CN101168173A - Winding temperature control device and control method - Google Patents

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

Winding temperature control device and control method

This application is a divisional application, the application number of its parent application: 200610142441.0, the application date: 2006.10.26, the name of the invention: winding temperature control device and control method

technical field

The present invention relates to a coiling temperature control device and control method for a hot rolling line, and more particularly to a coiling temperature control device and control method suitable for making the coiling temperature equal to a target temperature by simple calculation.

Background technique

As a method of controlling the coiling temperature, JP-A-8-66713 describes a method of setting a cooling pattern based on the information on the rolled material corresponding to the speed pattern of the rolled material acquired in advance.

JP-A-8-66713 describes predicting the coiling temperature of the rolled material based on the speed pattern of the rolled material and information on the rolled material obtained before cooling starts, and setting the cooling pattern based on the result.

For example, Japanese Patent Laid-Open No. 2000-167615 describes a coiling temperature control method that corresponds to a rolling material cooling device, divides it in the longitudinal direction, uses it as a material cooling unit, predicts the temperature for each unit, and makes the predicted temperature coincide with the target temperature. . In addition, it is a coiling temperature control device that obtains the temperature change of the rolled material and the temperature change of the inlet side of the conveying table, determines the amount of cooling water in real time, and operates the valve according to it, thereby reducing the influence of external disturbances.

In addition, JP-A-8-252625 discloses a simple calculation method of calculating and setting the tank water volume by multiplying the water injection volume before the change by the acceleration rate or deceleration rate when the speed of the steel plate is changed.

In addition, as shown in JP-A-7-32024, the rolling material can be divided in the longitudinal direction, and the learning coefficient based on the actual control can be set for each segment, and the learning result can be reflected, and the temperature drop of the rolling material can be calculated and cooled. Control so that the amount of temperature drop becomes the target temperature.

However, in these methods, efficient selection of an appropriate mode from among a large combination of cooling modes is not considered, and thus there is a problem that a lot of calculation time is required for the determination of the cooling mode. In addition, since the operation of the valve is optimized with emphasis on winding temperature control, there is a problem that a certain valve repeatedly opens and closes in time series.

Generally, the plate passing speed of the rolled material is low when exiting the rolling mill, rapidly changes to high speed after the start of coiling in the down coiler, and becomes low again before the coil passes through the rolling mill. In Japanese Patent Application Laid-Open No. 8-66713, good control can be performed at a constant portion where the speed is constant, but at a transitional state portion where the speed changes, the speed mode and the winding temperature mode do not directly correspond, so in correspondence with the speed mode, change In the method of the cooling mode, there is a problem that the accuracy of the winding temperature control is lowered.

In addition, in the control method described in JP-A-2000-167615, since the division unit for predicting the temperature of the rolled material depends on the size of the device, there is a problem that the division is rougher than the value necessary for accuracy.

In Japanese Patent Laid-Open No. 8-252625, it can be dealt with by recalculating the water volume of the water tank for speed changes, but it does not indicate that the temperature of the steel plate before cooling is different from the value added in the preset calculation, or that the winding temperature is different from the target temperature. When there is a deviation, how to change the water volume of the water tank. In cooling control, it is necessary to deal with them at the same time, but it is not shown how to do it easily.

In addition, in the technique disclosed in JP-A-8-66713, if the prediction result of the temperature of the rolled material is not appropriate, there is a problem that the control accuracy is significantly deteriorated. In addition, in the technique disclosed in JP-A-7-32024, learning coefficients are assigned to each of the segments divided in the longitudinal direction of the rolled material. Therefore, due to the influence of external disturbances and uncertainties included in the actual data, it is possible to assign Coefficients corresponding to the rolling position, control conditions, and temperature zones to make the front and rear consistent.

Contents of the invention

The present invention solves at least the above-mentioned problems, provides a method for efficiently selecting a cooling mode suitable for controlling the winding temperature with high precision from among a large number of combined cooling modes, and reduces the calculation time for calculating the cooling mode. Also, generate cooling patterns in which valves do not repeat opening and closing in time series.

In addition, even if there are various changes in the control environment in the cooling control (the deviation of the steel plate speed and the pre-cooling temperature of the steel plate measured at the exit mill side from the value assumed in the preset calculation, and the deviation of the coiling temperature from the target value) ), it is also possible to efficiently select a cooling mode suitable for controlling the winding temperature with high precision from the cooling modes that constitute a huge combination, and reduce the calculation time for calculating the cooling mode.

In addition, the temperature prediction model of the rolled material can minimize the drop of the control temperature even if the degree of simulating the actual cooling phenomenon drops.

In order to solve the above problems, the present invention is a coiling temperature control device that cools the steel plate rolled by the hot rolling mill with a cooling device installed on the exit side of the hot rolling mill, and cools the steel plate rolled by the down coiler before coiling it. The temperature of the steel plate is controlled at a given target temperature, which is characterized in that it includes: a cooling water tank priority table, which stores the priority relationship of the opening order of a plurality of cooling water tanks set in the cooling device; a plate temperature measurement model, used to estimate the The coiling temperature of the steel plate; the preset control unit corresponds the combination of opening and closing of the cooling water tank, that is, the water tank mode, to the control code generated using the information in the priority table of the cooling water tank, and according to the target coiling temperature and the speed of the steel plate For related information, use the plate temperature measurement model to estimate the coiling temperature, and use the estimated result to calculate/output the control code for realizing the target coiling temperature; the dynamic control section observes the state of the steel plate under cooling control, As a result, the change amount of the control code is calculated/output; and the water tank mode conversion part converts the result of correcting the control code output by the dynamic control part to the control code output by the preset part into the water tank mode, and outputs it to the cooling device.

A coiling temperature control method, using a cooling device installed on the exit side of the hot rolling mill to cool the steel plate rolled by the hot rolling mill, and to control the temperature of the steel plate before being coiled by the down coiler to a given target The temperature is characterized by: giving priority to the opening order of the cooling water tanks installed in the cooling device; using this priority, generating a control code corresponding to the combination of opening and closing of the cooling water tank, that is, the cooling mode; according to the control code and the speed of the steel plate information, use the plate temperature estimation model to estimate the coiling temperature of the steel plate; use the estimated results to determine/output the control code for achieving the target coiling temperature; in cooling control, it will be used to compensate the target coiling temperature and cooling control The opening and closing of the water tank from the deviation between the coiling temperatures detected from the steel plate is calculated/output as the correction amount of the control code, which is used to compensate the temperature before cooling of the steel plate assumed at the time of preset control and the temperature before cooling detected from the steel plate. The opening and closing of the water tank for the deviation between temperatures is calculated/output as the correction amount of the control code, and the opening and closing of the water tank for compensating the deviation between the steel plate speed assumed at the time of preset control and the actual steel plate speed is used as the calculation/output. Calculate/output the correction amount of the above-mentioned control code; convert the value after correcting the control code with the sum of the correction amount of the control code into the water tank mode, and output it to the cooling device.

A coiling temperature control device, using a plurality of water tanks installed on the exit side of the hot rolling mill to cool the steel plate rolled by the hot rolling mill and coiled by the down coiler, it is characterized in that it includes: preset The control part calculates the control code representing the opening and closing information of the cooling water tank according to the target coiling temperature and the information related to the speed of the steel plate; The code correction information for the correction of the control code; the water tank mode conversion unit converts the control code corrected by the code correction information into the water tank mode, and outputs it to the water tank control device; the adaptive control unit calculates the temperature correction according to the code correction information information; and a target temperature correcting unit for correcting the target coiling temperature of an arbitrary steel plate to be coiled next time or later by the down coiler according to the temperature correction information.

A coiling temperature control device, using a plurality of water tanks installed on the exit side of the hot rolling mill to cool the steel plate rolled by the hot rolling mill and coiled by the down coiler, it is characterized in that it includes: preset The control part calculates the control code representing the opening and closing information of the cooling water tank according to the target coiling temperature and the information related to the speed of the steel plate; The code correction information for modifying the control code; the water tank mode conversion unit converts the control code corrected by the code correction information into a water tank mode, and outputs it to the water tank control device; The code correction information used for the next arbitrary steel plate to be wound by the down coiler.

A coiling temperature control method, according to the target coiling temperature and the information related to the speed of the steel plate, calculate the control code representing the opening and closing information of the cooling water tank; according to the state of the steel plate, that is, the observation result, calculate the The code correction information for correcting the above control code; transform the control code corrected by the code correction information into the water tank mode, and output it to the water tank control device; calculate the temperature correction information according to the code correction information; and calculate the temperature correction information according to the temperature correction information , correcting the target coiling temperature of the next arbitrary steel plate to be coiled by the down coiler.

A coiling temperature control method, according to the target coiling temperature and the information related to the speed of the steel plate, calculate the control code representing the opening and closing information of the cooling water tank; according to the state of the steel plate, that is, the observation result, calculate the The code correction information for correcting the above control code; transform the control code corrected by the code correction information into the water tank mode, and output it to the water tank control device; according to the temperature correction information, the calculation is performed by the downcoiler The code correction information used in any plate after the next time.

It is characterized in that the steel plate rolled by the hot rolling mill is cooled by a cooling device provided on the exit side of the hot rolling mill, and the temperature of the steel plate before being coiled by the downcoiler is controlled at a given target temperature, and it is characterized in that , including: a cooling water tank priority table storing the priority relationship of the opening order of a plurality of cooling water tanks provided in the cooling device; a plate temperature measurement model for estimating the coiling temperature of the steel plate; The combined i.e. water tank mode corresponds to the control code generated using the information of the cooling water tank priority table, from the target coiling temperature and the information related to the steel plate speed, the coiling temperature is estimated using the plate temperature measurement model, and the estimated result is used A preset control part that calculates and outputs a control code for realizing the target winding temperature; a water tank mode conversion part that converts the control code output by the preset control part into a water tank mode and outputs it to the cooling device.

Correspond the control code so that the state of all water tanks is opened to the maximum value (or minimum value), and the state of all water tanks to be closed is the minimum value (or maximum value). Along with the increase of the control code, the winding temperature The estimated value decreases (or increases) monotonically.

It is characterized in that: the preset control unit corresponds to each position in the longitudinal direction of the steel plate, calculates and outputs the control code, and the cooling mode conversion unit identifies the position in the longitudinal direction of the steel plate directly below each water tank, and extracts the position corresponding to the longitudinal direction of the steel plate. The control code corresponding to the part is converted to the water tank mode and output to the cooling device.

It is characterized in that: the preset control unit investigates the increase or decrease of the control code in the length direction of the steel plate, and when the control code of a certain part is larger or smaller than the control codes of the front and rear, by making the control code and the control code of the front or back The codes are consistent, and the control code is corrected so that the change of the control code in the longitudinal direction of the steel plate becomes a smooth part of a unimodal function.

In addition, a temperature control method that cools the steel plate rolled by the hot rolling mill with a cooling device installed on the exit side of the hot rolling mill, and controls the temperature of the steel plate before coiling by the down coiler to a given target The temperature is characterized in that priority is given to the opening order of the cooling water tanks installed in the cooling device, and the priority is used to generate a control code corresponding to the combination of opening and closing of the cooling water tank, that is, the cooling mode, and the control code is related to the speed of the steel plate. Use the plate temperature estimation model to estimate the coiling temperature of the steel plate, use the estimated result to determine the control code for the actual target coiling temperature, output it, convert the control code into a water tank mode, and output it to the cooling device.

For the target coiling temperature, the speed mode of the steel plate, and the priority of the cooling device as input information, the model optimal prediction model is used to calculate the control code corresponding to the command value of the cooling device that realizes the required coiling temperature using the plate temperature estimation model. The setting unit, as a dynamic control unit, has a coiling temperature deviation correction unit that calculates the opening and closing of the water tank for compensating the deviation between the target coiling temperature and the coiling temperature detected from the steel plate during cooling control as a correction amount of the control code ; A pre-cooling temperature deviation correction unit that calculates the opening and closing of the water tank for compensating the deviation between the pre-cooling temperature of the steel plate assumed during the preset control and the pre-cooling temperature detected from the steel plate during the cooling control as a correction amount of the control code ; a speed deviation correction unit that calculates the opening and closing of the water tank for compensating the deviation between the steel plate speed assumed in the preset control and the steel plate speed in the cooling control as the correction amount of the control code. The coefficients used in these calculations are concentrated in the first influence coefficient table storing the influence of the change of the control code on the coiling temperature, and the second influence coefficient table storing the influence of the change of the steel plate speed on the coiling temperature , storing the influence of the change of the cooling temperature speed on the winding temperature in the third influence coefficient table. Moreover, a coiling temperature control device is provided, comprising: for each position in the longitudinal direction of the steel plate, the control code output by the dynamic control unit is used to correct the control code output by the model optimal preset unit, and the control code is converted into the output mode of the cooling device. Water tank mode conversion part.

In addition, a control code indicating the opening and closing information of the cooling water tank is calculated from the target coiling temperature and information on the steel plate speed, and a code correction for correcting the control code is calculated according to the state of the steel plate, that is, the observation result. information, convert the control code corrected by the code correction information into the water tank mode, output it to the water tank control device, calculate the temperature correction information according to the code correction information, and correct the temperature correction information by the down coiler according to the temperature correction information. The target coiling temperature in any steel plate after the next coiling.

Alternatively, a control code indicating the opening and closing information of the cooling water tank is calculated from the target coiling temperature and information on the speed of the steel plate, and a code correction for correcting the control code is calculated according to the state of the steel plate, that is, the observation result Information, convert the control code corrected by the code correction information into the water tank mode, output it to the water tank control device, and calculate the code in the next arbitrary steel plate wound by the down coiler according to the code correction information Correction information.

The temperature prediction model used in the temperature prediction of selected rolling materials can simulate the actual cooling phenomenon with high precision. In addition, a learning data acquisition method and acquisition timing for ensuring the minimization of the influence of external disturbances or the reliability of actual data used in learning become possible. In addition, by making the adaptation unit in the longitudinal direction of the rolled material two places, such as the front end portion of the steel plate and the stable portion, the calculation of the adaptation control is simplified and the reliability of the adaptation result is improved. It becomes possible to implement adaptive control by focusing on the amount of operation rather than the actual data, thereby eliminating the influence of the unreliability of the actual data.

According to the present invention, in the coil cooling step of hot rolling, the temperature can be controlled with high precision in the longitudinal direction of the steel plate by simple calculation. In addition, it is possible to generate a cooling water tank in which the cooling valve does not repeatedly open and close in time series.

In the coiling cooling step of hot rolling, in the cooling control, even if the speed change of the steel plate, the temperature deviation before cooling, and the coiling temperature are inconsistent with the target value, the influence of these on the coiling temperature can be calculated by simple calculation. The influence is minimized, and the temperature can be controlled with high precision in the longitudinal direction of the steel plate.

In the coil cooling step of hot rolling, even if the plate temperature estimation model cannot fully model the actual cooling phenomenon of the steel plate due to changes in the control environment, it can be accurately calculated in the entire length direction of the steel plate through simple calculations. temperature control.

Description of drawings

The accompanying drawings are briefly described below.

FIG. 1 is a block diagram showing an embodiment of the control system of the present invention.

FIG. 2 is an explanatory diagram showing the structure of a target winding temperature table.

FIG. 3 is an explanatory diagram showing the structure of a speed pattern table.

FIG. 4 is an explanatory diagram showing the structure of a cooling water tank priority table.

5 is an explanatory diagram showing a correspondence table between cooling water tank opening and closing patterns and control codes.

Fig. 6 is a program flow chart showing the processing of model optimal preset parts.

Fig. 7 is a program flowchart showing detailed processing of winding temperature prediction calculation.

FIG. 8 is an explanatory diagram showing an example of changes in control codes based on the optimization process in FIG. 6 .

FIG. 9 is an explanatory diagram of a correspondence table between steel plate locations and control codes.

FIG. 10 is an explanatory diagram of smoothing processing.

Fig. 11 is an explanatory diagram of correction processing by a dynamic control means.

Fig. 12 is a program flow chart showing the processing of the tank mode switching unit.

Fig. 13 is a block diagram of a system for remotely servicing control model adjustments.

