious deceleration before coming out from milling train 2157 in the rear end of steel plate 2151 is by the speed (speed tailend) before downcoiler 2154 coilings.Preset control section part 2110 judges that steel grade, thickness of slab, the plate of this coiled material are wide, extracts corresponding velocity mode out from speed pattern list 2113.For example represent that steel grade is SUS304, thickness of slab 3.0～4.0mm, plate is wide when being 1200mm, sets initial velocity 150mpm, stabilized speed 150mpm, tailend speed 150mpm.
Figure 39 represents the structure of cooling water tank priority list 2114.Below, with water tank to add up at 100 o'clock be that example describes.Figure 40 gives 1～100 priority to the open ended sequential of 100 water tanks, for steel grade, thickness of slab, water tank classification (upper water box or lower header), the order of the cooling water tank that memory priority is open.Consider that cooling effectiveness, surface and inner allowable temperature are poor, determine priority.When for example steel plate 2151 approaches, be difficult to produce temperature difference on surface and inside, so consideration cooling effectiveness, the preferential water tank of opening near the side of coming out of the high milling train 2157 of the temperature of steel plate 2151, when steel plate 2151 is thick, utilization is based on the backflow of air cooling, and for surface and temperature inside difference are suppressed in the scope of permissible value, the water tank of opening is as far as possible given priority discontinuously.Exist by water-cooled and air cooling are mixed, sacrifice cooling effectiveness a little, the surface and the temperature inside that suppress steel plate 2151 are poor.The control cooling water tank, thus only opening can realize the quantity of target volume around temperature.To storehouse, cooling water tank, give numbering by order, for example first cooling water tank in (1,1) expression first storehouse near milling train 2157.In the drawings, the expression steel grade is SUS304, and thickness of slab is 2.0～3.0mm, when cooling water tank is categorized as upper water box, with (1,1), (1,2), (1,3), (1,4), (1,5), (2,1) ..., (20,4), (20,5) order preferentially open.Promptly because thin plate, thus consider cooling effectiveness, preferentially open in order from the come out water tank of a side of milling train 2157.In addition, steel grade is SUS304, and thickness of slab is 5.0～6.0mm, when cooling water tank is categorized as upper water box, with (1,1), (1,4), (2,1), (2,4), (3,1), (3,4) ..., (20,3), (20,5) order preferentially open.Represent that promptly steel plate 2151 is thick slightly, so open water tank is given priority discontinuously.In the present embodiment, the priority of upper water box and lower header is identical, but also can give different priority.
The water tank pattern is by the control routine performance of correspondence.Figure 40 represents the control routine of preset control section part 2110 outputs and the correspondence that cooling water tank opens and closes pattern.Control routine 0 is a standard-sized sheet, and 100 is complete shut-down.Below, carry out control routineization, thereby the water tank switching pattern of having only the cooling water tank of priority 1 to open being 1, the water tank switching pattern that priority 1 and two cooling water tanks of 2 are opened is 2 ...2140 outputs of 2110 pairs of water tank mode conversions of preset control section part parts and so corresponding control routine of cooling water tank switching pattern.The control routine that is the state opened of whole cooling water tanks is 0, and all the control routine of cooling water tank closing state is 100 (100 are the last or sums of cooling water tank down).And, if steel grade is SUS304, thickness of slab is 2.0～3.0mm, when cooling water tank is categorized as upper water box, just according to the priority of water tank, the state that has only (1,1) to open is a control routine 99, the state that open (1,1), (1,2) is a control routine 98, and the state that open (1,1), (1,2), (1,3) is a control routine 97, uses this main points, below give control routine to the open mode of water tank, the control routine 0 of the state of opening up to whole water tanks.
Figure 41 represents the algorithm that preset control section part 2110 is carried out.According to the value that in S26-1, obtains from speed pattern list 2113, calculating be used for from initial velocity transfer to stabilized speed the acceleration starting position, be used for transferring to the deceleration starting position of speed tailend from stabilized speed, calculate to go out milling train 2157 from steel plate 2151 and begin the velocity mode that finishes to coiling with downcoiler 2154.Respectively can calculate acceleration starting position Saccp, acceleration end position Saccq, deceleration starting position Sdccp, deceleration end position Sdccq with the expression formula 26～expression formula 29 shown in following.
[expression formula 26]
Saccp＝Lmd
, Lmd: 2154 distance from milling train 2157 to downcoiler.
[expression formula 27]
Saccq＝Saccp+(Smid-Sstart)*(Smid+Start)/(Saccrate*2)
, Sstart: the initial velocity of steel plate 2151
Smid: the stabilized speed of steel plate 2151
Saccrate: rate of acceleration from the initial velocity of steel plate 2151 to stabilized speed
[expression formula 28]
Sdccp＝Lstrip-(Smid-Send)*(Smid+Send)/(Sdccrate*2)-Lmargin
, Lstrip: the length of steel plate 1151
Send: speed tailend of steel plate 1151
Sdccrate: the rate of deceleration from steel plate 1151 stabilized speeies to speed tailend
Lmargin: the afterbody of expression steel plate 1151 leaves and reaches the boundary which kind of degree front reduction gear finishes
[expression formula 29]
Sdccq＝Lstrip-Lmargin
According to the velocity mode that calculates, after S26-2, calculate the realization target volume with the computing of using plate temperature presumption model 2115 and change around the time of the water tank pattern of temperature.In the present embodiment, the example of water tank pattern is calculated in expression according to the anti-interpolation of linearity.
About each position of steel plate 2151, definition clips two control routine nL, nH of the control routine of separating in S26-2.Here, between the standard-sized sheet of cooling water tank and complete shut-down, exist and separate, thus be nL=0 without exception, nH=0.Here, be accompanied by the increase of control routine, the cooling water tank opened merely reduces, so during n1＜n2, about coiling temperature T c1, the Tc2 corresponding with these water tank patterns, Tc1＜Tc2 sets up.Follow in S16-3 the average out to n0 of nL and nH.In S26-4, calculate the coiling temperature T c0 corresponding then with control routine n0.S26-4 reels to downcoiler from going out milling train about each position of the length direction of control object 2150 (perhaps being also referred to as steel plate 2150), and the temperature estimation that calculates continuously according to plate temperature presumption model 2115 calculates, and infers the coiling temperature.In S26-5, judge to infer coiling temperature T c0 with respect to the symbol of target volume around temperature T target, when Tc0＞Ttarget, between n0 and nL, exist and separate, so n0 is placed on nH.On the contrary, when Tc0＜Ttarget, between n0 and nH, exist and separate, so n0 is placed on nL.In S26-6, the termination condition of decision algorithm when not satisfying, repeats S26-3～S26-5.The end of algorithm repeating more than certain number of times of S25-3～S25-5 finish, coiling temperature estimation Tc and target volume around the deviation of temperature T target be below the certain value, n0 is consistent with condition with among nH, the nL any one, judge.
As the control routine adding method, all cooling water tank is that the control routine of closed condition is 0, and all cooling water tank is that the control routine of open mode is 100, and is even correspondence is given therewith, also identical.
Figure 42 represents the details that the temperature estimation corresponding with S26-4 calculates.As the temperature estimation computing, expression is cut apart steel plate 2151 at length direction and thickness direction, the example of the so-called calculus of finite differences of advancing that the time advances, calculates with certain scale Δ.Update calculation is calculated the plate speed Vt in the corresponding moment from the velocity mode that generates constantly among the S26-1 of Figure 26 in S27-1.In S27-2, use the plate speed of calculating, calculate milling train length.Going out milling train length L n is rolling end, and the length of the steel plate that comes out from milling train can be calculated with expression formula., Ln-1 is the former length of coming out constantly.
[expression formula 30]
Ln＝Ln-1+Δ·Vt
In S27-3, judge the end of calculating.Go out milling train length L n than the total length of steel plate 2151 and milling train 2157 to the time downcoiler 2154 distances and big, the coiling temperature prediction corresponding with coiled material calculates and is all over, so computing finishes.When computing does not finish, in S27-4, carry out the temperature of steel plate and follow the tracks of.Promptly from the relation of Ln and Ln-1 know for before the position of steel plate in the moment, through behind the delta time, steel plate has advanced what, so carry out the only processing of the distance of mobile correspondence of the Temperature Distribution of steel plate.In S27-5, the steel plate 2151 of discharging from milling train is set the guess value of the steel billet temperature before cooling off between Δ.In S27-6, judge that from the switching information of the water tank corresponding each position is water-cooled or air cooling with each position of steel plate 2151.When water-cooled, in S27-7, calculate the coefficient of heat conduction according to expression formula 31.
[expression formula 31]
hw＝9.72*10 5*ω 0.355*{(2.5-1.15*logTw)*D/(pl
*pc)} 0.646/(Tsu-Tw)
, ω: water yield density
Tw: water temperature
D: nozzle diameter
Pl: the nozzle of line direction at interval
Pc: with the nozzle interval of line orthogonal direction
Tsu: the surface temperature of steel plate 2151
Coefficient of heat conduction when expression formula 31 is the cooling of so-called thin plate.As water-cooling method, there is spraying cooling etc. various in addition, know the calculating formula of several coefficients of heat conduction.
And during air cooling,, calculate the coefficient of heat conduction according to expression formula 32.
[expression formula 32]
hr＝σ·ε[{(273+Tsu)/100} 4-{(273+Ta)/100} 4]
/(Tsu-Ta)
, σ: stefan boltzmann's constant (=4.88)
ε: emissivity
Ta: air themperature (℃)
Tsu: the surface temperature of steel plate 2151
About the surface and the back side of steel plate 2151, expression formula 31 and expression formula 32 are calculated respectively.Then, according to the temperature before the process Δ, the temperature at each position of steel plate 2151 is calculated in moving of the heat between the plus-minus Δ.If in the time of ignoring thickness direction hot mobile of steel plate 2151,, just can calculate like that by expression formula 33 about each position of the length direction of steel plate 2151.
[expression formula 33]
Tn＝Tn-1-(ht+hb)*Δ/(ρ*C*B)
, Tn: present plate temperature
Tn-1: the plate temperature before the Δ
Ht: the coefficient of heat conduction of surface of steel plate
Hb: the coefficient of heat conduction at the steel plate back side
ρ: the density of steel plate
C: the specific heat of steel plate
B: steel plate thickness
In addition, when being necessary to consider the heat conduction of thickness direction of steel plate 2151, can calculate by finding the solution the heat equation of knowing.Heat equation is by expression formula 34 expressions, and the method for it being carried out Difference Calculation with computer discloses in various documents.
[expression formula 34]
∂ T / ∂ t = { λ / ( ρ * C ) } ( ∂ 2 T / ∂ t 2 )
, λ: pyroconductivity
T: material temperature
Then, in S7-10, calculate the Zone Full of the steel plate 2151 from milling train 2157 to downcoiler in 2154 the line before the end, repeat S26-6～S27-9.In addition, in S27-3, judge before the end of calculating, repeat S27-1～S27-9.
Figure 43 represents an example based on the variation of the optimal treatment of Figure 41 of the control routine of among the S26-3 each position of steel plate 2151 being given.In handling for the first time, be that (nL=0, processing nH=100) is so shown in the processing first time of Figure 43, at the Zone Full of steel plate 2151, give 50 to identical initial value at each position.In handling for the second time, bigger or little than Ttarget for control routine 50 according to predicting the outcome of the coiling temperature T c0 at each position of steel plate 1151, the control routine difference of giving.In the present embodiment, expression is that the front end of the steel plate 2151 of low speed, the partial update of rear end are the control routine of closing the direction of water tank near steel plate speed, and steel plate speed is updated to the example of the control routine of opening the water tank direction for the central portion of steel plate 2151 at a high speed.Particularly, shown in handling Figure 43 for the second time, leading section, rearward end in the S26-5 of primary processing, be updated to the result of nL=50, nH=100 average for control routine is updated to 75.And being updated to the result of nL=0, nH=50 in the S26-5 of primary processing, central portion is updated to 25 for control routine.By S26-3～S26-6 of such repetition Figure 41, upgrade control routine successively.