Fig. 14 is an explanatory diagram showing the configuration of the control system of the present invention.

Fig. 15 is an explanatory diagram showing the structure of a target winding temperature table.

FIG. 16 is an explanatory diagram showing the structure of a speed pattern table.

FIG. 17 is an explanatory diagram showing the structure of a cooling water tank priority table.

Fig. 18 is an explanatory diagram of a correspondence example between tank opening and closing patterns and control codes.

Fig. 19 is the processing of the best preset parts of the model.

Fig. 20 is detailed processing of winding temperature prediction calculation.

Fig. 21 is a structural diagram of a correspondence table between cooling water tank opening and closing patterns and control codes.

Fig. 22 is a structural diagram of a correspondence table between steel plate parts and control codes.

FIG. 23 is an explanatory diagram of smoothing processing.

FIG. 24 is an explanatory diagram of control code correction processing by a dynamic control means.

Fig. 25 is a structural diagram of the first influence coefficient table.

Fig. 26 is a structural diagram of the second influence coefficient table.

Fig. 27 is a structural diagram of the third influence coefficient table.

Fig. 28 shows the processing of the pre-cooling temperature deviation correction means.

Fig. 29 is an explanatory diagram of sections in the longitudinal direction of a steel plate.

Fig. 30 is the processing of the speed deviation correcting means.

Fig. 31 is an explanatory diagram of the result of control code correction processing by the dynamic control means.

Fig. 32 is the processing of the water tank mode conversion part.

Fig. 33 is an explanatory diagram of control code correction processing by a dynamic control means.

Fig. 34 is the processing of the water tank mode conversion unit.

Fig. 35 is a block diagram of a system for remotely servicing control model adjustments.

Fig. 36 is an explanatory view showing the structure of the winding temperature control device of the present invention.

Fig. 37 is an explanatory diagram showing the structure of a target winding temperature table.

Fig. 38 is an explanatory diagram showing the structure of a speed pattern table.

FIG. 39 is an explanatory diagram showing the structure of a cooling water tank priority table.

Fig. 40 is an explanatory diagram of an example of correspondence between tank opening and closing patterns and control codes.

Fig. 41 shows the processing of the preset control unit.

Fig. 42 shows detailed processing of winding temperature prediction calculation.

Fig. 43 is a structural diagram of a correspondence table between cooling water tank opening and closing patterns and control codes.

Fig. 44 is a structural diagram of a correspondence table between steel plate parts and control codes.

Fig. 45 is an explanatory diagram of control code correction processing by a dynamic control means.

Fig. 46 is a structural diagram of the first influence coefficient table.

Fig. 47 is a structural diagram of the second influence coefficient table.

Fig. 48 is a structural diagram of the third influence coefficient table.

Fig. 49 shows the processing of the pre-cooling temperature deviation correction means.

Fig. 50 is an explanatory diagram of sections in the longitudinal direction of a steel plate.

FIG. 51 shows the processing of the speed deviation correction unit 123.

Fig. 52 is an explanatory diagram of the result of control code correction processing by the dynamic control means.

Fig. 53 is the processing of the water tank mode conversion unit.

Fig. 54 is a block diagram of an adaptive control unit.

Fig. 55 is the processing of the front-end adaptation control unit.

Fig. 56 is the processing of the stabilization adaptation control unit.

Fig. 57 is an explanatory view showing the configuration of a winding temperature control device.

Description of the symbol.

100-Control device; 111-Model optimal preset parts; 112-Smoothing parts; 114-Target winding temperature table; 115-Speed mode table; 116-Cooling water tank priority table; Dynamic control part; 130-water tank mode conversion part; 150-control object; 153-winding cooling part; 1205-adjustment database; 1206-model adjustment part.

Detailed ways

The best mode of coiling temperature control device for carrying out the present invention As shown in FIG. 1, the coiling temperature control device 100 takes target coiling temperature, speed mode of steel plate and priority of cooling device as input information. Furthermore, there is: a model optimum preset part 111 for calculating the control code corresponding to the command value of the cooling device to realize the required winding temperature using the plate temperature estimation model; cooling to suppress unnecessary changes in the command value of the cooling device The instruction value smoothing part 112 of the device. It also includes: a cooling water tank conversion unit 130 that converts the control code into an output pattern of the cooling device.

Accordingly, in the coiling control of the hot-rolled steel sheet, a high-precision coiling temperature can be obtained regardless of the location in the longitudinal direction of the steel sheet. As a result, the compositional quality of the steel sheet can be improved while achieving a steel sheet shape close to flat.

Fig. 1 shows the structure of a winding temperature control device and a control object according to Embodiment 1 of the present invention. The winding temperature control device 100 receives various signals from the controlled object 150 and outputs a control signal to the controlled object 150 .

First, the configuration of the control object 150 will be described. In this embodiment, the control object 150 is the coiling temperature control line of hot rolling, and the steel plate 151 rolled by the rolling mill 157 of the rolling unit 152 at a temperature of 900° C. to 1000° C. is cooled by the coiling cooling unit 153 . The downcoiler 154 winds. The coil cooling unit 153 is provided with an upper cooling device 158 for water cooling from above the steel plate 151 and a lower cooling device 159 for water cooling from below the steel plate 151 . Each cooling device has a plurality of tanks 161 in which a certain number of cooling water tanks 160 that discharge water are combined.

In the present embodiment, the operation command of each cooling water tank 160 is to open or close as an example for description. The exit mill side thermometer 155 measures the temperature of the steel sheet rolled by the rolling section 152 , and the coil thermometer 156 measures the temperature before coiling by the down coiler 154 . The purpose of the winding temperature control is to make the temperature measured by the winding thermometer 156 coincide with the target temperature. The target temperature may be fixed at each location in the longitudinal direction of the coil, or may be set to a different value for each location.

The structure of the winding temperature control device 100 is shown below. The coil temperature control device 100 has a preset control unit 110 that calculates a control code corresponding to the opening and closing pattern of each cooling water tank 160 before cooling the steel plate 155 by the coil cooling unit 153 . In addition, when the steel plate 155 is cooled by the coil cooling unit 153, a dynamic control unit 120 is provided for changing the control code by acquiring the actual temperature measured by the coil thermometer 156 and the like in real time. In addition, there is a tank mode conversion unit 130 for converting a control code into an opening and closing mode of each cooling water tank 160 . Hereinafter, a set of opening and closing patterns of the cooling water tanks 160 is referred to as a tank pattern.

The preset control part 110 has information obtained from the target winding temperature table 114, the speed mode table 115, and the cooling water tank priority table 116, and calculates the model optimal preset part 111 of the water tank mode through the calculation using the plate temperature estimation model 117. . It has cooling device command value smoothing means 112 for smoothing the time output of the radiator mode with respect to the calculation result of the model optimum preset means 111 .

The dynamic control means 120 has a winding temperature deviation correction means 121 which corrects the deviation from the target temperature by using the detected temperature from the winding thermometer 156 . In addition, there is a temperature deviation correcting means 122 on the exit mill side for correcting the deviation between the temperature detected by the exit mill side thermometer 155 and the exit mill side temperature assumed during the preset control calculation. In addition, there is a speed deviation correction means 123 for calculating the speed of the steel plate 151 from the rotational speed of the rolling mill 157 or the down coiler 154, and correcting the deviation between the calculation result and the steel plate speed assumed at the time of the preset control calculation.

FIG. 2 shows the structure of the target winding temperature table 114 . An example in which target temperatures are stratified according to the type of steel plate (steel type) is shown. The preset control unit 110 determines the steel type of the coil, and extracts the corresponding target temperature from the target coiling temperature table 114 .

FIG. 3 shows the structure of the speed pattern table 115 . Regarding the steel type, plate thickness, and plate width, the speed at which the tip of the steel plate 151 comes out of the rolling mill 157 and is coiled by the down coiler 154 is the initial speed. Then, the steady speed after the rapid acceleration, the rapid deceleration before the rear end of the steel plate 151 comes out of the rolling mill 157, and the speed before being coiled by the down coiler 154 are the final speed, and each speed is layered.

The preset control unit 110 determines the steel type, plate thickness, and plate width of the coil, and extracts the corresponding speed pattern from the speed pattern table 115 . For example, when the steel type is SUS304, the plate thickness is 3.0-4.0 mm, and the plate width is 1200 mm, set the initial speed to 150 mpm, the steady speed to 150 mpm, and the end speed to 150 mpm.

FIG. 4 shows the structure of the cooling water tank priority table 115 . Hereinafter, the case where the total number of water tanks is 100 will be described as an example. Fig. 4 is to give the priority of 1 to 100 to the opening order of 100 water tanks, and store the order of cooling water tanks that are opened preferentially for steel type, plate thickness, and water tank classification (upper water tank or lower water tank).

Consider the cooling efficiency, the allowable temperature difference between the surface and the interior, and decide the priority. For example, when the steel plate 151 is thin, it is difficult to produce a temperature difference between the surface and the inside, so considering the cooling efficiency, the water tank on the exit side of the rolling mill 157 close to the high temperature of the steel plate 151 is preferentially opened. When the steel plate 151 is thick, the water tank that is opened as much as possible is discontinuously given priority in order to suppress the temperature difference between the surface and the inside within the allowable range by using reflow by air cooling. By mixing water cooling and air cooling, the cooling efficiency is slightly sacrificed, and the temperature difference between the surface and inside of the steel plate 151 is suppressed.

The cooling water tank is controlled so that it is only opened so much that the target winding temperature can be achieved. The storage and cooling water tanks are numbered in order of proximity to the rolling mill 157, for example (1, 1) represents the first cooling water tank of the first storage.

In Fig. 4, it shows that the steel type is SUS304, the plate thickness is 2.0-3.0mm, and when the cooling water tank is classified as the upper ), (1, 5), (2, 1), ..., (20, 4), (20, 5) are opened first. That is, because of the thin plate, considering the cooling efficiency, the water tanks on the side coming out of the rolling mill 157 are preferentially opened in order. In addition, the steel type is SUS304, the plate thickness is 5.0~6.0mm, and when the cooling water tank is classified as the upper , 1), (3, 4), ..., (20, 3), (20, 5) are opened first. That is, it shows that the steel plate 151 is slightly thicker, so the open water tanks are given priority discontinuously.

In this embodiment, the upper water tank and the lower water tank have the same priority, but different priorities may also be assigned.

Tank modes are represented by corresponding control codes. FIG. 5 shows the correspondence between the control codes output by the preset control unit 110 and the opening and closing modes of the cooling water tank. Control code 0 is fully open, 100 is fully closed. Hereinafter, control coding is performed so that the tank opening and closing pattern in which only the cooling water tank of priority 1 is opened is 1, and the tank opening and closing pattern in which both cooling water tanks of priority 1 and 2 are opened is 2 . . .

The preset control unit 110 outputs a control code corresponding to such a cooling water tank opening and closing pattern to the smoothing unit 112 . That is, the control code of the state where all cooling water tanks are opened is 0, and the control code of the state of all cooling water tanks is closed is 100 (100 is the total number of the upper or lower cooling water tanks). Moreover, if the steel type is SUS304, the plate thickness is 2.0-3.0mm, and the cooling water tank is classified as an upper water tank, the control code is determined according to the priority of the water tank. For example, only (1, 1) open state is control code 99, (1, 1), (1, 2) open state is control code 98, (1, 1), (1, 2), (1, 3 ) open status is control code 97. Using this method, control codes are assigned to the open mode of the water tanks up to the control code 0 in the state where all the water tanks are opened.

FIG. 6 shows the algorithm executed by the model optimal presetting component 111. Based on the value obtained from the speed pattern table 115 in S6-1, the acceleration start position for shifting from the initial speed to the steady speed and the deceleration start position for shifting from the steady speed to the end speed are calculated. Then, the speed pattern from the start of exiting the steel plate 151 from the rolling mill 157 to the end of coiling by the down coiler 154 is calculated. The acceleration start position Saccp, the acceleration end position Saccq, the deceleration start position Sdccp, and the deceleration end position Sdccq can be calculated by Expressions 1 to 4 shown below, respectively.

[expression1]

S _accp =L _md

However, Lmd: the distance from the rolling mill 157 to the downcoiler 154 .

[expression2]

S _accq =S _accp +(S _mid -S _start )*(S _mid +S _start )/(S _accrate *2)

However, Sstart: the initial speed of the steel plate 151, Smid: the steady speed of the steel plate 151, Saccrate: the acceleration rate from the initial speed of the steel plate 151 to the steady speed.

[expression 3]

S _dccp ＝L _strip -(S _mid -S _end )*(S _mid +S _end )/(S _dccrate *2)-L _margin

However, Lstrip: the length of the steel plate 151, Send: the end speed of the steel plate 151, Sdccrate: the deceleration rate from the stable speed of the steel plate 151 to the end speed, Lmargin: indicates how far the tail of the steel plate 151 is separated before the end of deceleration .

[expression 4]

S _dccq = L _strip -L _margin

According to the calculated speed pattern, after S6-2, the time change of the water tank pattern to realize the target winding temperature is calculated by calculation using the board temperature estimation model 117 . In this embodiment, an example of calculating the tank pattern according to the linear back interpolation method is shown.

In S6-2, two control codes nL and nH sandwiching a solution control code are defined for each site of the steel plate 151 . Here, there is a solution between the full opening and the full closing of the cooling water tank, so nL=0 and nH=0 are uniform. Here, as the number of control codes increases, the number of cooling water tanks that are simply opened decreases, so when n1<n2, Tc1<Tc2 holds for the winding temperatures Tc1 and Tc2 corresponding to these tank modes.

Next in S6-3, the average of nL and nH is n0. Then in S6-4, the winding temperature Tc0 corresponding to the control code n0 is calculated. S6-4 For each position in the longitudinal direction of the steel plate 150, from the exit mill to the down coiler, continuously calculate the temperature estimation calculation according to the plate temperature estimation model 117, and estimate the coiling temperature. In S6-5, the sign of the estimated winding temperature Tc0 relative to the target winding temperature Ttarget is judged. When Tc0>Ttarget, there is a solution between n0 and nL, so n0 is placed in nH. On the contrary, when Tc0<Ttarget, there is a solution between n0 and nH, so put n0 in nL. In S6-6, determine the end condition of the algorithm, and if not satisfied, repeat S6-3 to S6-5.

The end of the algorithm is based on the completion of repetitions of S5-3 to S5-5 for more than a certain number of times, the deviation between the estimated winding temperature Tc and the target winding temperature Ttarget is below a certain value, and n0 coincides with any one of nH and nL as conditions. determination.

As a control code assignment method, it is possible to correspond so that the control code for all the cooling water tanks in the closed state is 0 (minimum value), and the control code for all the cooling water tanks in the open state is 100 (maximum value). With the increase of the control code, The estimated value of the winding temperature increases monotonically.

FIG. 7 shows details of the temperature estimation calculation corresponding to S6-4. As the temperature estimation calculation, an example of the so-called advancing difference method is shown in which the steel plate 151 is divided in the longitudinal direction and the thickness direction, and the time is advanced and calculated at a constant scale.

The calculation time is updated in S7-1, and the board speed Vt at the corresponding time is calculated from the speed pattern generated in S6-1 of FIG. 6 . In S7-2, using the calculated plate speed, the mill length is calculated. The length Ln out of the rolling mill is the length of the steel plate coming out of the rolling mill at the end of rolling, and can be calculated by Expression 5. However, Ln-1 is the output length of the previous time.

[expression 5]

L _n ＝L _n-1 +Δ·Vt

In S7-3, it is judged that the calculation is completed. When the exit mill length Ln is greater than the sum of the total length of the steel plate and the distance from the rolling mill 157 to the downcoiler 154, all the coiling temperature prediction calculations corresponding to one coil are completed, so the calculation is completed.

When the calculation is not finished, the temperature tracking of the steel plate is performed in S7-4. That is, from the relationship between Ln and Ln-1, it is known how much the steel plate has advanced after the elapse of Δ time with respect to the position of the steel plate at the previous time, so the process of shifting the temperature distribution of the steel plate by the corresponding distance is performed. In S7-5, an estimated value of the temperature of the steel plate before cooling is set for the steel plate 151 discharged from the rolling mill during the period Δ. In S7-6, whether each part is water-cooled or air-cooled is determined from the opening and closing information of the water tank corresponding to each part of the steel plate 151 . In the case of water cooling, the heat transfer coefficient is calculated according to Expression 6 in S7-7.