Figure 44 represents the example of the control routine of preset control section part 2110 final outputs.In the example of figure, steel plate 2151 is corresponding with the distance from front end, with 1m unit, is divided into grid, and is corresponding with grid, distributes control routine.Cooling device is corresponding with the surface and the back side of steel plate, has top cooling device 2158 and bottom cooling device 2159, thus as control routine, corresponding with upper water box and lower header, output respectively.In the drawings, expression is about the length direction of steel plate 2151, is 95 from the control routine of the upper water box of front end 1m, and the control routine of lower header is 95, and between 500m～501m, the control routine of upper water box is 14, and the control routine of lower header is 14.In Figure 43, identical with the control routine of corresponding upper water box in the same position of steel plate 2151 and lower header, but also can set different control routines.
Figure 45 represents the structure of dynamic control section part 2120.The control routine of preset control section part 2110 output is by dynamic control section part 2120, when actual cooling metal sheets 2151, revises in real time.Dynamic control section part 2120 has: use the detected temperatures from coiling thermometer 2156, revise the coiling temperature deviation correcting part 2121 of the deviation of it and target temperature; Use is from the detected temperatures that goes out milling train one side thermometer 155, revise it with the cooling of presetting control supposition when calculating before temperature deviation correcting part 2122 before the cooling of deviation of temperature; Calculate the speed of steel plate 2151 from the rotary speed of milling train 2157 or downcoiler 2154, the velocity deviation correcting part 2123 of corrected Calculation result and the steel plate velocity deviation supposed when presetting the control computing.The influence coefficient table 2130 that uses during the calculating that also has correction.The summation of correction is scaled the variable quantity of control routine by operational ton compound component 2125 by each position of the length direction of steel plate 2151, from dynamic control assembly 2120 outputs.
Below, describe the action at each position in detail.Influence coefficient table 2130 have storage with respect to the first influence coefficient table 21001 of the coiling variations in temperature of the variation of control routine, storage with respect to the second influence coefficient table 21002 of the coiling variation of temperature of the variation of steel plate speed, storage with respect to cooling before the 3rd influence coefficient table 21003 of coiling variations in temperature of variation of temperature.
Figure 46 represents the structure of the first influence coefficient table 21001.In the first influence coefficient table 21001, the pairing numerical value of variable quantity of the coiling temperature T c when opening or closing a cooling water tank 2160
Figure A20071000739000481
By thickness of slab, plate speed, control routine layering storage.In the example of figure, the expression thickness of slab is below 3mm, and the speed of steel plate 2151 is below 150mpm, and control routine n is 9 when following, If open or close a cooling water tank 2160, then descend or rise 3 ℃ by the coiling temperature T c of coiling thermometer 2156 instrumentations.Also can reduce the layering project, also consider to append the preceding temperature of cooling.
Figure 47 represents the structure of the second influence coefficient table 21102.In the second influence coefficient table 21002, the pairing numerical value of variable quantity of the coiling temperature T c during increase of the speed of steel plate 2151 or minimizing 1mpm
Figure A20071000739000483
By thickness of slab, plate speed, control routine layering storage.In the example of figure, the expression thickness of slab is below 3mm, and the speed of steel plate 2151 is below 150mpm, and control routine n is 9 when following, If the speed of steel plate 2151 is increased or reduces 1mpm, then descend or rise 2.2 ℃ by the coiling temperature T c of coiling thermometer 2156 instrumentations.Can reduce the layering project too, also consider to append the preceding temperature of cooling.
Figure 48 represents the structure of the 3rd influence coefficient table 21103.In the 3rd influence coefficient table 21003, increase by temperature before the cooling of the steel plate 2151 that goes out milling train one side thermometer 2155 instrumentations or when reducing 1 ℃ the pairing numerical value of variable quantity of coiling temperature T c
Figure A20071000739000492
By thickness of slab, plate speed, control routine layering storage.In the example of figure, the expression thickness of slab is below 3mm, and the speed of steel plate 2151 is below 150mpm, and control routine n is 9 when following,
Figure A20071000739000493
Before the cooling during high or low 1 ℃ of the instrumentation value of temperature, descend or rise 0.9 ℃ by the coiling temperature T c of coiling thermometer 2156 instrumentations.Can reduce the layering project too, also consider to append the preceding temperature of cooling.
Below, the processing of coiling temperature deviation correcting part 2121 is described.Coiling temperature deviation correcting part 2121 is with the some cycles starting, and the temperature of reeling FB controls.The temperature deviation correcting part 2121 of promptly reeling has: for the deviation size of coiling temperature with respect to target temperature, calculate the coiling temperature deviation correction calculating unit 21004 of the change amount of suitable control routine.Coiling temperature deviation correction calculating unit 21004 is obtained when being provided with the Tc of supposition and by the difference of the Tc of coiling thermometer 2156 instrumentations, is obtained the influence coefficient of the layering that is equivalent to current state from the first influence coefficient table 21001
Figure A20071000739000494
By following computing, calculate the change amount of control routine.
[expression formula 35]
Δn 1 = G 1 · { 1 / ( ∂ Tc / Δn ) } · ΔTc
, Δ n1: based on the control routine variable quantity of coiling temperature FB control
G1: constant (coiling temperature FB ride gain)
Figure A20071000739000496
The influence coefficient of the corresponding layering of extracting out from the first influence coefficient table 21001
Δ Tc: coiling temperature deviation
And temperature deviation correcting part 2122 cools off preceding temperature deviation FEEDFORWARD CONTROL too with the some cycles starting before the cooling.Promptly temperature deviation correcting part 2122 has before the cooling: for temperature before the cooling of presetting supposition when calculating with by the size that goes out the deviation that goes out milling train one side temperature that milling train one side thermometer 2155 detects, calculates the preceding temperature deviation correction calculating unit 21005 of cooling of the change amount of suitable control routine; Decision is applied to result of calculation the application site decision parts 21008 at which position of the length direction of steel plate 2151.Temperature deviation correction calculating unit 21005 is obtained during being provided with the Tf of supposition and by the difference delta Tf of the Tf that goes out 2155 detections of milling train one side thermometer before the cooling, obtains the influence coefficient of the layering that is equivalent to current state from the first influence coefficient table 21001 and the 3rd influence coefficient table 21003
Figure A20071000739000502
By following calculating, calculate the change amount of control routine.
[expression formula 36]
Δn 2 = G 2 · ( Δn / ∂ Tf ) · ΔTf
= G 2 · { 1 / ( ∂ Tc / Δn ) } · ( ∂ Tc / ∂ Tf ) · ΔTf
, Δ n2: based on the control routine variable quantity of temperature deviation FF control before the cooling
G2: constant (temperature deviation FF ride gain before the cooling)
Figure A20071000739000505
The influence coefficient of the corresponding layering of extracting out from the 3rd influence coefficient table 21003
Δ Tf: go out milling train one side temperature deviation
The Δ n2 that calculates is to using 21008 outputs of position decision parts.
Figure 49 represents the processing of application site decision parts 21008.Here, to steel plate 1151, as shown in figure 50, at length direction definition phase 21501.In the example of figure, to the steel plate rear end, define n section from the steel plate front end, give segment number respectively.Promptly give 1, below give n the section of steel plate rear end to the section of steel plate front end.In S214-1, obtain out the segment number that milling train one side thermometer 2155 is provided with the position.Here the segment number that obtains is i.The control device of iron and steel system calculates the trace information of steel plate 2151 usually, uses in various uses.Promptly calculate starting position (length of coming out from milling train 2157), the terminal position of steel plate 2151 periodically, so, can determine the segment number that milling train one side thermometer 2155 is provided with the position from this information and the relation that goes out the installation site of milling train one side thermometer 2155.Then, in S214-2, obtain the output Δ n2 of the preceding temperature deviation correction calculating unit 21005 of cooling.Then, S214-3, in S214-1, obtain go out the segment number i registration Δ n2 that milling train one side thermometer 2145 is provided with the position.Below, this value is (Δ n2) i.
Velocity deviation correction calculating unit 21006 with the some cycles starting, carries out the velocity deviation FEEDFORWARD CONTROL too.Be that velocity deviation correction calculating unit 21006 has:, calculate the velocity deviation correction calculating unit 21006 of the change amount of suitable control routine for the size of the steel plate speed that presets supposition when calculating with actual steel plate velocity deviation; Decision is applied to result of calculation the application site decision parts 21009 at which position of the length direction of steel plate 2151.The steel plate speed of supposition and the deviation delta V of actual speed during velocity deviation correction calculating unit 21006 is obtained and is provided with obtain the influence coefficient of the layering that is equivalent to current state from the first influence coefficient table 21001 and the second influence coefficient table 21002 By following calculating, calculate the change amount of control routine.
[expression formula 37]
Δn 3 = G 3 · ( Δn / ∂ V ) · ΔV
= G 3 · { 1 / ( ∂ Tc / Δn ) } · ( ∂ Tc / ∂ V ) · ΔV
, Δ n3: based on the control routine variable quantity of plate speed deviation FF control
G3: constant (plate speed deviation FF ride gain)
Figure A20071000739000515
The influence coefficient of the corresponding layering of extracting out from the second influence coefficient table 21002
Δ V: plate speed deviation
The Δ n3 that calculates is to using 21009 outputs of position decision parts.
Figure 51 represents the processing of application site decision parts 21009.In S216-1, obtain the steel plate segment number of the steel plate of the intrusion position that is positioned at coiling cooling end 2153 and drain position from the trace information of steel plate 2151.Then in S216-2, need the section of the correction of control routine from the segment number decision that obtains, calculate the correction ratio of each section.The correction of steel plate segment number i can be calculated with following expression formula than Ri.
[expression formula 38]
Ri＝(i-I1)/(I2-I1)
, I1: the steel plate segment number of cooling device drain position
I2: the steel plate segment number of cooling device in-position
Then, in S217-3, obtain the output Δ n3 of velocity deviation correction calculating unit 21006.In S216-4, the correction ratio that calculates from Δ n3 and S216-2 calculates the control routine correction of each section, registers in the corresponding segment number.The correction amount n3 of steel plate segment number i can calculate with following expression formula.
[expression formula 39]
Δnri＝Δn3×Ri
Below, the processing of description operation amount compound component 2125.Operational ton compound component 2125 calculates the operational ton of each steel plate section to Δ n1, (Δ n2) i, (Δ n3) the i addition of being calculated by coiling temperature deviation correcting part 2121.Particularly, the output Ndi that calculates about the dynamic control section part 2120 of steel plate section i with expression formula 40.
[expression formula 40]
Ndi＝{Δn1+(Δn2)i+(Δn3)i}
The correction that 2120 outputs of dynamic control section part are calculated according to this value, is revised the control routine of preset control section part 1110 outputs.
The above correction computing based on dynamic control section part 2120 can be not in relation to whole steel plate sections to be carried out, and by being limited to the steel plate section of coiling cooling device 1153 as the cooling object, carries out described processing, simplifies and calculates.
The example of the correction result when Figure 52 represents that dynamic control section part 2120 is revised the control routine of preset control section parts 2110 outputs.In the drawings, the control routine of steel plate part 5m～6m is modified to 10 from 12.In the present embodiment, each correction calculating unit 21004～21006 is with some cycles starting, but as starting method, consider steel plate 1151 from milling train 157 come out certain-length each regularly.