[expression 6]

hw＝9.72*10 ⁵ *ω ^0.355 *{(2.5-1.15*logTw)*D/(pl*pc)} ^0.646 /(Tsu--Tw)

However, ω: water volume density, Tw: water temperature, D: nozzle diameter, pl: nozzle interval in the line direction, pc: nozzle interval in the direction perpendicular to the line, Tsu: surface temperature of the steel plate 151 .

Expression 6 is the so-called heat transfer coefficient when the thin plate is cooled. As water cooling methods, there are various other methods such as spray cooling, and several formulas for calculating heat transfer coefficients are known. While air cooling, according to expression 7, calculate the heat transfer coefficient.

[expression 7]

hr＝σ·ε[{(273+T _su )/100} ⁴ -{(273+T _a )/100} ⁴ ]/(T _su -T _a )

However, σ: Stefan Boltzmann's constant (=4.88), ε: emissivity, Ta: air temperature (° C.), Tsu: surface temperature of the steel plate 151 .

Regarding the surface and the back surface of the steel plate 151, Expression 6 and Expression 7 are calculated respectively. Then, in S7-9, the temperature of each part of the steel plate 151 is calculated based on the temperature before passing through Δ, plus or minus the heat transfer between Δ. If the heat transfer in the thickness direction of the steel plate 151 can be ignored, each position in the longitudinal direction of the steel plate 151 can be calculated as in Expression 8.

[expression 8]

T _n ＝T _n-1 -(h _t +h _b )*Δ/(ρ*C*B)

However, Tn: current plate temperature, Tn-1: plate temperature before Δ, ht: heat transfer coefficient on the surface of the steel plate, hb: heat transfer coefficient on the back of the steel plate, ρ: density of the steel plate, C: specific heat of the steel plate, B: Steel plate thickness.

In addition, when it is necessary to consider the heat conduction in the thickness direction of the steel plate 151, it can calculate by solving a well-known heat equation. The heat equation is expressed by Expression 9, and methods of differential calculation thereof with a computer are disclosed in various documents.

[Expression 9]

$<span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; T</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span>\mathrm{<span\; class="notranslate">\; \&lambda;</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&rho;</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; C</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \}</span><span\; class="notranslate">\; (</span>{<span\; class="notranslate">\; \&PartialD;</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; T</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>{\mathrm{<span\; class="notranslate">\; t</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>$

However, λ: thermal conductivity, T: material temperature.

Then, in S7-10, S6-6 to S7-9 are repeated until the calculation is completed in the entire area of the steel plate 151 in the line from the rolling mill 157 to the down coiler 154 . In addition, S7-1 to S7-9 are repeated until the end of calculation is determined in S7-3.

FIG. 8 shows an example of a change in the optimization process based on FIG. 6 of the control codes given to the respective locations of the steel plate 151 in S6-3. In the first treatment, the same initial values (nL=0, nH=100) are processed at each location, so as shown in the first treatment of FIG. In the second processing, for the control code 50 , different control codes are given depending on whether the prediction result of the coiling temperature Tc0 at each part of the steel sheet 151 is larger or smaller than Ttarget. In this embodiment, the control code indicating that the front end and the rear end of the steel plate 151 close to the low steel plate speed is updated to the direction of closing the water tank, and the central part of the steel plate 151 whose steel plate speed is high is updated to the control code of the direction of opening the water tank. example.

Specifically, as shown in the second processing of FIG. 8 , the result of updating the front end and the rear end to nL=50 and nH=100 in S6-5 of the first processing is that the control codes are updated to be averaged. 75. On the other hand, the control code is updated to 25 as a result of updating nL=0 and nH=50 in the central part in S6-5 of the first processing. By repeating S6-3 to S6-6 in FIG. 6 in this way, the control codes are sequentially updated.

FIG. 9 shows an example of the control code finally output by the preset control section 110. As shown in FIG. In the illustrated example, the steel plate 151 is divided into grids in units of 1 m corresponding to the distance from the front end, and control codes are assigned corresponding to the grids. The cooling device corresponds to the surface and the back of the steel plate, and has an upper cooling device 158 and a lower cooling device 159, so as control codes, it corresponds to the upper water tank and the lower water tank, and outputs them respectively. In the figure, it shows that the control code of the upper water tank 1m away from the front end is 95, the control code of the lower water tank is 95, and the control code of the upper water tank is 14 between 500m and 501m, and the control code of the lower water tank is 14 in the length direction of the steel plate 151. The control code is 14.

In FIG. 9 , the control codes of the header tank and the lower tank corresponding to the same portion of the steel plate 151 are the same, but different control codes can also be set.

FIG. 10 shows the processing results of the smoothing unit 112. As shown in FIG. The smoothing unit 112 smoothes the opening and closing of the cooling water tank with respect to the output of the model optimum preset unit 111 . The control codes output by the optimal model preset unit 111 are smaller in the section of 3m to 4m in the steel plate portion than in the front and rear portions. At this time, output a control command to instantly open and close a part of the cooling water tank as the part passes.

After the smoothing process by the smoothing component 112, by smoothing the control code 12 to 14, the change of the control code with respect to the steel plate portion becomes monotonous, and the problem before smoothing is eliminated.

Even if a command to open and close the cooling water tank is generated in a short cycle, it is actually meaningless because the response of the cooling water tank is delayed. Therefore, the smoothing process is performed to smooth the command of the cooling water tank in the time direction. Smoothing can be realized by a simple process of making each control code larger or smaller than the preceding and following control codes, and matching the preceding and following control codes.

The control code output by the preset control unit 110 is corrected in real time by the dynamic control unit 120 when the steel plate 151 is actually cooled. The dynamic control means 120 has a winding temperature deviation correction means 121 which corrects the deviation from the target temperature by using the detected temperature from the winding thermometer 156 . In addition, there is provided a temperature deviation correcting means 122 on the exit mill side for correcting the temperature deviation from the exit mill side temperature assumed at the time of preset control calculation using the detected temperature from the exit mill side thermometer 155 . It also has a speed deviation correcting means 123 for calculating the speed of the steel plate 151 from the rotational speed of the rolling mill 157 or the down coiler 154, and correcting the deviation between the calculation result and the steel plate speed assumed at the time of preset control calculation. The sum of these correction amounts is converted into a change amount of the control code, and is output as a correction amount of the dynamic control unit 120 . Calculation of the correction amount can be realized by application of PI control or the like. The control code output by the preset control section 110 is corrected according to the output correction amount.

FIG. 11 shows an example of the correction result when the dynamic control unit 120 corrects the control code output by the preset control unit 110 . The control code of the steel plate part 5m~6m is revised from 12 to 14.

FIG. 12 shows the algorithm executed by the tank mode conversion component 130 . In S11-1, the distance Lh from the front end of the steel plate 151 passing directly under the cooling water tank is calculated. Generally, the control device 100 has such distance information for use in various purposes.

In S11-2, it is judged whether Lh is smaller than 0. In the hour, the steel plate 151 has not reached the cooling water tank, so the processing is skipped, and the process proceeds to S11-6. When it is large, the steel plate 151 reaches the cooling water tank, so the control code corresponding to the distance Lh is extracted in S11-3. That is, compare Lh with the steel plate position in FIG. 9 , and extract the control code of the upper water tank and the control code of the lower water tank at the position corresponding to Lh.

Extract the cooling water tank opening and closing pattern from the control code in S11-4. Using the correspondence between the control code in Fig. 5 and the opening and closing mode of the cooling water tank, it is decided to open the cooling water tank with priority. In S11-5, use the information stored in the cooling water tank priority table 115 to specifically determine the opened cooling water tank, and finally determine the opening and closing of the cooling water tank. In S11-6, it is determined whether or not the calculations for all the cooling water tanks have been completed, and if not completed, the processing of S11-1 to S11-5 is repeated until the end.

In this embodiment, the case where the number of cooling water tanks is 100 is described as an example, but the number of water tanks may be various numbers depending on the equipment. In the present embodiment, the smoothing member 1112 is provided, but an omitted structure is also considered.

Other examples will be described. In this embodiment, a case where the adjustment of the water-cooled model or the air-cooled model is performed remotely using the service of the Internet as a factory manufacturing machine is shown. Fig. 13 shows the overall configuration of the system of this embodiment.

The manufacturing machine passes the actual data such as the coiling temperature obtained by the control device 100 from the control object 150, the water tank mode corresponding to it, the speed of the steel plate 151, the temperature on the side of the rolling mill, or the main information such as the thickness and width of the plate through the network 1211, The server 1210 and the line network 1203 fetch the server 1204 of our company. Then, it is stored in the adjustment database 1205 .

The manufacturing machine 1202 has a model adjustment unit 1206, and according to the request from the steel company 1201, uses the data stored in the adjustment database 1205 to perform correction calculations for hr, hw, and λ described in Embodiment 1, and sends the calculation results to the steel company 1201. Various methods are known for the correction calculation, as an example is shown in "Structure and Learning Method of Adjusting Neural Network for Model Adjustment with High Accuracy" (Journal of Electrical Society Paper D, April 2017 issue). The equivalent of model adjustment may correspond to the number of adjustments, and may also be the result reward corresponding to the improved control result of the adjusted result.

The embodiment can be widely applied to the cooling control of the hot rolling line.

Fig. 14 shows another embodiment. The winding temperature control device 1100 receives various signals from the controlled object 1150 and outputs the control signal to the controlled object 1150 . First, the structure of the control object 1150 will be described. In this embodiment, the control object 1150 is the coiling temperature control line of hot rolling, and the steel plate 1151 rolled by the rolling mill 1157 of the rolling unit 1152 at a temperature of 900° C. to 1000° C. is cooled by the coiling cooling unit 1153 . The downcoiler 1154 winds. An upper cooling device 1158 that is water-cooled from above the steel plate 1151 and a lower cooling device 1159 that is water-cooled from the bottom of the steel plate 1151 are provided in the winding cooling section 1153, and each cooling device has a plurality of cooling water tanks 1160 that combine a certain amount of water. 1161. In this embodiment, the description is made by taking the operation instruction of each cooling water tank 1160 as opening or closing as an example. The exit-mill side thermometer 1155 measures the temperature of the steel sheet rolled by the rolling section 1152 , and the coiling thermometer 1156 measures the temperature before coiling by the down coiler 1154 . In this example, the temperature on the exit side of the rolling mill was used as the temperature before cooling. The purpose of the winding temperature control is to make the temperature measured by the winding thermometer 1156 coincide with the target temperature. The target temperature may be fixed at each location in the longitudinal direction of the coil, or may be set to a different value for each location.

The structure of the winding temperature control device 1100 is shown below. The coiling temperature control device 1100 has: before the steel plate 1155 is cooled by the coiling cooling unit 1153, the preset control part 1110 for calculating the control code corresponding to the opening and closing mode of each cooling water tank 1160; During cooling, real-time acquisition of the measured temperature of the winding thermometer 1156 and the like, the dynamic control part 1120 for changing the control code; It is constituted by a preset information transfer unit 1118 that outputs necessary constants to the dynamic control unit 1120 among the constants used by the model optimal preset unit 1111 . The preset information transmission part 1118 at least outputs the target coiling temperature of the steel plate, the speed schedule of the steel plate, and the temperature of the plate on the side of the rolling mill to the dynamic control part 1120 .

Hereinafter, a set of opening and closing patterns of the cooling water tanks 1160 is referred to as a tank pattern. The preset control part 1111 has information obtained from the target winding temperature table 1114, the speed mode table 1115, and the cooling water tank priority table 1116, and calculates the model optimal preset part 1111 of the water tank mode through calculation using the plate temperature estimation model 1117 ; Cooling device command value smoothing means 1112 for smoothing the time output of the water tank mode with respect to the calculation result of the model optimum preset means 1111. In addition, the dynamic control part 1120 has: using the detected temperature from the winding thermometer 1156, the winding temperature deviation correction part 1121 is used to calculate the number of opening and closing of the water tank necessary to correct the deviation between it and the target temperature; The detection temperature of 1155 is calculated and corrected and the pre-cooling temperature deviation correction part 1122 of the opening and closing number of water tanks necessary for the deviation of the temperature on the side of the rolling mill assumed during the calculation of the preset control calculation; The rotation speed calculates the speed of the steel plate 1151, and calculates the speed deviation correcting means 1123 for calculating the number of opening and closing of the water tank necessary for correcting the calculation result and the deviation of the steel plate speed assumed during the preset control calculation. It also has: the influence coefficient table 1124 used in these calculations; focusing on each part in the longitudinal direction of the steel plate, the calculation results of the coiling temperature deviation correction unit 1121, the pre-cooling temperature deviation correction unit 1122, and the speed deviation correction unit 1123 are combined to calculate the dynamic An operation amount synthesizing part 1125 of the output of the control part 1120 .

FIG. 15 shows the structure of the target winding temperature table 1114 . An example in which target temperatures are stratified according to the type of steel plate (steel type) is shown. The preset control unit 1110 determines the steel type of the coil, and extracts the corresponding target temperature from the target coiling temperature table 1114 .

FIG. 16 shows the structure of the speed pattern table 1115. For steel type, plate thickness, and plate width, the layers are: the front end of the steel plate 1151 comes out of the rolling mill 1157, and the speed (initial speed) before being coiled by the downcoiler 1154; then, the steady speed after rapid acceleration; the steel plate 1151 The rear end of the machine decelerates sharply before coming out of the rolling mill 1157, and is the speed (end speed) before being coiled by the down coiler 1154. The preset control unit 1110 determines the steel type, plate thickness, and plate width of the coil, and extracts the corresponding speed pattern from the speed pattern table 1115 . For example, when the steel type is SUS304, the plate thickness is 3.0-4.0 mm, and the plate width is 1200 mm, set the initial speed to 150 mpm, the steady speed to 150 mpm, and the final speed to 150 mpm.

FIG. 17 shows the structure of the cooling water tank priority table 1115. Hereinafter, the case where the total number of water tanks is 100 will be described as an example. FIG. 17 shows the priority of 1 to 100 assigned to the opening sequence of 100 water tanks, and the order of cooling water tanks that are preferentially opened is stored for steel type, plate thickness, and water tank classification (upper water tank or lower water tank). Consider the cooling efficiency, the allowable temperature difference between the surface and the interior, and decide the priority. For example, when the steel plate 1151 is thin, it is difficult to produce a temperature difference between the surface and the inside, so considering the cooling efficiency, the water tank on the exit side of the rolling mill 1157 close to the high temperature of the steel plate 1151 is preferentially opened. When the steel plate 1151 is thick, the water tank that is opened as much as possible is discontinuously given priority in order to suppress the temperature difference between the surface and the inside within the allowable range using reflow by air cooling. By mixing water cooling and air cooling, the cooling efficiency is slightly sacrificed, and the temperature difference between the surface and inside of the steel plate 1151 is suppressed. The cooling water tank is controlled so that it is only opened by an amount to achieve the target winding temperature. The storage and cooling water tanks are numbered in order of proximity to the rolling mill 1157, for example (1, 1) represents the first cooling water tank of the first storage. In the figure, the steel type is SUS304, and the plate thickness is 2.0~3.0mm. When the cooling water tank is classified as the upper water tank, it is represented by (1, 1), (1, 2), (1, 3), (1, 4) , (1, 5), (2, 1), ..., (20, 4), (20, 5) are opened first. That is, because of the thin plate, considering the cooling efficiency, the water tanks on the side coming out of the rolling mill 1157 are preferentially opened in order. In addition, the steel type is SUS304, the plate thickness is 5.0~6.0mm, and when the cooling water tank is classified as the upper , 1), (3, 4), ..., (20, 3), (20, 5) are opened first. That is, it shows that the steel plate 151 is slightly thicker, so the open water tanks are given priority discontinuously. In this embodiment, the upper water tank and the lower water tank have the same priority, but different priorities may also be assigned.

Tank modes are represented by corresponding control codes. FIG. 18 shows the correspondence between the control codes output by the preset control unit 1110 and the opening and closing modes of the cooling water tank. Control code 0 is fully open, 100 is fully closed. Hereinafter, control coding is performed so that the tank opening and closing pattern in which only the cooling water tank of priority 1 is opened is 1, and the tank opening and closing pattern in which both cooling water tanks of priority 1 and 2 are opened is 2 . . . The preset control unit 1110 outputs a control code corresponding to such a cooling water tank opening and closing pattern to the smoothing unit 1112 . That is, the control code of the state where all cooling water tanks are opened is 0, and the control code of the state of all cooling water tanks is closed is 100 (100 is the total number of the upper or lower cooling water tanks). Moreover, if the steel type is SUS304, the plate thickness is 2.0~3.0mm, and the cooling water tank is classified as an upper water tank, the priority of the water tank is to be followed, and only the open state of (1, 1) is the control code 99, (1, 1) , (1, 2) open state is the control code 98, (1, 1), (1, 2), (1, 3) open state is the control code 97, using this method, the following to the opening mode of the water tank given Control codes up to control code 0 for the state where all tanks are open.

FIG. 19 shows the algorithm executed by the model optimal preset component 1111. Based on the values obtained from the speed mode table 1115 in S16-1, the acceleration start position for shifting from the initial speed to the steady speed and the deceleration start position for shifting from the steady speed to the final speed are calculated, and the output from the steel plate 1151 is calculated. The rolling mill 1157 starts to the speed pattern of the end of coiling with the downcoiler 1154. The acceleration start position Saccp, the acceleration end position Saccq, the deceleration start position Sdccp, and the deceleration end position Sdccq can be calculated by Expressions 10 to 13 shown below, respectively.

[expression 10]

S _accp =L _md

However, Lmd: the distance from the rolling mill 1157 to the downcoiler 1154 .

[expression 11]

S _accq =S _accp +(S _mid -S _start )*(S _mid +S _start )/(S _accrate *2)

However, Sstart: the initial speed of the steel plate 1151, Smid: the steady speed of the steel plate 1151, Saccrate: the acceleration rate from the initial speed of the steel plate 1151 to the steady speed.

[expression 12]

S _dccp = L _strip -(S _mid -S _end )*(S _mid +S _end )/(S _dccrate *2)-L _margin

However, Lstrip: the length of the steel plate 1151, Send: the end speed of the steel plate 1151, Sdccrate: the deceleration rate from the stable speed of the steel plate 1151 to the end speed, Lmargin: indicates how far the tail of the steel plate 1151 is separated before the end of deceleration .

[expression 13]

S _dccq = L _strip -L _margin

According to the calculated speed pattern, after S16-2, the time change of the water tank pattern to realize the target winding temperature is calculated by calculation using the plate temperature estimation model 1117 . In this embodiment, an example of calculating the tank pattern according to the linear back interpolation method is shown.

In S16-2, two control codes nL and nH sandwiching a solution control code are defined for each site of the steel plate 1151 . Here, there is a solution between fully open and fully closed of the cooling water tank, so nL=0 and nH=100 are uniform. Here, as the number of control codes increases, the number of cooling water tanks that are simply opened decreases, so when n1<n2, Tc1<Tc2 holds for the winding temperatures Tc1 and Tc2 corresponding to these tank modes. Next in S16-3, the average of nL and nH is n0. Then in S16-4, the winding temperature Tc0 corresponding to the control code n0 is calculated. S16-4 For each position in the longitudinal direction of the steel plate 1151, from the exit mill to the down coiler, continuously calculate and calculate the temperature estimation calculation according to the plate temperature estimation model 1117, and estimate the coiling temperature. In S16-5, the sign of the estimated winding temperature Tc0 relative to the target winding temperature Ttarget is judged, and when Tc0>Ttarget, there is a solution between n0 and nL, so n0 is placed in nH. On the contrary, when Tc0<Ttarget, there is a solution between n0 and nH, so put n0 in nL. In S16-6, the end condition of the algorithm is judged, and if not satisfied, S16-3 to S16-5 are repeatedly executed.

The end of the algorithm takes S15-3～S15-5 repetitions over a certain number of times, the deviation between the estimated winding temperature Tc and the target winding temperature Ttarget is below a certain value, and n0 coincides with any one of nH and nL as conditions. determination.

As a control code assignment method, the control code for all the cooling water tanks in the closed state is 0, and the control code for all the cooling water tanks in the open state is 100.

Fig. 20 shows details of the temperature estimation calculation corresponding to S16-4. As the temperature estimation calculation, an example of the so-called forward difference method is shown in which the steel plate 1151 is divided in the longitudinal direction and the thickness direction, and the time is advanced and calculated at a constant scale Δ. The calculation time is updated in S17-1, and the plate speed Vt at the corresponding time is calculated from the speed pattern generated in S16-1 of FIG. 19 . In S17-2, using the calculated plate speed, the mill length is calculated. The length Ln out of the rolling mill is the length of the steel plate coming out of the rolling mill after rolling, and can be calculated by an expression. However, Ln-1 is the output length of the previous time.

[expression 14]

L _n ＝L _n-1 +Δ·Vt

In S17-3, it is judged that the calculation is completed. When the exit mill length Ln is greater than the sum of the total length of the steel plate 1151 and the distance from the rolling mill 1157 to the downcoiler 1154, all the coiling temperature prediction calculations corresponding to one coil are completed, so the calculation is terminated. When the calculation is not completed, the temperature tracking of the steel plate is performed in S17-4. That is, from the relationship between Ln and Ln-1, it is known how much the steel plate has advanced after the elapse of Δ time with respect to the position of the steel plate at the previous time, so the process of shifting the temperature distribution of the steel plate by the corresponding distance is performed. In S17-5, an estimated value of the temperature of the steel plate before cooling is set for the steel plate 1151 discharged from the rolling mill during the period Δ. In S17-6, it is determined whether each part is water-cooled or air-cooled from the opening and closing information of the water tank corresponding to each part of the steel plate 1151 . In water cooling, the heat transfer coefficient is calculated according to Expression 15 in S17-7.

[expression 15]

hw=9.72*10 ⁵ *ω ^0.355 *{(2.5-1.15*logTw)*D/(pl*pc)} ^0.646 /(Tsu-Tw)

However, ω: water volume density

Tw: water temperature

D: Nozzle diameter

pl: Nozzle spacing in the line direction

pc: Nozzle spacing in the direction orthogonal to the line

Tsu: Surface temperature of steel plate 1151

Expression 15 is the so-called heat transfer coefficient when the thin plate is cooled. As water cooling methods, there are various other methods such as spray cooling, and several formulas for calculating heat transfer coefficients are known.

In the case of air cooling, the heat transfer coefficient is calculated according to Expression 16.

[expression 16]

hr＝σ·ε[{(273+T _su )/100} ⁴ -{(273+T _a )/100} ⁴ ]/(T _su -T _a )

However, σ: Stephen Boltzmann constant (=4.88)

ε: emissivity

Ta: air temperature (°C)

Tsu: Surface temperature of steel plate 1151

Regarding the surface and the back surface of the steel plate 1151, Expression 15 and Expression 16 are calculated respectively. Then, the temperature of each part of the steel plate 1151 is calculated by adding and subtracting the transfer of heat between Δ and the temperature before passing Δ. If the heat transfer in the thickness direction of the steel plate 1151 can be neglected, each position in the longitudinal direction of the steel plate 1151 can be calculated as in Expression 17.

[expression 17]

T _n ＝T _n-1 -(h _t +h _b )*Δ/(ρ*C*B)

However, Tn: the current plate temperature

Tn-1: plate temperature before Δ

ht: heat transfer coefficient of steel plate surface

hb: thermal conductivity of the back of the steel plate

ρ: Density of steel plate

C: Specific heat of steel plate

B: Steel plate thickness

Furthermore, when it is necessary to consider the heat conduction in the thickness direction of the steel plate 1151, it can be calculated by solving a well-known heat equation. The heat equation is represented by Expression 18, and methods of differential calculation thereof with a computer are disclosed in various documents.

[expression 18]

$<span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; T</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span>\mathrm{<span\; class="notranslate">\; \&lambda;</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&rho;</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; C</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \}</span><span\; class="notranslate">\; (</span>{<span\; class="notranslate">\; \&PartialD;</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; T</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>{\mathrm{<span\; class="notranslate">\; t</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>$

However, λ: thermal conductivity

T: material temperature

Then, in S7-10, S16-6 to S17-9 are repeated until the calculation is completed in the entire area of the steel plate 1151 in the line from the rolling mill 1157 to the down coiler 1154. In addition, S17-1 to S17-9 are repeated until the end of calculation is determined in S17-3.

FIG. 21 shows an example of the change of the control codes given to the respective parts of the steel plate 1151 in S16-3 based on the optimization process in FIG. 19 . In the first treatment, the same initial values (nL=0, nH=100) are processed at each location, so as shown in the first treatment in FIG. In the second processing, the control code given to the control code 50 differs depending on whether the prediction result of the coiling temperature Tc0 at each part of the steel sheet 1151 is greater or smaller than Ttarget. In this embodiment, the control code indicating that the front end and the rear end of the steel plate 1151 close to the low steel plate speed is updated to the direction of closing the water tank, and the central part of the steel plate 151 whose steel plate speed is high is updated to the control code of the direction of opening the water tank. example. Specifically, as shown in the second processing of FIG. 21 , the result of updating the front end and the rear end to nL=50 and nH=100 in S16-5 of the first processing is that the control codes are updated to be averaged. 75. On the other hand, the control code is updated to 25 as a result of updating nL=0 and nH=50 in the central part in S16-5 of the first processing. By repeating S16-3 to S16-6 of FIG. 19 in this way, the control codes are sequentially updated.

FIG. 22 shows an example of the control code finally output by the preset control section 1110. In the example shown in the figure, the steel plate 1151 is divided into grids in units of 1 m corresponding to the distance from the front end, and control codes are assigned corresponding to the grids. The cooling device corresponds to the front and back of the steel plate, and has an upper cooling device 1158 and a lower cooling device 1159, so as control codes, it corresponds to the upper radiator and the lower radiator and outputs them separately. In the figure, it shows that the control code of the upper water tank 1m away from the front end is 95, the control code of the lower water tank is 95, and the control code of the upper water tank is 14 between 500m and 501m, and the control code of the lower water tank is 14. The control code is 14. In FIG. 21 , the control codes of the header tank and the lower tank corresponding to the same portion of the steel plate 1151 are the same, but different control codes can also be set.

FIG. 20 shows the processing results of the smoothing component 1112. The smoothing unit 1112 smoothes the opening and closing of the cooling water tank with respect to the output of the model optimum preset unit 1111 . In FIG. 23 , the control codes output by the optimal model preset unit 1111 are smaller in the section of 3m to 4m in the steel plate site than in the front and back sites. At this time, output a control command to instantly open and close a part of the cooling water tank as the part passes. After the smoothing process by the smoothing member 1112, by smoothing the control code 12 to 14, the change of the control code with respect to the steel plate portion becomes monotonous, and the problem before smoothing can be eliminated. Even if a command to open and close the cooling water tank is generated in a short cycle, it is actually meaningless because the response of the cooling water tank is delayed. Therefore, the smoothing process is performed to smooth the command of the cooling water tank in the time direction. Smoothing can be realized by a simple process of making each control code larger or smaller than the preceding and following control codes, and matching the preceding and following control codes.

FIG. 24 shows the structure of the dynamic control unit 120. As shown in FIG. The control code output by the preset control unit 1110 is corrected in real time by the dynamic control unit 1120 when the steel plate 1151 is actually cooled. The dynamic control part 1120 has: use the detection temperature from the winding thermometer 1156 to correct the coiling temperature deviation correction part 1121 of its deviation from the target temperature; Pre-cooling temperature deviation correcting part 1122 of the deviation of pre-cooling temperature presumed in the calculation; calculate the speed of the steel plate 1151 from the rotational speed of the rolling mill 1157 or the down coiler 1154, and correct the calculation result and the pre-cooled steel plate speed assumed in the calculation. Deviation speed deviation correction component 1123. It also has an influence coefficient table 1124 used for calculating the correction amount. The sum of the correction amount is converted into the change amount of the control code for each position in the longitudinal direction of the steel plate 1151 by the operation amount synthesis unit 1125 and output from the dynamic control unit 1120 .

Next, the operation of each part will be described in detail. The influence coefficient table 1124 has the first influence coefficient table 11101 storing the change of the coiling temperature relative to the change of the control code, the second influence coefficient table 11102 storing the change of the coiling temperature relative to the change of the steel plate speed, and storing the change relative to the speed of the steel plate. The third influence coefficient table 11103 of the change of the winding temperature of the change of the temperature before cooling.

由板厚、板速、控制代码分层存储。在图的例子中，表示板厚在3mm以下，钢板1151的速度在150mpm以下，控制代码n在9以下时，

如果打开或关闭一个冷却水箱1160，则由卷绕温度计1156计测的卷绕温度Tc下降或上升3℃。也能减少分层项目，也考虑追加冷却前温度。FIG. 25 shows the structure of the first influence coefficient table 11101. In the first influence coefficient table 11101, the value corresponding to the variation of the winding temperature Tc when opening or closing a cooling water tank 1160

It is stored hierarchically by plate thickness, plate speed and control code. In the example in the figure, when the plate thickness is below 3mm, the speed of the steel plate 1151 is below 150mpm, and the control code n is below 9,

If one cooling water tank 1160 is opened or closed, the winding temperature Tc measured by the winding thermometer 1156 drops or rises by 3°C. It is also possible to reduce the number of stratification items, and it is also considered to increase the temperature before cooling.

由板厚、板速、控制代码分层存储。在图的例子中，表示板厚在3mm以下，钢板1151的速度在150mpm以下，控制代码n在9以下时，

如果把钢板1151的速度增加或减少1mpm，则由卷绕温度计1156计测的卷绕温度Tc下降或上升2.2℃。也同样能减少分层项目，也考虑追加冷却前温度。FIG. 26 shows the structure of the second influence coefficient table 11102. In the second influence coefficient table 11102, the value corresponding to the variation of the coiling temperature Tc when the speed of the steel plate 1151 is increased or decreased by 1 mpm

It is stored hierarchically by plate thickness, plate speed and control code. In the example in the figure, when the plate thickness is below 3mm, the speed of the steel plate 1151 is below 150mpm, and the control code n is below 9,

If the speed of the steel plate 1151 is increased or decreased by 1 mpm, the coiling temperature Tc measured by the coiling thermometer 1156 decreases or increases by 2.2°C. It is also possible to reduce the number of stratification items, and it is also considered to increase the temperature before cooling.

由板厚、板速、控制代码分层存储。在图的例子中，表示板厚在3mm以下，钢板1151的速度在150mpm以下，控制代码n在9以下时，

冷却前温度的计测值高或低1℃时，由卷绕温度计1156计测的卷绕温度Tc下降或上升0.9℃。也同样能减少分层项目，也考虑追加冷却前温度。FIG. 27 shows the structure of the third influence coefficient table 11103. In the third influence coefficient table 11103, the value corresponding to the variation of the coiling temperature Tc when the temperature before cooling of the steel plate 1151 measured by the thermometer 1155 on the side of the rolling mill is increased or decreased by 1°C

It is stored hierarchically by plate thickness, plate speed and control code. In the example in the figure, when the plate thickness is below 3mm, the speed of the steel plate 1151 is below 150mpm, and the control code n is below 9,

When the measured value of the temperature before cooling was higher or lower by 1°C, the winding temperature Tc measured by the winding thermometer 1156 fell or rose by 0.9°C. It is also possible to reduce the number of stratification items, and it is also considered to increase the temperature before cooling.

通过以下的运算，计算控制代码的变更量。Next, the processing of the winding temperature deviation correction unit 1121 will be described. The winding temperature deviation correcting means 1121 is activated at a constant cycle to perform winding temperature FB control. That is, the winding temperature deviation correction unit 1121 has a winding temperature deviation correction amount calculation unit 11104 for calculating an appropriate change amount of the control code with respect to the magnitude of the deviation of the winding temperature from the target temperature. The winding temperature deviation correction amount calculation unit 11104 obtains the difference between the Tc assumed at the time of installation and the Tc measured by the winding thermometer 1156, and obtains the layered influence coefficient corresponding to the current state from the first influence coefficient table 11101

Calculate the change amount of the control code by the following calculation.