Figure 53 represents the algorithm that water tank mode conversion parts 2140 are carried out.In S218-1, calculate by the distance L h of the steel plate 2151 under the cooling water tank from front end.Usually control device 2100 has such range information, uses with various purposes.In S218-2, judge that Lh is whether little than 0, hour, the corresponding cooling water tank of steel plate 2151 no shows so jump out processing, enters S218-6.When big, steel plate 2151 arrives corresponding cooling water tank, so in S218-3, extract the control routine corresponding with distance L h out.Promptly compare the steel plate part of Lh and Figure 53, extract the upper water box control routine and the lower header control routine at the position corresponding out with Lh.In S218-4, extract cooling water tank out from control routine and open and close pattern.Use the control routine of Figure 52 and the correspondence that cooling water tank opens and closes pattern, decision is opened to what cooling water tank of priority.In S218-5, use canned data in the cooling water tank priority list 2114, the cooling water tank that concrete decision is open, the switching of the corresponding cooling water tank of final decision.In S218-6, judge whether the calculating about whole cooling water tanks finishes, when not finishing, repeat the processing of S218-1～S218-5, up to end.
In the present embodiment, with the cooling water tank number all be up and down 100 o'clock be that example describes, but as the water tank number, can be various numbers.
Figure 54 represents to adapt to the structure of control assembly 2116.Adapt to control assembly 2116 by constituting with the lower part: the front end that the target temperature of the leading section of steel plate 2151 is adapted to processing adapts to control assembly 21901; The stable adaptation control assembly 22002 that the target temperature of stabilizers is adapted to processing; Front end is adapted to control assembly 21901 and the stable output that adapts to control assembly 21902 is synthetic, calculate, output to the correction temperature compound component 1903 of the final correction of the target temperature pattern of steel plate length direction.
Figure 55 represents that front end adapts to the contents processing of control assembly 21901.In S220-1, after the cooling control beginning to steel plate 2151, judgement is initial coiling FB control timing.When initial coiling FB controls regularly, in S220-2, obtain coiling temperature deviation correcting part 21004, the preceding temperature deviation correcting part 21005 of cooling, output Δ n1, the Δ n2 of velocity deviation correcting part 21006, Δ n3 respectively from operational ton compound component 2125.In S20-3, calculate adaptation controlled quentity controlled variable Δ nadap1.
[expression formula 41]
Δnadap1＝(G3-1)·Δn3+(G2-1)·Δn2+Δn1/G1
, G3: speed FF gain
G2: go out milling train one side temperature FF gain
G1: coiling temperature F B gain
Adapting to controlled quentity controlled variable Δ nadap1 is the value that the coiling departure of steel plate leading section is scaled the water tank number.Here, 3 on the right is to be used to eliminate the value of the operation water tank number of coiling temperature error divided by coiling temperature FB gain, and controlling uncompensated ratio with speed FF in the 1st influence that is equivalent to velocity variations, the result is equivalent to reel become the adaptation operational ton of the water tank number of compensation in the temperature FB control.In addition, the 2nd is equivalent to that use milling train one side temperature FF controls uncompensated ratio in the milling train one side Temperature Influence, and the result is equivalent to reel become the adaptation operational ton of the water tank number of compensation in the temperature FB control.From expression formula 41, Δ nadap1 is the water tank number that is equivalent to reel and has got rid of the velocity variations of steel plate in the deviation of temperature and gone out the value of the influence that milling train side plate temperature changes.Therefore, be to be equivalent at the steel plate leading section, do not simulate the degree of actual cooling phenomenon and the water tank number that presets departure that produces according to plate temperature presumption model, if preset this value of compensation in the control, just can improve and preset control accuracy in next time.In S220-4, store in use Δ nadap2 and the influence coefficient table
Figure A20071000739000531
Calculating is scaled the adaptation controlled quentity controlled variable Δ Tc1 of coiling temperature.
[expression formula 42]
ΔTc 1 = ( ∂ Tc / ∂ n ) · Δnadap 1 + Δ 1
, Δ 1: the leading section adaptive capacity that near steel plate is carried out
(calculated value of the last time of Δ Tc1)
Δ Tc1 is the front end target temperature correction to the target temperature plus-minus of leading section.
Figure 56 represents the stable contents processing that adapts to control assembly 21902.In S221-1, finish according to coiling to downcoiler 2154, judge that the coiling to steel plate 2151 finishes.After the coiling of steel plate 2151 finishes, in S221-2, obtain temperature deviation correcting part 21005, operational ton Δ n1, the Δ n2 of velocity deviation correcting part 21006, the control series of Δ n3 before coiling temperature deviation correcting part 21004 that the stabilizers of steel plate is carried out, cooling from operational ton compound component 2125.In S221-3, calculate adaptation controlled quentity controlled variable Δ nadap2.
[expression formula 43]
Δnadap2＝(1/N)∑{(G3-1)·Δn3+(G2-1)·Δn2+Δn1}
, G3: speed FF gain
G2: go out milling train one side temperature FF gain
N: the sample number of the control series that obtains
Adapting to controlled quentity controlled variable Δ nadap2 is the value that the coiling departure of the stabilizers of steel plate is scaled the water tank number.Here, 3 on the right is the operation water tank number that is used to eliminate the coiling temperature error, and controls uncompensated ratio with speed FF in the 1st influence that is equivalent to velocity variations, and the result is equivalent to reel become the adaptation operational ton of the water tank number of compensation in the temperature FB control.In addition, the 2nd is equivalent to that use milling train one side temperature FF controls uncompensated ratio in the milling train one side Temperature Influence, and the result is equivalent to reel become the adaptation operational ton of the water tank number of compensation in the temperature FB control.Stabilizers relates to the broad regions of steel plate length direction, thus obtain a plurality of Δ n1, Δ n2, Δ n3 with suitable sampling, average, improve the likelihood that adapts to control.The number of obtaining in expression formula 43 is N.In addition,, can obtain data at interval, can obtain by each certain-length of steel plate length direction with certain hour as sampling processing.In addition, as the stabilizers of the length direction of steel plate 2151, can in the scope corresponding, define with the target temperature pattern of Figure 37 with steel plate central authorities.From expression formula 43, Δ nadap2 is the water tank number that is equivalent to reel and has got rid of the velocity variations of steel plate in the deviation of temperature and gone out the value of the influence that milling train side plate temperature changes.Therefore, be to be equivalent in the steel plate stabilizers, do not simulate the degree of actual cooling phenomenon and the water tank number that presets departure that produces according to plate temperature presumption model, if preset this value of compensation in the control, just can improve and preset control accuracy in next time.In S221-4, store in use Δ nadap2 and the influence coefficient table
Figure A20071000739000541
Calculating is scaled the adaptation controlled quentity controlled variable Δ Tc2 of coiling temperature.
[expression formula 44]
ΔTc 2 = ( ∂ Tc / ∂ n ) · Δnadap 2 + Δ 2
, Δ 2: the leading section adaptive capacity that near steel plate is carried out
(calculated value of the last time of Δ Tc2)
Δ Tc2 is the front end target temperature correction to the target temperature plus-minus of leading section.
Target temperature correcting part 2117 is revised the target temperature of Figure 37 from Δ Tc1 and Δ Tc2.Promptly, revise the target temperature corresponding,, revise the target temperature corresponding with the steel plate central portion by plus-minus Δ Tc2 with the steel plate leading section by plus-minus Δ Tc1.According to necessity,, distribute the decision correction about the boundary vicinity of steel plate leading section and central portion according to Δ Tc1 and Δ Tc2.Promptly use expression formula 45 computed correction Δ Tc*.
[expression formula 45]
ΔTc*＝α·ΔTc1+(1-α)·ΔTc2
, α: allocation proportion (0≤α≤1)
, use for presetting in the calculating that the steel plate of next time carries out at preset control section part 2110 by the synthetic target temperature pattern of target temperature correcting part 2117.
Further specify other embodiment.Figure 57 represents to adapt to the example that control assembly 2116 uses Δ nadap1, the direct Correction and Control code of Δ nadap2.At this moment, adapt to Δ nadap1, the Δ nadap2 that calculates in 116 pairs of control routine correcting parts of control assembly, 22201 output expression formulas 41, the expression formula 43.Control routine correcting part 22201 is obtained the control routine row of preset control section part 110 outputs, by plus-minus Δ nadap1, revise and the control routine corresponding with the steel plate leading section, by plus-minus Δ nadap2, revise and the control routine corresponding, to 2140 outputs of water tank mode conversion parts with the steel plate central portion.Example and Figure 14 of the control routine row of preset control section part 2110 outputs are same.
Can be widely used in the cooling control of hot rolling line.

Claims (22)

1. coiling temperature control device, with the cooling device of the side setting of coming out of hot-rolling mill will by hot-rolling mill rolling steel plate cool off, the temperature of the steel plate before will being reeled by downcoiler is controlled at given target temperature, it is characterized in that, comprising:
The cooling water tank priority list, the dominance relation of the open ended sequential of a plurality of cooling water tanks that are provided with in the storage cooling device;
Plate temperature rating model is used to infer the coiling temperature of this steel plate;
Preset control section, with the combination of the switching of described cooling water tank is that the water tank pattern is corresponding with the control routine that the information of using this cooling water tank priority list generates, according to target volume around temperature and the information relevant with steel plate speed, use described plate temperature rating model to infer the coiling temperature, use the result who infers, calculating/output is used to realize that target volume is around the temperature controlling code;
Dynamic control section, the state of the steel plate in the observation cooling control, according to observed result, the change amount of this control routine of calculating/output; With
Water tank mode conversion portion will carry out revised result to this control routine that presets parts output by the control routine of dynamic control section part output and be transformed to the water tank pattern, and cooling device is exported.
2. coiling temperature control device according to claim 1 is characterized in that:
Described control routine is corresponded to, and the state that whole water tanks are opened is a maximum, and all the water tank closing state is a minimum of a value, is accompanied by the increase of control routine, and the guess value of described coiling temperature is dull to be reduced.
3. coiling temperature control device according to claim 1 is characterized in that:
Described control routine is corresponded to, and the state that whole water tanks are opened is a minimum of a value, and all the water tank closing state is a maximum, is accompanied by the increase of control routine, and the guess value of described coiling temperature is dull to be increased.
4. coiling temperature control device according to claim 3 is characterized in that:
Described dynamic control section has:
Coiling temperature deviation correction portion, the switching that will be used for compensating target volume water tank of the deviation between the detected coiling temperature from steel plate around temperature and cooling control is calculated as the correction of control routine;
Temperature deviation correction portion before the cooling, the switching that will be used for compensating the water tank of the deviation between the temperature before the detected cooling of steel plate of temperature and cooling control before the cooling of the steel plate that presets when control supposition is calculated as the correction of described control routine; With
The velocity deviation correction portion, the switching that will be used for compensating the water tank of the deviation between steel plate speed of supposing when presetting control and the steel plate speed of the cooling off control is calculated as the correction of described control routine.
5. coiling temperature control device according to claim 3 is characterized in that:
Described dynamic control section has: the 3rd influence coefficient table of the influence that variations in temperature is brought the coiling temperature before second influence coefficient table of the influence that the first influence coefficient table of the influence that the variation of storing described control routine brings the coiling temperature, the velocity variations of described steel plate bring the coiling temperature and the described cooling;
Described coiling temperature deviation correction portion, according to target volume around temperature and when control cooling from steel plate the deviation between the detected coiling temperature and from the obtained coefficient of the first influence coefficient table, calculate the correction of described control routine;
Temperature deviation correction portion before the described cooling, during according to speed before the cooling of the steel plate that presets when control supposition and cooling control before the detected cooling of steel plate the deviation between the speed, from the obtained coefficient of the first influence coefficient table, from the obtained coefficient of the 3rd influence coefficient table, calculate the correction of described control routine;
Described velocity deviation correction portion, according to the deviation between the steel plate speed in steel plate speed that presets when control supposition and the cooling control, from the obtained coefficient of the first influence coefficient table with from the obtained coefficient of the second influence coefficient table, calculate the correction of described control routine.
6. coiling temperature control device according to claim 3 is characterized in that:
Described dynamic control section has the synthetic portion of operational ton, the output of described coiling temperature correcting part, the preceding temperature deviation correcting part of described cooling and described velocity deviation correction portion is synthesized at its each position of pressing the length direction of steel plate, calculates the correction of control routine;
Described water tank mode conversion portion, discern each water tank under the position of length direction of steel plate, value transform after the correction addition of this control routine of the corresponding position of described preset control section is corresponding with each position of the length direction of described steel plate and the control routine calculated and the output of described dynamic control section is the water tank pattern, and cooling device is exported.