[expression 19]

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="1"\; label="G"\; filenames="A20071000739000581.png,A20071000739000582.png"\; state="\{\{state\}\}">G</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \{</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; (</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tc</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; \&Delta;\; n</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \}</span><span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; \&Delta;Tc</span>}$

However, Δn1: the amount of change in the control code based on the winding temperature FB control

G1: constant (winding temperature FB control gain)

从第一影响系数表11101抽出的相应分层的影响系数

The influence coefficient of the corresponding layer extracted from the first influence coefficient table 11101

ΔTc: Winding temperature deviation

通过以下的运算，计算控制代码的变更量。The pre-cooling temperature deviation correction unit 1122 is also activated at a predetermined cycle to perform feed-forward control of the pre-cooling temperature deviation. That is, the pre-cooling temperature deviation correction part 1122 has: for the magnitude of the deviation between the pre-cooling temperature assumed during the preset calculation and the temperature on the exiting mill side detected by the exiting mill side thermometer 1155, the cooling method for calculating the change amount of the appropriate control code The front temperature deviation correction amount calculation part 11105; the application part determination part 11108 which determines which part in the longitudinal direction of the steel plate 1151 the calculation result is applied to. The pre-cooling temperature deviation correction amount calculation part 11105 obtains the difference ΔTf between the Tf assumed in the setting and the Tf detected by the thermometer 1155 on the exit side of the rolling mill, and obtains the value corresponding to the current state from the first influence coefficient table 11101 and the third influence coefficient table 11103. The stratified influence coefficient of

Calculate the change amount of the control code by the following calculation.

[expression 20]

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="G"\; filenames="A20071000739000581.png,A20071000739000591.png"\; state="\{\{state\}\}">G</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&Delta;\; n</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tf</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; \&Delta;Tf</span>}$

$<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="G"\; filenames="A20071000739000581.png,A20071000739000591.png"\; state="\{\{state\}\}">G</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \{</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; (</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tc</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; \&Delta;\; n</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \}</span><span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; (</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tc</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tf</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; \&Delta;Tf</span>}$

However, Δn2: The amount of change in the control code based on the temperature deviation FF control before cooling

G2: constant (control gain of temperature deviation FF before cooling)

从第三影响系数表11103抽出的相应分层的影响系数

The influence coefficient of the corresponding layer extracted from the third influence coefficient table 11103

ΔTf: temperature deviation on one side of the rolling mill

The calculated Δn2 is output to the application site determination unit 11108 .

FIG. 28 shows the processing of the application part determination unit 11108. Here, as for the steel plate 1151, as shown in FIG. 29, a segment 11601 is defined in the longitudinal direction. In the example in the figure, n segments are defined from the front end of the steel plate to the rear end of the steel plate, and segment numbers are assigned to each. That is, 1 is assigned to the segment at the front end of the steel plate, and n is assigned to the segment at the rear end of the steel plate. In S115-1, the segment number of the installation position of the thermometer 1155 on the rolling mill side is acquired. The segment number obtained here is i. The control device of the steel system usually calculates tracking information of the steel plate 1151 and uses it for various purposes. That is, the starting position (the length coming out of the rolling mill 157) and the end position of the steel plate 1151 are calculated periodically, so from the relationship between this information and the installation position of the thermometer 1155 on the side of the rolling mill, the section where the thermometer 1155 on the side of the rolling mill is installed can be determined. serial number. Next, in S115-2, the output Δn2 of the pre-cooling temperature deviation correction amount calculation means 11105 is acquired. Then, in S115-3, Δn2 is registered for the stage number i of the installation position of the thermometer 1155 on the exit mill side acquired in S115-1. Hereinafter, this value is (Δn2)i.

通过以下的计算，计算控制代码的变更量。The speed deviation correction amount calculation unit 11106 is also activated at a constant cycle to perform speed deviation feedforward control. That is, the speed deviation correction amount calculation part 11106 has: the speed deviation correction amount calculation part 11106 for calculating the appropriate change amount of the control code for the magnitude of the deviation between the steel plate speed assumed during the preset calculation and the actual steel plate speed; The application site to which site in the longitudinal direction of the steel plate 1151 is applied determines the member 11109 . The speed deviation correction amount calculation part 11106 obtains the deviation ΔV between the steel plate speed assumed in the installation and the actual speed, and obtains the influence coefficient corresponding to the stratification of the current state from the first influence coefficient table 11101 and the second influence coefficient table 11102

Calculate the change amount of the control code by the following calculation.

[expression 21]

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="3"\; label="G"\; filenames="A20071000739000581.png,A20071000739000681.png"\; state="\{\{state\}\}">G</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&Delta;n</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; V</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; \&Delta;V</span>}$

${\mathrm{<span\; class="notranslate">\; <figure-callout\; id="3"\; label="G"\; filenames="A20071000739000581.png,A20071000739000681.png"\; state="\{\{state\}\}">G</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \{</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; (</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tc</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; \&Delta;n</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \}</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; (</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tc</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; V</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; \&Delta;V</span>}$

However, Δn3: the amount of change in the control code based on the plate speed deviation FF control

G3: constant (board speed deviation FF control gain)

从第二影响系数表11102抽出的相应分层的影响系数

The influence coefficient of the corresponding layer extracted from the second influence coefficient table 11102

ΔV: plate speed deviation

The calculated Δn3 is output to the application site determination unit 11109 .

FIG. 30 shows the processing of the application part determination unit 11109. In S17-1, the steel plate segment number of the steel plate located in the entry position and discharge position of the coil cooling part 1153 is acquired from the tracking information of the steel plate 1151. Next, in S17-2, the segment requiring correction of the control code is determined from the acquired segment number, and the correction ratio of each segment is calculated. The correction ratio Ri of the steel plate section number i can be calculated by the following expression.

[expression 22]

Ri = (i-I1)/(I2-I1)

However, I1: number of the steel plate section at the discharge position of the cooling unit

       I2: Number of the steel plate section where the cooling unit enters the position

Then, in S17-3, the output Δn3 of the speed deviation correction amount calculation means 11106 is obtained. In S17-4, from Δn3 and the correction ratio calculated in S17-2, the control code correction amount of each segment is calculated and registered in the corresponding segment number. The correction amount Δn3 of the steel plate section number i can be calculated by the following expression.

[expression 23]

Δnri=Δn ₃ ×Ri

Next, the processing of the operation amount synthesizing unit 1125 will be described. The operation amount synthesis unit 1125 adds Δn1, (Δn2)i, and (Δn3)i calculated by the coiling temperature deviation correction unit 121 to calculate the operation amount of each steel plate section. Specifically, the output Ndi of the dynamic control part 1120 with respect to the steel plate segment i is calculated by Expression 24.

[expression 24]

Ndi={Δn ₁ +(Δn ₂ )i+(Δn ₃ )i}

The dynamic control part 1120 outputs the calculated correction amount, and the control code output by the preset control part 1110 is corrected according to this value.

The above calculation of the correction amount by the dynamic control unit 1120 does not need to be performed for all the steel plate segments, and the calculation is simplified by performing the above-mentioned processing only on the steel plate segments to be cooled by the coil cooling device 1153 .

FIG. 31 shows an example of the correction result when the dynamic control unit 1120 corrects the control code output by the preset control unit 1110 . In the figure, the control code of steel plate part 5m~6m is revised from 12 to 10. In the present embodiment, each correction amount calculation means 11104 to 11106 is activated at a constant cycle, but as the activation method, every timing at which the steel plate 1151 comes out of the rolling mill 1157 for a certain length is considered.

FIG. 32 shows the algorithm executed by the tank mode conversion component 1130. In S119-1, the distance Lh from the front end of the steel plate 1151 passing directly under the cooling water tank is calculated. Generally, the control device 1100 has such distance information and uses it for various purposes. In S119-2, it is judged whether Lh is smaller than 0, and the steel plate 1151 has not reached the corresponding cooling water tank, so the process is skipped and enters into S119-6. When it is large, the steel plate 1151 reaches the corresponding cooling water tank, so in S119-3, the control code corresponding to the distance Lh is extracted. That is, compare Lh with the steel plate position in Fig. 21, and extract the control code of the upper water tank and the control code of the lower water tank at the position corresponding to Lh. In S119-4, the cooling water tank opening and closing pattern is extracted from the control code. Using the correspondence between the control code in FIG. 20 and the opening and closing mode of the cooling water tank, it is determined how many priority cooling water tanks to open. In S119-5, use the information stored in the cooling water tank priority table 1115 to specifically determine the cooling water tanks to be opened, and finally determine the opening and closing of the corresponding cooling water tanks. In S119-6, it is determined whether or not the calculation for all the cooling water tanks has been completed, and if not completed, the processing of S119-1 to S19-5 is repeated until the calculation is completed.

In this embodiment, the case where the number of cooling water tanks is 100 is described as an example, but various numbers can be used as the number of cooling water tanks. In the present embodiment, the smoothing member 1112 is provided, but an omitted structure is also considered.

Other examples will be further described. In this embodiment, it is shown that the output of the pre-cooling temperature deviation correction unit 1122 and the speed deviation correction unit 1123 are synthesized by the operation amount synthesis unit 1125 in the calculation result of the dynamic control unit 1120, and the output of the preset control unit 1110 is corrected using this value. , in the processing of the tank mode conversion unit 1130, the embodiment when the output of the winding temperature deviation correction unit 1121 is reflected in the opening and closing of the tank. Fig. 33 shows the processing structure. The operation amount synthesis unit 1125 generates a correction code by the following calculation using the outputs of the pre-cooling temperature deviation correction unit 1122 and the speed deviation correction unit 1123 .

[expression 25]

Ndi={(Δn ₂ )i+(Δn ₃ )i}

Then, the dynamic control part 1120 outputs the calculated correction amount, and the control code output by the preset control part 1110 is corrected according to this value.

FIG. 34 shows the algorithm executed by the tank mode conversion component 1130. In S121-1, the distance Lh from the front end of the steel plate 1151 passing directly under the cooling water tank is calculated. Generally, the control device 1100 has such distance information and uses it for various purposes. In S121-2, it is judged whether Lh is smaller than 0, and the steel plate 1151 has not reached the corresponding cooling water tank, so the processing is skipped and the process goes to S121-7. When it is large, the steel plate 1151 reaches the corresponding cooling water tank, so in S121-3, the control code corresponding to the distance Lh is extracted. That is, compare Lh with the steel plate position in Fig. 21, and extract the control code of the upper water tank and the control code of the lower water tank at the position corresponding to Lh. In S121-4, the cooling water tank opening and closing pattern is extracted from the control code. Using the correspondence between the control code in FIG. 20 and the opening and closing mode of the cooling water tank, it is determined how many priority cooling water tanks to open. In S121-5, use the information stored in the cooling water tank priority table 1115 to specifically determine the cooling water tank to be opened. Then, in S121-6, the opening and closing of the water tanks close to the downcoiler 1154 are checked sequentially, and the state of the water tanks is reversed for the number corresponding to Δn3, and finally the opening and closing of the cooling water tanks are determined. In S121-7, it is determined whether or not the calculation for all the cooling water tanks has been completed. If not, the processing of S121-1 to S121-6 is repeated until the calculation is completed.

According to this embodiment, since the winding temperature deviation is eliminated by opening and closing the water tank near the down coiler 1154, the response of the feedback control can be improved and the time for eliminating the deviation can be shortened.

Other examples will be further described. In this embodiment, a case where the adjustment of the water-cooled model or the air-cooled model is performed remotely using the service of the Internet as a factory manufacturing machine is shown. Fig. 35 shows the overall structure of the system. The manufacturing machine passes the actual data such as the coiling temperature obtained by the control device 1100 from the control object 1150, the corresponding water tank mode, the speed of the steel plate 1151, the temperature on the side of the rolling mill, or the main information such as the thickness and width of the plate through the network 12211, The server 12210 and the line network 12203 fetch the server 12204 of our company. Then, it is stored in the database 12205 for adjustment. The manufacturing machine 12202 has a model adjustment unit 12206, and according to the request from the steel company 12201, uses the data stored in the adjustment database 12205 to perform correction calculations for hr, hw, and λ described in the previous embodiment, and sends the calculation results to the steel company 12201. Various methods are known for the correction calculation, as an example is shown in "Structure and Learning Method of Adjusting Neural Network for Model Adjustment with High Accuracy" (Journal of Electrical Society Paper D, April 2017 issue). The equivalent of model adjustment may correspond to the number of adjustments, and may also be the result reward corresponding to the improved control result of the adjusted result.

It can be widely used in cooling control of hot rolling line.

Other examples will be further described. For ease of understanding, concepts are described using symbols assigned to the drawings. There is a preset for calculating the control code corresponding to the command value of the cooling device that realizes the required coiling temperature by using the target coiling temperature, the speed mode of the steel plate, and the priority of the cooling device as input information, using the plate temperature estimation model The control part (2110); the dynamic control part (2120) that calculates the correction amount of the control code output by the preset control part in the cooling control; also has the calculation of the operation amount calculated by using the dynamic control part (2120), and calculates the target volume Adaptive control component (2116) of correction amount around temperature. The dynamic control part (2120) includes a coiling temperature deviation correction part ( 21104); The pre-cooling temperature deviation calculated by using the opening and closing of the water tank for compensating the deviation between the pre-cooling temperature of the steel plate assumed during the preset control and the pre-cooling temperature detected from the steel plate during the cooling control as the correction amount of the control code A correction part (21105); a speed deviation correction part (21106) that calculates the opening and closing of the water tank for compensating the deviation between the steel plate speed assumed in the preset control and the steel plate speed in the cooling control as the correction amount of the control code; Adaptive control part (2116) focuses on the front end part and stable part of the steel plate, and uses the calculation of each output of the winding temperature deviation correction part (21104), the pre-cooling temperature deviation correction part (21105), and the speed deviation correction part (21106) , to calculate the corrected temperature of the front end part and the corrected temperature of the stable part of the target winding temperature. It also includes a target temperature correction unit (2117) for calculating a target winding temperature actually used by the dynamic control unit (2120) for calculation from the target winding temperature and the correction temperature. Moreover, it is provided that the control code output by the dynamic control component (2120) is used to modify the control code output by the preset control component (2110) for each position in the longitudinal direction of the steel plate, and the final control code is calculated, and the control code is converted into a cooling device. The winding temperature control device (2100) of the cooling mode conversion component (2140) of the output mode.

That is, in the coiling control of the hot-rolled steel sheet, a high-precision coiling temperature can be obtained regardless of the position in the longitudinal direction of the steel sheet. As a result, the compositional quality of the steel sheet can be improved while achieving a steel sheet shape close to flat.

In FIG. 36 , a control device 2100 (or referred to as a winding temperature control device 2100 ) receives various signals from a control object 2150 and outputs a control signal to the control object 2150 . First, the configuration of the control object 2150 will be described. In this embodiment, the control object 2150 is the coiling temperature control line of hot rolling, and the steel plate 2151 rolled by the rolling mill 2157 of the rolling mill 2152 at a temperature of 900° C. to 1000° C. is cooled by the coiling cooling device 2153 . The downcoiler 2154 winds. An upper cooling device 2158 that is water-cooled from above the steel plate 2151 and a lower cooling device 2159 that is water-cooled from the bottom of the steel plate 2151 are provided in the winding cooling section 2153. 2161. In this embodiment, the description is made by taking the operation instruction of each cooling water tank 2160 as opening or closing as an example. The thermometer 2155 on the exit side of the rolling mill measures the temperature of the steel sheet rolled by the rolling mill 2152 , and the coiling thermometer 2156 measures the temperature before coiling by the down coiler 2154 . The purpose of the winding temperature control is to make the temperature measured by the winding thermometer 2156 coincide with the target temperature. In this embodiment, an example is described in which the target temperature is set to a different value for each position in the longitudinal direction of the coil, but it may be constant regardless of the position.

Next, the structure of the winding temperature control device 2100 is shown. The coiling temperature control device 2100 has: before the steel plate 2151 is cooled by the coiling cooling device 2153, the preset control part 2110 for calculating the control code corresponding to the opening and closing mode of each cooling water tank 2160; During cooling, in the cooling control, obtain the real-time measurement temperature of the thermometer 2155 on the side of the rolling mill and the winding thermometer 2156, etc., and change the dynamic control part 2120 of the control code; Water tank mode conversion component 2140. It is constituted by a preset information delivery unit 2118 that outputs necessary constants to the dynamic control unit 2120 among the constants used by the preset control unit 2110 . The preset information transmission part 2118 at least outputs the target coiling temperature of the steel plate, the speed schedule of the steel plate, and the temperature of the plate on the side of the rolling mill to the dynamic control part 2120 .

Hereinafter, a set of opening and closing patterns of the cooling water tanks 2160 is referred to as a tank pattern. The preset control unit 2110 acquires information from the target winding temperature table 2112 , the speed pattern table 2113 , and the cooling water tank priority table 2114 , and calculates the water tank pattern by calculation using the panel temperature estimation model 2115 . In addition, the dynamic control unit 2120 has: a coiling temperature deviation correction unit 2121 that uses the detected temperature from the coiling thermometer 2156 to calculate the number of openings and closings of the water tank necessary to correct the deviation from the target temperature; The detection temperature of 2155 is calculated and corrected and the pre-cooling temperature deviation correction part 2122 of the opening and closing number of water tanks necessary for the deviation of the temperature on the side of the rolling mill assumed during the calculation of the preset control; The rotational speed calculates the speed of the steel plate 2151, and calculates the speed deviation correction means 2123 for correcting the calculation result and the necessary opening and closing number of the water tank for the deviation of the steel plate speed assumed in the preset control calculation. It also has: an influence coefficient table 2124 used in these calculations; focusing on each position in the longitudinal direction of the steel plate, the calculation results of the coiling temperature deviation correction unit 2121, the pre-cooling temperature deviation correction unit 2122, and the speed deviation correction unit 2123 are synthesized to calculate the dynamic An operation amount synthesizing part 2125 of the output of the control part 2120 .

FIG. 37 shows the structure of the target winding temperature table 2112. An example is shown in which the target temperature is stratified according to the type (steel type) of the steel plate, and different target temperatures are given in the longitudinal direction of the steel plate. That is, different target temperatures are set for the front end and rear end of the steel plate every 5 m in the longitudinal direction, and different target temperatures are set for the central part of the steel plate where the temperature becomes stable. As a result, in consideration of the coilability to the down coiler 2154, it becomes possible to fine-tune the target temperature to slightly control the tip of the steel plate to a high temperature. The preset control unit 2110 (or also referred to as the front-end preset control unit 2110 ) determines the steel type of the coil, and extracts the corresponding target temperature pattern from the target winding temperature table 2112 .

FIG. 38 shows the structure of the speed pattern table 2113. For steel type, plate thickness, and plate width, the stratification is: the front end of steel plate 2151 comes out from rolling mill 2157, and the speed (initial speed) before coiling by down coiler 2154; then, the steady speed after rapid acceleration; steel plate 2151 The rear end of the machine decelerates sharply before coming out of the rolling mill 2157, and is the speed before the downcoiler 2154 is coiled (end speed). The preset control unit 2110 judges the steel type, plate thickness, and plate width of the coil, and extracts the corresponding speed pattern from the speed pattern table 2113 . For example, when the steel type is SUS304, the plate thickness is 3.0-4.0 mm, and the plate width is 1200 mm, set the initial speed to 150 mpm, the steady speed to 150 mpm, and the final speed to 150 mpm.

FIG. 39 shows the structure of the cooling water tank priority table 2114. Hereinafter, the case where the total number of water tanks is 100 will be described as an example. Fig. 40 is to give the priority of 1 to 100 to the opening order of 100 water tanks, and store the order of the cooling water tanks which are opened preferentially for the steel type, plate thickness, and water tank classification (upper water tank or lower water tank). Consider the cooling efficiency, the allowable temperature difference between the surface and the interior, and decide the priority. For example, when the steel plate 2151 is thin, it is difficult to produce a temperature difference between the surface and the inside, so considering the cooling efficiency, the water tank on the exit side of the high-temperature rolling mill 2157 close to the steel plate 2151 is preferentially opened, and when the steel plate 2151 is thick, reflux based on air cooling is used. In order to suppress the temperature difference between the surface and inside within the allowable range, priority is given discontinuously to the tank that is as open as possible. By mixing water cooling and air cooling, the cooling efficiency is slightly sacrificed, and the temperature difference between the surface and inside of the steel plate 2151 is suppressed. The cooling water tank is controlled so that it is only opened by the amount required to achieve the target winding temperature. The warehouses and cooling water tanks are numbered in order of proximity to the rolling mill 2157, for example (1, 1) represents the first cooling water tank of the first warehouse. In the figure, the steel type is SUS304, and the plate thickness is 2.0~3.0mm. When the cooling water tank is classified as the upper water tank, it is represented by (1, 1), (1, 2), (1, 3), (1, 4) , (1, 5), (2, 1), ..., (20, 4), (20, 5) are opened first. That is, because of the thin plate, considering the cooling efficiency, the water tanks on the side coming out of the rolling mill 2157 are opened first in order. In addition, the steel type is SUS304, the plate thickness is 5.0~6.0mm, and when the cooling water tank is classified as the upper , 1), (3, 4), ..., (20, 3), (20, 5) are opened first. That is to say that the steel plate 2151 is slightly thicker, so the open water tanks are given priority discontinuously. In this embodiment, the upper water tank and the lower water tank have the same priority, but different priorities may also be assigned.

Tank modes are represented by corresponding control codes. FIG. 40 shows the correspondence between the control codes output by the preset control unit 2110 and the opening and closing modes of the cooling water tank. Control code 0 is fully open, 100 is fully closed. Hereinafter, the control coding is performed so that the tank opening and closing pattern in which only the cooling water tank of priority 1 is opened is 1, and the tank opening and closing pattern in which both cooling water tanks of priority 1 and 2 are opened is 2 . . . The preset control unit 2110 outputs a control code corresponding to such a cooling water tank opening and closing mode to the tank mode conversion unit 2140 . That is, the control code of the state where all cooling water tanks are opened is 0, and the control code of the state of all cooling water tanks is closed is 100 (100 is the total number of the upper or lower cooling water tanks). Moreover, if the steel type is SUS304, the plate thickness is 2.0~3.0mm, and the cooling water tank is classified as an upper water tank, the priority of the water tank is to be followed, and only the open state of (1, 1) is the control code 99, (1, 1) , (1, 2) open state is the control code 98, (1, 1), (1, 2), (1, 3) open state is the control code 97, using this method, the following to the opening mode of the water tank given Control codes up to control code 0 for the state where all tanks are open.

FIG. 41 shows the algorithm executed by the preset control part 2110. According to the value obtained from the speed mode table 2113 in S26-1, the acceleration start position for shifting from the initial speed to the steady speed and the deceleration start position for shifting from the steady speed to the final speed are calculated, and the output from the steel plate 2151 is calculated. The rolling mill 2157 starts to the speed pattern of the end of coiling with the downcoiler 2154. The acceleration start position Saccp, the acceleration end position Saccq, the deceleration start position Sdccp, and the deceleration end position Sdccq can be calculated by Expressions 26 to 29 shown below, respectively.

[Expression 26]

Saccp=Lmd

However, Lmd: the distance from the rolling mill 2157 to the downcoiler 2154.

[Expression 27]

Saccq＝Saccp+(Smid-Start)*(Smid+Start)/(Saccrate*2)

However, Sstart: the initial speed of the steel plate 2151

Smid: The steady speed of steel plate 2151

Saccrate: The acceleration rate from the initial speed of the steel plate 2151 to the steady speed

[expression 28]

Sdccp＝Lstrip-(Smid-Send)*(Smid+Send)/(Sdccrate*2)-Lmargin

However, Lstrip: the length of the steel plate 1151

Send: Ending speed of steel plate 1151

Sdccrate: The deceleration rate from the stable speed of steel plate 1151 to the end speed

Lmargin: Indicates the limit of the end of the deceleration before the tail of the steel plate 1151 leaves to what extent

[Expression 29]

Sdccq=Lstrip-Lmargin

According to the calculated speed pattern, after S26-2, the time change of the water tank pattern to realize the target winding temperature is calculated by calculation using the board temperature estimation model 2115 . In this embodiment, an example of calculating the tank pattern according to the linear back interpolation method is shown.

In S26-2, two control codes nL and nH sandwiching a solution control code are defined for each site of the steel plate 2151 . Here, there is a solution between the full opening and the full closing of the cooling water tank, so nL=0 and nH=0 are uniform. Here, as the number of control codes increases, the number of cooling water tanks that are simply opened decreases, so when n1<n2, Tc1<Tc2 holds for the winding temperatures Tc1 and Tc2 corresponding to these tank modes. Next in S16-3, the average of nL and nH is n0. Then in S26-4, the winding temperature Tc0 corresponding to the control code n0 is calculated. S26-4 For each position in the longitudinal direction of the control object 2150 (or also called the steel plate 2150), from the rolling mill to the down coiler coiling, the continuous calculation is based on the temperature estimation calculation of the plate temperature estimation model 2115, and the coiling temperature is estimated. . In S26-5, the sign of the estimated winding temperature Tc0 relative to the target winding temperature Ttarget is judged. When Tc0>Ttarget, there is a solution between n0 and nL, so n0 is placed in nH. On the contrary, when Tc0<Ttarget, there is a solution between n0 and nH, so put n0 in nL. In S26-6, it is judged that the end condition of the algorithm is not met, and S26-3 to S26-5 are repeatedly executed. The end of the algorithm is based on the completion of repetitions of S25-3 to S25-5 over a certain number of times, the deviation between the estimated winding temperature Tc and the target winding temperature Ttarget being less than a certain value, and the agreement between n0 and nH or nL as conditions. determination.

As a control code assignment method, the control code for all the cooling water tanks in the closed state is 0, and the control code for all the cooling water tanks in the open state is 100.

Fig. 42 shows the details of the temperature estimation calculation corresponding to S26-4. As the temperature estimation calculation, an example of the so-called forward difference method is shown in which the steel plate 2151 is divided in the longitudinal direction and the thickness direction, and the time is advanced and calculated at a constant scale Δ. The calculation time is updated in S27-1, and the plate speed Vt at the corresponding time is calculated from the speed pattern generated in S26-1 of FIG. 26 . In S27-2, using the calculated plate speed, the mill length is calculated. The length Ln out of the rolling mill is the length of the steel plate coming out of the rolling mill after rolling, and can be calculated by an expression. However, Ln-1 is the output length of the previous time.

[expression 30]

Ln＝Ln-1+Δ·Vt

The end of calculation is judged in S27-3. When the exit mill length Ln is greater than the sum of the total length of the steel plate 2151 and the distance from the rolling mill 2157 to the downcoiler 2154, all the coiling temperature prediction calculations corresponding to one coil are completed, so the calculation is terminated. When the calculation is not completed, the temperature tracking of the steel plate is performed in S27-4. That is, from the relationship between Ln and Ln-1, it is known how much the steel plate has advanced after the elapse of Δ time with respect to the position of the steel plate at the previous time, so the process of shifting the temperature distribution of the steel plate by the corresponding distance is performed. In S27-5, an estimated value of the temperature of the steel plate before cooling is set for the steel plate 2151 discharged from the rolling mill during the period Δ. In S27-6, it is determined whether each part is water-cooled or air-cooled from the opening and closing information of the water tank corresponding to each part of the steel plate 2151 . In the case of water cooling, the heat transfer coefficient is calculated according to Expression 31 in S27-7.

[expression 31]

hw＝9.72*10 ⁵ *ω ^0.355 *{(2.5-1.15*logTw)*D/(pl

*pc)} ^0.646 /(Tsu-Tw)

However, ω: water volume density

Tw: water temperature

D: Nozzle diameter

pl: Nozzle spacing in the line direction

pc: Nozzle spacing in the direction orthogonal to the line

Tsu: Surface temperature of steel plate 2151

Expression 31 is the so-called heat transfer coefficient when the thin plate is cooled. As water cooling methods, there are various other methods such as spray cooling, and several formulas for calculating heat transfer coefficients are known.

In the case of air cooling, the heat transfer coefficient is calculated according to Expression 32.

[expression 32]

hr＝σ·ε[{(273+Tsu)/100} ⁴ -{(273+Ta)/100} ⁴ ]

/(Tsu-Ta)

However, σ: Stephen Boltzmann constant (=4.88)

ε: emissivity

Ta: air temperature (°C)

Tsu: Surface temperature of steel plate 2151

Regarding the surface and the back surface of the steel plate 2151, Expression 31 and Expression 32 are calculated respectively. Then, the temperature of each part of the steel plate 2151 is calculated by adding and subtracting the transfer of heat between Δ and the temperature before passing Δ. If the heat transfer in the thickness direction of the steel plate 2151 can be neglected, each position in the longitudinal direction of the steel plate 2151 can be calculated as in Expression 33.

[expression 33]

Tn＝Tn-1-(ht+hb)*Δ/(ρ*C*B)

However, Tn: the current plate temperature

Tn-1: plate temperature before Δ

ht: heat transfer coefficient of steel plate surface

hb: thermal conductivity of the back of the steel plate

ρ: Density of steel plate

C: Specific heat of steel plate

B: Steel plate thickness

In addition, when it is necessary to consider the heat conduction in the thickness direction of the steel plate 2151, it can be calculated by solving a well-known heat equation. The heat equation is represented by Expression 34, and methods of differential calculation thereof with a computer are disclosed in various documents.

[expression 34]

$<span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; T</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span>\mathrm{<span\; class="notranslate">\; \&lambda;</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&rho;</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; C</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \}</span><span\; class="notranslate">\; (</span>{<span\; class="notranslate">\; \&PartialD;</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; T</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>{\mathrm{<span\; class="notranslate">\; t</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>$

However, λ: thermal conductivity

T: material temperature

Then, in S7-10, S26-6 to S27-9 are repeated until the calculation is completed in the entire region of the steel plate 2151 in the line from the rolling mill 2157 to the down coiler 2154. In addition, S27-1 to S27-9 are repeated until the end of calculation is determined in S27-3.

FIG. 43 shows an example of the change of the control codes given to the respective parts of the steel plate 2151 in S26-3 based on the optimization process in FIG. 41 . In the first treatment, the same initial values (nL=0, nH=100) are processed at each location, so as shown in the first treatment of FIG. In the second processing, for the control code 50 , different control codes are given depending on whether the prediction result of the coiling temperature Tc0 at each part of the steel sheet 1151 is greater or smaller than Ttarget. In this embodiment, the front end and the rear end of the steel plate 2151 close to the steel plate 2151 at a low speed are updated with control codes in the direction of closing the water tank, and the central part of the steel plate 2151 with a high steel plate speed is updated with the control code in the direction of opening the water tank. example. Specifically, as shown in the second processing of FIG. 43 , the result of updating the front end and the rear end to nL=50 and nH=100 in S26-5 of the first processing is that the control codes are updated to be averaged. 75. On the other hand, the control code is updated to 25 as a result of updating nL=0 and nH=50 in the central part in S26-5 of the first processing. By repeating S26-3 to S26-6 in FIG. 41 in this way, the control codes are sequentially updated.

FIG. 44 shows an example of the control code finally output by the preset control section 2110. In the illustrated example, the steel plate 2151 is divided into grids in units of 1 m corresponding to the distance from the front end, and control codes are assigned corresponding to the grids. The cooling device corresponds to the surface and the back of the steel plate, and has an upper cooling device 2158 and a lower cooling device 2159, so as control codes, it corresponds to the upper water tank and the lower water tank, and is output separately. In the figure, it shows that in the length direction of the steel plate 2151, the control code of the upper water tank 1m away from the front end is 95, and the control code of the lower water tank is 95. Between 500m and 501m, the control code of the upper water tank is 14, and the control code of the lower water tank is 14. The control code is 14. In FIG. 43, the control codes of the upper water tank and the lower water tank corresponding to the same portion of the steel plate 2151 are the same, but different control codes can also be set.