7. coiling temperature control device according to claim 3 is characterized in that:
Described dynamic control section has the operational ton compound component, and it presses each position preceding temperature deviation correcting part of synthetic described cooling of steel plate length direction and the output of described velocity deviation correcting part, calculates the correction of control routine;
Described water tank mode conversion portion, discern each water tank under the position of length direction of steel plate, after value transform after the correction addition of this control routine of the corresponding position of described preset control section is corresponding with each position of the length direction of described steel plate and the control routine calculated and the output of described dynamic control section is the water tank pattern, scan this water tank pattern in order from water tank near downcoiler, only, cooling device is exported with the number change water tank instruction corresponding with the output of described coiling temperature correction portion.
8. coiling temperature-controlled process, with the cooling device of the side setting of coming out of hot-rolling mill will by hot-rolling mill rolling steel plate cool off, the temperature of the steel plate before will being reeled by downcoiler is controlled at given target temperature, it is characterized in that:
Open ended sequential to the cooling water tank that is provided with in the cooling device is given priority;
Use this priority, generating the combination that opens and closes with cooling water tank is the corresponding control routine of refrigerating mode;
According to control routine and the information relevant, use the coiling temperature of this steel plate of plate temperature presumption model presumes with steel plate speed;
Use estimation result, decision/output is used to realize that target volume is around the temperature controlling code;
In the cooling control, to be used for compensating the correction calculating/output of the switching of target volume water tank of the deviation between the detected coiling temperature from steel plate as control routine around temperature and cooling control, to be used to compensate temperature before the cooling of the steel plate that presets when control supposition and the switching of the water tank of the deviation between the temperature is as the correction calculatings/output of described control routine before the detected cooling of steel plate, the switching of water tank that will be used to compensate the deviation between the steel plate speed of the steel plate speed supposed when presetting control and reality is as the correction calculating/output of described control routine;
To be the water tank pattern with the value transform after this control routine of summation correction of the correction of this control routine, cooling device will be exported.
9. coiling temperature control device, with a plurality of water tanks of the side setting of coming out of hot-rolling mill will by hot-rolling mill rolling and steel plate that reel by downcoiler cool off, it is characterized in that, comprising:
Preset control section, around temperature and the information relevant with steel plate speed, computing is with the control routine of the switching information of coded representation described cooling water tank according to target volume;
Dynamic control section is an observed result according to the state of described steel plate, the code update information that computing is revised described control routine;
Water tank mode conversion portion will be transformed to the water tank pattern by the control routine that described code update information is revised, and the water tank control device is exported;
Adapt to control part, according to described code update information, computing temperature update information; With
The target temperature correction portion, according to described temperature update information, the described target volume of revising the next later steel plate arbitrarily of being reeled by described downcoiler is around temperature.
10. coiling temperature control device according to claim 21 is characterized in that:
Have: cooling water tank priority list, the dominance relation of the open ended sequential of a plurality of cooling water tanks that are provided with in the storage cooling device; With plate temperature presumption model, be used to infer the coiling temperature of this steel plate,
The described control routine of computing so that use described plate temperature presumption model presumes coiling temperature, uses estimation result to realize target volume around temperature,
The combination that described control routine is to use the information of this priority list to generate the switching of cooling water tank is the code of water tank pattern.
11. a coiling temperature control device, with a plurality of water tanks of the side setting of coming out of hot-rolling mill will by hot-rolling mill rolling and steel plate that reel by downcoiler cool off, it is characterized in that, comprising:
Preset control section, around temperature and the information relevant with steel plate speed, computing is with the control routine of the switching information of coded representation described cooling water tank according to target volume;
Dynamic control section is an observed result according to the state of described steel plate, the code update information that computing is revised described control routine;
Water tank mode conversion portion will be transformed to the water tank pattern by the control routine that described code update information is revised, and the water tank control device is exported; With
Adapt to control part, according to described code update information, the code update information of using in the next later steel plate arbitrarily that computing is reeled by described downcoiler.
12. coiling temperature control device according to claim 11 is characterized in that:
Have: cooling water tank priority list, the dominance relation of the open ended sequential of a plurality of cooling water tanks that are provided with in the storage cooling device; With plate temperature presumption model, be used to infer the coiling temperature of this steel plate,
The described control routine of computing so that use described plate temperature presumption model presumes coiling temperature, uses estimation result to realize target volume around temperature,
The combination that described control routine is to use the information of this priority list to generate the switching of cooling water tank is the code of water tank pattern.
13. coiling temperature control device according to claim 9 is characterized in that:
Described control routine is corresponded to, and the state that whole water tanks are opened is a maximum, and all the water tank closing state is a minimum of a value, is accompanied by the increase of control routine, and the guess value of described coiling temperature is dull to be reduced.
14. coiling temperature control device according to claim 9 is characterized in that:
Described control routine is corresponded to, and the state that whole water tanks are opened is a minimum of a value, and all the water tank closing state is a maximum, is accompanied by the increase of control routine, and the guess value of described coiling temperature is dull to be increased.
15. coiling temperature control device according to claim 9 is characterized in that:
Described dynamic control section has:
Coiling temperature deviation correction portion, the switching that will be used for compensating target volume water tank of the deviation between the detected coiling temperature from steel plate around temperature and cooling control is calculated as the correction of described control routine;
Temperature deviation correction portion before the cooling, the switching that will be used for compensating the water tank of the deviation between the temperature before the detected cooling of steel plate of temperature and cooling control before the cooling of the steel plate that presets when control supposition is calculated as the correction of described control routine; With
The velocity deviation correction portion, the switching that will be used for compensating the water tank of the deviation between steel plate speed of supposing when presetting control and the steel plate speed of the cooling off control is calculated as the correction of described control routine;
Described adaptation control part, the correction temperature of the steel plate target temperature that arbitrarily cool off later with respect to next time is calculated in the computing of the correction of the control routine of calculating according to temperature deviation correction portion before the correction of the control routine of using this coiling temperature deviation correction portion to calculate, this cooling and the correction of the control routine that this velocity deviation correction portion is calculated.