FIG. 45 shows the structure of the dynamic control unit 2120. The control code output by the preset control unit 2110 is corrected in real time by the dynamic control unit 2120 when the steel plate 2151 is actually cooled. The dynamic control part 2120 has: use the detection temperature from the winding thermometer 2156 to correct the coiling temperature deviation correction part 2121 of its deviation from the target temperature; The pre-cooling temperature deviation correction part 2122 of the deviation of the pre-cooling temperature assumed during the calculation; calculate the speed of the steel plate 2151 from the rotational speed of the rolling mill 2157 or the down coiler 2154, and correct the calculation result and the assumed steel plate speed during the preset control calculation. Deviation speed deviation correction component 2123. It also has an influence coefficient table 2130 used in the calculation of the correction amount. The sum of the correction amount is converted into the change amount of the control code for each position in the longitudinal direction of the steel plate 2151 by the operation amount synthesis unit 2125 and output from the dynamic control unit 2120 .

Next, the operation of each part will be described in detail. The influence coefficient table 2130 has the first influence coefficient table 21001 storing the change of the coiling temperature relative to the change of the control code, the second influence coefficient table 21002 storing the change of the coiling temperature relative to the change of the steel plate speed, and storing the change of the coiling temperature relative to the cooling code. Table 21003 of the third influence coefficient of winding temperature change before temperature change.

由板厚、板速、控制代码分层存储。在图的例子中，表示板厚在3mm以下，钢板2151的速度在150mpm以下，控制代码n在9以下时，如果打开或关闭一个冷却水箱2160，则由卷绕温度计2156计测的卷绕温度Tc下降或上升3℃。也能减少分层项目，也考虑追加冷却前温度。FIG. 46 shows the structure of the first influence coefficient table 21001. In the first influence coefficient table 21001, the value corresponding to the variation of the winding temperature Tc when opening or closing a cooling water tank 2160

It is stored hierarchically by plate thickness, plate speed and control code. In the example shown in the figure, when the plate thickness is below 3 mm, the speed of the steel plate 2151 is below 150 mpm, and the control code n is below 9, If one cooling water tank 2160 is opened or closed, the winding temperature Tc measured by the winding thermometer 2156 drops or rises by 3°C. It is also possible to reduce the number of stratification items, and it is also considered to increase the temperature before cooling.

由板厚、板速、控制代码分层存储。在图的例子中，表示板厚在3mm以下，钢板2151的速度在150mpm以下，控制代码n在9以下时，如果把钢板2151的速度增加或减少1mpm，则由卷绕温度计2156计测的卷绕温度Tc下降或上升2.2℃。也同样能减少分层项目，也考虑追加冷却前温度。FIG. 47 shows the structure of the second influence coefficient table 21102. In the second influence coefficient table 21002, the value corresponding to the variation of the coiling temperature Tc when the speed of the steel plate 2151 is increased or decreased by 1 mpm

It is stored hierarchically by plate thickness, plate speed and control code. In the example shown in the figure, when the plate thickness is below 3 mm, the speed of the steel plate 2151 is below 150 mpm, and the control code n is below 9, If the speed of the steel plate 2151 is increased or decreased by 1 mpm, the coiling temperature Tc measured by the coiling thermometer 2156 decreases or increases by 2.2°C. It is also possible to reduce the number of stratification items, and it is also considered to increase the temperature before cooling.

由板厚、板速、控制代码分层存储。在图的例子中，表示板厚在3mm以下，钢板2151的速度在150mpm以下，控制代码n在9以下时，

冷却前温度的计测值高或低1℃时，由卷绕温度计2156计测的卷绕温度Tc下降或上升0.9℃。也同样能减少分层项目，也考虑追加冷却前温度。FIG. 48 shows the structure of the third influence coefficient table 21103. In the third influence coefficient table 21003, the value corresponding to the variation of the coiling temperature Tc when the temperature before cooling of the steel plate 2151 measured by the thermometer 2155 on the side of the rolling mill is increased or decreased by 1°C

It is stored hierarchically by plate thickness, plate speed and control code. In the example shown in the figure, when the plate thickness is below 3 mm, the speed of the steel plate 2151 is below 150 mpm, and the control code n is below 9,

When the measured value of the temperature before cooling was higher or lower by 1°C, the winding temperature Tc measured by the winding thermometer 2156 fell or rose by 0.9°C. It is also possible to reduce the number of stratification items, and it is also considered to increase the temperature before cooling.

通过以下的运算，计算控制代码的变更量。Next, the processing of the winding temperature deviation correcting unit 2121 will be described. The winding temperature deviation correcting means 2121 is activated at a constant cycle to perform winding temperature FB control. That is, the winding temperature deviation correction unit 2121 has a winding temperature deviation correction amount calculation unit 21004 for calculating an appropriate change amount of the control code with respect to the magnitude of the deviation of the winding temperature from the target temperature. The winding temperature deviation correction calculation unit 21004 obtains the difference between the Tc assumed at the time of installation and the Tc measured by the winding thermometer 2156, and obtains the influence coefficient of the stratification corresponding to the current state from the first influence coefficient table 21001

Calculate the change amount of the control code by the following calculation.

[expression 35]

$\mathrm{<span\; class="notranslate">\; \&Delta;<figure-callout\; id="1"\; label="n"\; filenames="A20071000739000581.png,A20071000739000582.png"\; state="\{\{state\}\}">n</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; <figure-callout\; id="1"\; label="G"\; filenames="A20071000739000581.png,A20071000739000582.png"\; state="\{\{state\}\}">G</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \{</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; (</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tc</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; \&Delta;\; n</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \}</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; \&Delta;Tc</span>}$

However, Δn1: the amount of change in the control code based on the winding temperature FB control

G1: constant (winding temperature FB control gain)

从第一影响系数表21001抽出的相应分层的影响系数

The influence coefficient of the corresponding layer extracted from the first influence coefficient table 21001

ΔTc: Winding temperature deviation

通过以下的计算，计算控制代码的变更量。The pre-cooling temperature deviation correcting unit 2122 is also activated at a predetermined cycle to perform feed-forward control of the pre-cooling temperature deviation. That is, the pre-cooling temperature deviation correction part 2122 has: for the magnitude of the deviation between the pre-cooling temperature assumed during the preset calculation and the temperature on the side of the rolling mill detected by the thermometer 2155 on the side of the rolling mill, calculate the cooling rate of the change amount of the appropriate control code. Front temperature deviation correction amount calculation part 21005; Applied part determination part 21008 which decides to which part in the longitudinal direction of the steel plate 2151 the calculation result is applied. The pre-cooling temperature deviation correction calculation part 21005 obtains the difference ΔTf between the Tf assumed in the setting and the Tf detected by the thermometer 2155 on the exit side of the rolling mill, and obtains the corresponding current state from the first influence coefficient table 21001 and the third influence coefficient table 21003. The stratified influence coefficient of

Calculate the change amount of the control code by the following calculation.

[expression 36]

$\mathrm{<span\; class="notranslate">\; \&Delta;\; <figure-callout\; id="2"\; label="n"\; filenames="A20071000739000581.png,A20071000739000591.png"\; state="\{\{state\}\}">n</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="G"\; filenames="A20071000739000581.png,A20071000739000591.png"\; state="\{\{state\}\}">G</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&Delta;n</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tf</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; \&Delta;Tf</span>}$

$<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="G"\; filenames="A20071000739000581.png,A20071000739000591.png"\; state="\{\{state\}\}">G</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \{</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; (</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tc</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; \&Delta;\; n</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \}</span><span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; (</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tc</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tf</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; \&Delta;Tf</span>}$

However, Δn2: The amount of change in the control code based on the temperature deviation FF control before cooling

G2: constant (control gain of temperature deviation FF before cooling)

从第三影响系数表21003抽出的相应分层的影响系数

The influence coefficient of the corresponding layer extracted from the third influence coefficient table 21003

ΔTf: temperature deviation on one side of the rolling mill

The calculated Δn2 is output to the application site determination unit 21008 .

FIG. 49 shows the processing of the applied part determination unit 21008. Here, as for the steel plate 1151, as shown in FIG. 50, a segment 21501 is defined in the longitudinal direction. In the example in the figure, n segments are defined from the front end of the steel plate to the rear end of the steel plate, and segment numbers are assigned to each. That is, 1 is assigned to the segment at the front end of the steel plate, and n is assigned to the segment at the rear end of the steel plate. In S214-1, the stage number of the installation position of the thermometer 2155 on the rolling mill side is acquired. The segment number obtained here is i. The control device of the steel system usually calculates tracking information of the steel plate 2151 and uses it for various purposes. That is, the starting position (the length coming out of the rolling mill 2157) and the end position of the steel plate 2151 are calculated periodically, so from the relationship between this information and the installation position of the thermometer 2155 on the side of the rolling mill, the section where the thermometer 2155 is installed on the side of the rolling mill can be determined serial number. Next, in S214-2, the output Δn2 of the pre-cooling temperature deviation correction amount calculation means 21005 is acquired. Then, in S214-3, Δn2 is registered for the stage number i of the position where the thermometer 2145 on the exit mill side acquired in S214-1 is installed. Hereinafter, this value is (Δn2)i.

The speed deviation correction amount calculation unit 21006 is also activated at a constant cycle to perform speed deviation feedforward control. That is, the speed deviation correction amount calculation part 21006 has: the speed deviation correction amount calculation part 21006 for calculating an appropriate change amount of the control code for the magnitude of the deviation between the steel plate speed assumed during the preset calculation and the actual steel plate speed; The application site to which site in the longitudinal direction of the steel plate 2151 is applied determines the member 21009 . The speed deviation correction amount calculation part 21006 obtains the deviation ΔV between the steel plate speed assumed in the installation and the actual speed, and obtains the influence coefficient corresponding to the stratification of the current state from the first influence coefficient table 21001 and the second influence coefficient table 21002 Calculate the change amount of the control code by the following calculation.

[expression 37]

$\mathrm{<span\; class="notranslate">\; \&Delta;<figure-callout\; id="3"\; label="n"\; filenames="A20071000739000581.png,A20071000739000681.png"\; state="\{\{state\}\}">n</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; <figure-callout\; id="3"\; label="G"\; filenames="A20071000739000581.png,A20071000739000681.png"\; state="\{\{state\}\}">G</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&Delta;n</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; V</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; \&Delta;V</span>}$

$<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; <figure-callout\; id="3"\; label="G"\; filenames="A20071000739000581.png,A20071000739000681.png"\; state="\{\{state\}\}">G</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \{</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; (</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tc</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; \&Delta;n</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \}</span><span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; (</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tc</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; V</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; \&Delta;V</span>}$

However, Δn3: the amount of change in the control code based on the plate speed deviation FF control

G3: constant (board speed deviation FF control gain)

从第二影响系数表21002抽出的相应分层的影响系数

The influence coefficient of the corresponding layer extracted from the second influence coefficient table 21002

ΔV: plate speed deviation

The calculated Δn3 is output to the application site determination unit 21009 .

FIG. 51 shows the processing of the application site determination unit 21009. In S216-1, the steel plate segment number of the steel plate located in the entry position of the coil cooling part 2153, and a discharge position is acquired from the tracking information of the steel plate 2151. Next, in S216-2, the segment requiring correction of the control code is determined from the acquired segment number, and the correction ratio of each segment is calculated. The correction ratio Ri of the steel plate section number i can be calculated by the following expression.

[Expression 38]

Ri = (i-I1)/(I2-I1)

However, I1: number of the steel plate section at the discharge position of the cooling unit

       I2: Number of the steel plate section where the cooling unit enters the position

Then, in S217-3, the output Δn3 of the speed deviation correction amount calculation means 21006 is acquired. In S216-4, from Δn3 and the correction ratio calculated in S216-2, the control code correction amount of each segment is calculated and registered in the corresponding segment number. The correction amount Δn3 of the steel plate segment number i can be calculated by the following expression.

[Expression 39]

Δnri=Δn3×Ri

Next, the processing of the operation amount synthesis unit 2125 will be described. The operation amount synthesis unit 2125 adds Δn1, (Δn2)i, and (Δn3)i calculated by the coiling temperature deviation correction unit 2121 to calculate the operation amount of each steel plate section. Specifically, the output Ndi of the dynamic control part 2120 with respect to the steel plate segment i is calculated by Expression 40.

[expression 40]

Ndi={Δn1+(Δn2)i+(Δn3)i}

The dynamic control part 2120 outputs the calculated correction amount, and the control code output by the preset control part 1110 is corrected according to this value.

The above calculation of the correction amount by the dynamic control unit 2120 may not be performed for all the steel plate segments, and the calculation is simplified by performing the above-mentioned processing only on the steel plate segments to be cooled by the coil cooling device 1153 .

FIG. 52 shows an example of the correction result when the dynamic control unit 2120 corrects the control code output from the preset control unit 2110. In the figure, the control code of steel plate part 5m~6m is revised from 12 to 10. In the present embodiment, each correction amount calculation means 21004 to 21006 is activated at a constant cycle, but as the activation method, every timing at which the steel plate 1151 comes out of the rolling mill 157 for a certain length is considered.

FIG. 53 shows the algorithm executed by the tank mode conversion component 2140. In S218-1, the distance Lh from the front end of the steel plate 2151 passing directly under the cooling water tank is calculated. Generally, the control device 2100 has such distance information and uses it for various purposes. In S218-2, it is determined whether Lh is smaller than 0, and the steel plate 2151 has not reached the corresponding cooling water tank, so the processing is skipped and the process is entered into S218-6. When it is large, the steel plate 2151 reaches the corresponding cooling water tank, so in S218-3, the control code corresponding to the distance Lh is extracted. That is, compare Lh with the steel plate position in Fig. 53, and extract the upper water tank control code and the lower water tank control code of the position corresponding to Lh. In S218-4, the cooling water tank opening and closing pattern is extracted from the control code. Using the correspondence between the control code of FIG. 52 and the opening and closing mode of the cooling water tank, it is decided to open the cooling water tank with priority. In S218-5, use the information stored in the cooling water tank priority table 2114 to specifically determine the cooling water tanks to be opened, and finally determine the opening and closing of the corresponding cooling water tanks. In S218-6, it is determined whether the calculation for all the cooling water tanks has been completed, and if not completed, the processing of S218-1 to S218-5 is repeated until the calculation is completed.

In this embodiment, the case where the number of cooling water tanks is 100 is described as an example, but various numbers can be used as the number of cooling water tanks.

FIG. 54 shows the structure of the adaptive control unit 2116. The adaptation control part 2116 is made up of the following parts: the front end adaptation control part 21901 that adapts to the target temperature of the front end of the steel plate 2151; the stability adaptation control part 22002 that adapts the target temperature of the stabilizing part; Composite with the output of the stability adaptation control unit 21902, and calculate and output the correction temperature synthesis unit 1903 of the final correction amount to the target temperature pattern in the longitudinal direction of the steel plate.

FIG. 55 shows the processing contents of the front-end adaptive control unit 21901. In S220-1, after the cooling control of the steel plate 2151 is started, it is determined that it is the first winding FB control timing. At the time of the first winding FB control timing, in S220-2, the outputs Δn1 and Δn2 of the winding temperature deviation correction unit 21004, the pre-cooling temperature deviation correction unit 21005, and the speed deviation correction unit 21006 are acquired from the operation amount synthesis unit 2125, respectively. , Δn3. In S20-3, the adaptive control amount Δnadap1 is calculated.