16., it is characterized in that according to claim 9,10 or 15 described coiling temperature control devices:
Described adaptation control part has:
Front end adapts to control part, calculates the correction temperature with respect to the target temperature of described steel plate leading section;
The stable control part that adapts to is calculated the correction temperature with respect to the target temperature of described steel plate central portion; With
Revise the synthetic portion of temperature, adapt to control part and the stable correction temperature that adapts to the output final decision of control part with respect to the steel plate length direction Zone Full of target temperature according to front end.
17., it is characterized in that according to claim 9,10 or 13 described coiling temperature control devices:
Described front end adapts to control part, with from beginning to cool down described steel plate, the timing of initial start coiling temperature correction portion, be taken into the correction of the control routine that the temperature deviation correction portion is calculated before the correction of the control routine that described coiling temperature deviation correction portion calculates, the described cooling and the correction of the control routine that described velocity deviation correction portion is calculated, calculate correction temperature with respect to the target temperature of steel plate leading section;
Described stable adaptation control part is taken into the correction of the control routine that the temperature deviation correction portion is calculated before the correction of the control routine that the described coiling temperature deviation correction portion of central portion in cooling of described steel plate calculate, the described cooling and the correction of the control routine that described velocity deviation correction portion is calculated, and calculates the correction temperature with respect to the target temperature of steel plate central portion.
18. coiling temperature control device according to claim 9 is characterized in that:
Described dynamic control section has:
Coiling temperature deviation correction portion, the switching that will be used for compensating target volume water tank of the deviation between the detected coiling temperature from steel plate around temperature and cooling control is calculated as the correction of described control routine;
Temperature deviation correction portion before the cooling, the switching that will be used for compensating the water tank of the deviation between the temperature before the detected cooling of steel plate of temperature and cooling control before the cooling of the steel plate that presets when control supposition is calculated as the correction of described control routine; With
The velocity deviation correction portion, the switching that will be used for compensating the water tank of the deviation between steel plate speed of supposing when presetting control and the steel plate speed of the cooling off control is calculated as the correction of described control routine;
Described adaptation control part, the correction of control routine of the steel plate of any cooling later with respect to next time is calculated in the computing of the correction of the control routine of calculating according to the preceding temperature deviation correction portion of correction, this cooling of the control routine of using this coiling temperature deviation correction portion to calculate and the correction of the control routine that this velocity deviation correction portion is calculated.
19. coiling temperature control device according to claim 9 is characterized in that:
Described adaptation control part has:
Front end adapts to control part, calculates the correction for the control routine of described steel plate leading section;
The stable control part that adapts to is calculated the correction for the control routine of described steel plate central portion; With
Portion is synthesized in the temperature correction, adapts to control part and the stable correction that adapts to the output final decision of control part for the control routine of steel plate length direction Zone Full from front end.
20., it is characterized in that according to claim 9,10,23 or 15 described coiling temperature control devices:
Described front end adapts to control part, with from beginning to cool down described steel plate, the timing of initial start coiling temperature correction portion, be taken into the correction of the control routine that the temperature deviation correction portion is calculated before the correction of the control routine that described coiling temperature deviation correction portion calculates, the described cooling, the correction of control routine that described velocity deviation correction portion is calculated, calculate correction for the control routine of steel plate leading section;
Described stable adaptation control part, be taken into the correction of the control routine that the temperature deviation correction portion is calculated before the correction of the control routine that the described coiling temperature deviation correction portion of central portion in cooling of described steel plate calculate, the described cooling, the correction of control routine that described velocity deviation correction portion is calculated, calculate correction for the control routine of steel plate central portion.
21. a coiling temperature-controlled process,
Around temperature and the information relevant with steel plate speed, computing is by the control routine of the switching information of the described cooling water tank of coded representation according to target volume;
State according to described steel plate is an observed result, the code update information that computing is revised described control routine;
To be transformed to the water tank pattern by the control routine that described code update information is revised, the water tank control device will be exported;
According to described code update information, computing temperature update information;
According to described temperature update information, the described target volume of revising next later any steel plate of being reeled by described downcoiler is around temperature.
22. a coiling temperature-controlled process,
Around temperature and the information relevant with steel plate speed, computing is by the control routine of the switching information of the described cooling water tank of coded representation according to target volume;
State according to described steel plate is an observed result, the code update information that computing is revised described control routine;
To be transformed to the water tank pattern by the control routine that described code update information is revised, the water tank control device will be exported;
According to described temperature update information, the code update information of using in next later any steel plate that computing is reeled by described downcoiler.
CN2007100073905A 2005-10-26 2006-10-26 Device and method for controlling winding temperature Expired - Fee Related CN101168173B (en)

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JP2005311367A JP4335860B2 (en) 2005-10-26 2005-10-26 Winding temperature control device and control method
JP2005311367 2005-10-26
JP2006002615A JP4340659B2 (en) 2006-01-10 2006-01-10 Winding temperature control device and control method
JP2006-002615 2006-01-10
JP2006002615 2006-01-10
JP2006-066879 2006-03-13
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JP2006066879A JP4605054B2 (en) 2006-03-13 2006-03-13 Winding temperature control device and control method

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JP4958761B2 (en) * 2007-12-21 2012-06-20 株式会社日立製作所 Winding temperature control device and control method
JP5028310B2 (en) * 2008-03-21 2012-09-19 株式会社日立製作所 Apparatus for controlling cooling between stands of hot rolling mill and control method
JP5231968B2 (en) * 2008-12-15 2013-07-10 株式会社日立製作所 Winding temperature control device and control method thereof
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JP6165566B2 (en) * 2013-09-10 2017-07-19 株式会社日立製作所 Winding temperature control device and control method
JP6399985B2 (en) * 2015-09-08 2018-10-03 株式会社日立製作所 Winding temperature control device and winding temperature control method
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