[expression 41]

Δnadap1=(G3-1)·Δn3+(G2-1)·Δn2+Δn1/G1

However, G3: Velocity FF Gain

G2: temperature FF gain on the side of the rolling mill

G1: Winding temperature F B gain

计算换算为卷绕温度的适应控制量ΔTc1。The adaptive control amount Δnadap1 is a value obtained by converting the winding control error at the front end of the steel plate into the number of water tanks. Here, the 3 items on the right are the number of operating water tanks used to eliminate the winding temperature error divided by the value of the FB gain of the winding temperature, and the 1st item is equivalent to the uncompensated ratio of the speed FF control in the influence of the speed change, and the result is quite It is the adaptive operation amount of the number of water tanks to be compensated in the winding temperature FB control. In addition, the second term corresponds to the uncompensated ratio of the temperature FF control on the rolling mill side in the influence of the temperature on the exit mill side, and as a result, it corresponds to the adaptive operation amount of the number of water tanks to be compensated in the coiling temperature FB control. From Expression 41, Δnadap1 is the number of water tanks corresponding to a value that excludes the influence of the speed change of the steel plate and the change of the plate temperature on the side of the rolling mill in the deviation of the coiling temperature. Therefore, it is the number of water tanks corresponding to the preset control error caused by the plate temperature estimation model not simulating the actual cooling phenomenon at the front end of the steel plate. If this value is compensated in the next preset control, the preset value can be improved. control precision. In S220-4, use Δnadap2 and stored in the influence coefficient table

Calculate the adaptive control amount ΔTc1 converted to the winding temperature.

[expression 42]

$\mathrm{<span\; class="notranslate">\; \&Delta;<figure-callout\; id="1"\; label="Tc"\; filenames="A20071000739000581.png,A20071000739000582.png"\; state="\{\{state\}\}">Tc</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tc</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; \&Delta;\; <figure-callout\; id="1"\; label="nadap"\; filenames="A20071000739000581.png,A20071000739000582.png"\; state="\{\{state\}\}">nadap</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}\mathrm{<span\; class="notranslate">\; 1</span>}$

However, Δ1: Adaptation amount of the tip portion to the nearby steel plate

(The last calculated value of ΔTc1)

ΔTc1 is a tip target temperature correction amount to be added or subtracted from the target temperature of the tip portion.

FIG. 56 shows the processing contents of the stable adaptation control unit 21902. In S221-1, it is determined that the winding of the steel plate 2151 is completed based on the completion of the winding to the down coiler 2154 . After the coiling of the steel plate 2151 is completed, in S221-2, the temperature deviation correction means 21004, the pre-cooling temperature deviation correction means 21005, and the speed deviation correction means 21006 performed on the stable part of the steel plate are acquired from the operation amount synthesis means 2125. The control series of operating quantities Δn1, Δn2, Δn3. In S221-3, the adaptive control amount Δnadap2 is calculated.

[expression 43]

Δnadap2=(1/N)∑{(G3-1)·Δn3+(G2-1)·Δn2+Δn1}

However, G3: Velocity FF Gain

G2: temperature FF gain on the side of the rolling mill

N: The number of samples of the control series obtained

计算换算为卷绕温度的适应控制量ΔTc2。The adaptive control amount Δnadap2 is a value obtained by converting the winding control error of the stabilizing portion of the steel plate into the number of water tanks. Here, the three items on the right are the number of operating water tanks used to eliminate the winding temperature error, and the first item corresponds to the uncompensated ratio of the speed FF control in the influence of the speed change, and the result is equivalent to the compensation in the winding temperature FB control The number of water tanks adapts to the operating volume. In addition, the second term corresponds to the uncompensated ratio of the temperature FF control on the rolling mill side in the influence of the temperature on the exit mill side, and as a result, it corresponds to the adaptive operation amount of the number of water tanks to be compensated in the coiling temperature FB control. Since the stable portion covers a wide area in the longitudinal direction of the steel plate, a plurality of Δn1, Δn2, and Δn3 are obtained by appropriate sampling and averaged to increase the likelihood of adaptive control. The number obtained in Expression 43 is N. In addition, as the sampling process, data may be acquired at constant time intervals, and data may be acquired for every certain length in the longitudinal direction of the steel plate. In addition, as the stable portion in the longitudinal direction of the steel plate 2151, it is possible to define in a range corresponding to the center of the steel plate using the target temperature pattern of FIG. 37 . From Expression 43, Δnadap2 is the number of water tanks corresponding to a value that excludes the influence of the speed change of the steel plate and the change of the plate temperature on the side of the rolling mill in the deviation of the coiling temperature. Therefore, it is the number of water tanks equivalent to the preset control error caused by the plate temperature estimation model not simulating the actual cooling phenomenon in the stable part of the steel plate. If this value is compensated in the next preset control, the preset value can be improved. control precision. In S221-4, use Δnadap2 and stored in the influence coefficient table

Calculate the adaptive control amount ΔTc2 converted to the winding temperature.

[expression 44]

$\mathrm{<span\; class="notranslate">\; \&Delta;<figure-callout\; id="2"\; label="Tc"\; filenames="A20071000739000581.png,A20071000739000591.png"\; state="\{\{state\}\}">Tc</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; Tc</span>}<span\; class="notranslate">\; /</span><span\; class="notranslate">\; \&PartialD;</span>\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; \&Delta;\; <figure-callout\; id="2"\; label="nadap"\; filenames="A20071000739000581.png,A20071000739000591.png"\; state="\{\{state\}\}">nadap</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}\mathrm{<span\; class="notranslate">\; 2</span>}$

However, Δ2: Adaptation amount of the tip portion to the nearby steel plate

(The last calculated value of ΔTc2)

ΔTc2 is a tip target temperature correction amount to be added or subtracted from the target temperature of the tip portion.

The target temperature correcting section 2117 corrects the target temperature of FIG. 37 from ΔTc1 and ΔTc2 . That is, by adding and subtracting ΔTc1, the target temperature corresponding to the front end of the steel plate is corrected, and by adding and subtracting ΔTc2, the target temperature corresponding to the center of the steel plate is corrected. As necessary, the correction amount is determined by assigning ΔTc1 and ΔTc2 in the vicinity of the boundary between the front end portion and the center portion of the steel plate. That is, the correction amount ΔTc* is calculated using Expression 45.

[expression 45]

ΔTc*=α·ΔTc1+(1-α)·ΔTc2

However, α: distribution ratio (0≤α≤1)

The target temperature pattern synthesized by the target temperature correction unit 2117 is used in the preset calculation performed by the preset control unit 2110 for the next steel plate.

Other examples will be further described. FIG. 57 shows an example in which the adaptive control unit 2116 directly corrects the control code using Δnadap1 and Δnadap2. At this time, adaptive control unit 116 outputs Δnadap1 and Δnadap2 calculated in Expression 41 and Expression 43 to control code correction unit 22201 . The control code correction unit 22201 obtains the control code column output by the preset control unit 110, and corrects the control code corresponding to the front end of the steel plate by adding and subtracting Δnadap1, and corrects the control code corresponding to the central part of the steel plate by adding and subtracting Δnadap2. The water tank mode conversion component 2140 outputs. An example of the control code sequence output by the preset control unit 2110 is the same as that in FIG. 14 .

It can be widely used in cooling control of hot rolling line.

Claims (22)

1. A coiling temperature control device, the steel plate rolled by the hot rolling mill is cooled by the cooling device provided on the outgoing side of the hot rolling mill, and the temperature of the steel plate before being coiled by the down coiler is controlled at a given The target temperature, characterized by, includes: The cooling water tank priority table stores the priority relationship of the opening sequence of multiple cooling water tanks set in the cooling device; The plate temperature measurement model is used to estimate the coiling temperature of the steel plate; The preset control unit associates the combination of opening and closing of the cooling water tank, that is, the water tank mode, with the control code generated using the information of the cooling water tank priority table, and uses the set The above board temperature measurement model estimates the winding temperature, and calculates/outputs the control code for realizing the target winding temperature using the estimated result; The dynamic control section observes the state of the steel plate under cooling control, and calculates/outputs the change amount of the control code according to the observation result; and The tank mode conversion unit converts the control code output by the dynamic control unit to the control code output by the preset unit and converts it into a tank mode, and outputs it to the cooling device. 2. The winding temperature control device according to claim 1, characterized in that: Corresponding to the control code, the state of all the water tanks being opened is the maximum value, and the state of all the water tanks being closed is the minimum value. With the increase of the control code, the estimated value of the winding temperature monotonically decreases. 3. The winding temperature control device according to claim 1, characterized in that: Corresponding to the control code, the state of all the water tanks being open is the minimum value, and the state of all the water tanks being closed is the maximum value, and with the increase of the control code, the estimated value of the winding temperature increases monotonously. 4. The winding temperature control device according to claim 3, characterized in that: The dynamic control unit has: The coiling temperature deviation correction unit calculates, as a correction amount of the control code, the opening and closing of the water tank for compensating the deviation between the target coiling temperature and the coiling temperature detected from the steel plate during the cooling control; The pre-cooling temperature deviation correction unit uses opening and closing of the water tank for compensating the deviation between the pre-cooling temperature of the steel plate assumed at the time of the preset control and the pre-cooling temperature detected from the steel plate during the cooling control as correction of the control code. Calculated; and The speed deviation correcting unit calculates, as a correction amount of the control code, opening and closing of the water tank for compensating the deviation between the steel plate speed assumed during the preset control and the steel plate speed during the cooling control. 5. The winding temperature control device according to claim 3, characterized in that: The dynamic control unit has: a first influence coefficient table storing the influence of the change of the control code on the coiling temperature, a second influence coefficient table of the influence of the speed change of the steel plate on the coiling temperature, and the third impact coefficient table of the impact of the temperature change before cooling on the winding temperature; The coiling temperature deviation correcting unit calculates the correction of the control code based on the deviation between the target coiling temperature and the coiling temperature detected from the steel sheet during cooling control and the coefficient obtained from the first influence coefficient table. quantity; The pre-cooling temperature deviation correcting unit is based on the difference between the pre-cooling speed of the steel plate assumed during the preset control and the pre-cooling speed detected from the steel plate during the cooling control, the coefficient obtained from the first influence coefficient table, and the The coefficient obtained by the third influence coefficient table is used to calculate the correction amount of the control code; The speed deviation correcting unit is based on the deviation between the steel plate speed assumed in the preset control and the steel plate speed in the cooling control, the coefficient obtained from the first influence coefficient table, and the coefficient obtained from the second influence coefficient table , calculate the correction amount of the control code. 6. The winding temperature control device according to claim 3, characterized in that: The dynamic control unit has an operation amount synthesis unit that synthesizes outputs of the coiling temperature correction unit, the pre-cooling temperature deviation correction unit, and the speed deviation correction unit for each position in the longitudinal direction of the steel plate to calculate a control value. code corrections; The water tank mode conversion unit recognizes the positions in the longitudinal direction of the steel plate immediately below each water tank, and assigns the control code calculated by the preset control unit corresponding to each position in the longitudinal direction of the steel plate to the dynamic control unit. The value obtained by adding the correction amount of the control code corresponding to the output part is converted into a water tank pattern and output to the cooling device. 7. The winding temperature control device according to claim 3, characterized in that: The dynamic control unit has an operation amount synthesis unit for synthesizing the outputs of the pre-cooling temperature deviation correction unit and the speed deviation correction unit for each position in the longitudinal direction of the steel plate to calculate the correction amount of the control code; The water tank mode conversion unit recognizes the positions in the longitudinal direction of the steel plate immediately below each water tank, and assigns the control code calculated by the preset control unit corresponding to each position in the longitudinal direction of the steel plate to the dynamic control unit. After the added value of the correction amount of the control code at the corresponding part of the output is converted into the water tank pattern, the water tank pattern is scanned in order from the water tank close to the down coiler, and only the output corresponding to the winding temperature correction part The number of water tank changes is commanded and output to the cooling device. 8. A coiling temperature control method, the steel plate rolled by the hot rolling mill is cooled by the cooling device provided on the outgoing side of the hot rolling mill, and the temperature of the steel plate before being coiled by the down coiler is controlled at a given The target temperature is characterized by: Give priority to the opening order of the cooling water tanks installed in the cooling device; Using this priority, generate the control code corresponding to the combination of opening and closing of the cooling water tank, that is, the cooling mode; According to the control code and information related to the speed of the steel plate, the coiling temperature of the steel plate is estimated using the plate temperature estimation model; Using the presumed result, decides/outputs a control code for achieving the target winding temperature; In the cooling control, the opening and closing of the water tank for compensating the deviation between the target coiling temperature and the coiling temperature detected from the steel plate in the cooling control is calculated/output as the correction amount of the control code, and it is used to compensate the preset control The opening and closing of the water tank of the deviation between the pre-cooling temperature of the steel plate assumed at the time and the pre-cooling temperature detected from the steel plate is calculated/output as the correction amount of the control code, and will be used to compensate the steel plate speed assumed at the time of preset control. The opening and closing of the water tank of the deviation between the actual steel plate speed is calculated/output as the correction amount of the control code; The value obtained by correcting the control code with the sum of the correction amounts of the control code is converted into a tank pattern and output to the cooling device. 9. A coiling temperature control device, cooling the steel plate rolled by the hot rolling mill and coiled by the down coiler with a plurality of water tanks arranged on the outgoing side of the hot rolling mill, characterized in that it includes: The preset control unit calculates the control code representing the opening and closing information of the cooling water tank according to the target coiling temperature and the information related to the speed of the steel plate; The dynamic control unit calculates code correction information for correcting the control code according to the state of the steel plate, that is, the observation result; The water tank mode conversion unit converts the control code corrected by the code correction information into a water tank mode, and outputs it to the water tank control device; The adaptive control unit calculates the temperature correction information according to the code correction information; and The target temperature correcting unit corrects the target coiling temperature of the next arbitrary steel plate to be coiled by the down coiler based on the temperature correction information. 10. The winding temperature control device according to claim 21, characterized in that: It has: a cooling water tank priority table, which stores the priority relationship of the opening order of a plurality of cooling water tanks installed in the cooling device; and a plate temperature estimation model, which is used to estimate the coiling temperature of the steel plate, calculating the control code so as to estimate the winding temperature using the plate temperature estimation model, using the estimated result to achieve the target winding temperature, The control code is a code for generating a combination of opening and closing of the cooling water tank, that is, a tank mode, using the information of the priority table. 11. A coiling temperature control device, cooling the steel plate rolled by the hot rolling mill and coiled by the down coiler with a plurality of water tanks arranged on the outgoing side of the hot rolling mill, characterized in that it includes: The preset control unit calculates the control code representing the opening and closing information of the cooling water tank according to the target coiling temperature and the information related to the speed of the steel plate; The dynamic control unit calculates code correction information for correcting the control code according to the state of the steel plate, that is, the observation result; The water tank mode conversion unit converts the control code corrected by the code correction information into a water tank mode, and outputs it to the water tank control device; and The adaptive control unit calculates code correction information to be used for the next and subsequent arbitrary steel plates to be wound by the down coiler based on the code correction information. 12. The winding temperature control device according to claim 11, characterized in that: It has: a cooling water tank priority table, which stores the priority relationship of the opening order of a plurality of cooling water tanks installed in the cooling device; and a plate temperature estimation model, which is used to estimate the coiling temperature of the steel plate, calculating the control code so as to estimate the winding temperature using the plate temperature estimation model, using the estimated result to achieve the target winding temperature, The control code is a code for generating a combination of opening and closing of the cooling water tank, that is, a tank mode, using the information of the priority table. 13. The winding temperature control device according to claim 9, characterized in that: Corresponding to the control code, the state of all the water tanks being opened is the maximum value, and the state of all the water tanks being closed is the minimum value. With the increase of the control code, the estimated value of the winding temperature monotonically decreases. 14. The winding temperature control device according to claim 9, characterized in that: Corresponding to the control code, the state of all the water tanks being open is the minimum value, and the state of all the water tanks being closed is the maximum value, and with the increase of the control code, the estimated value of the winding temperature increases monotonously. 15. The winding temperature control device according to claim 9, characterized in that: The dynamic control unit has: The coiling temperature deviation correcting unit calculates, as a correction amount of the control code, opening and closing of the water tank for compensating the deviation between the target coiling temperature and the coiling temperature detected from the steel plate during the cooling control; The pre-cooling temperature deviation correction unit uses opening and closing of the water tank for compensating the deviation between the pre-cooling temperature of the steel plate assumed at the time of the preset control and the pre-cooling temperature detected from the steel plate during the cooling control as correction of the control code. Calculated; and A speed deviation correction unit calculates, as a correction amount of the control code, opening and closing of the water tank for compensating the deviation between the steel plate speed assumed in the preset control and the steel plate speed in the cooling control; The adaptive control unit uses the correction amount of the control code calculated by the winding temperature deviation correction unit, the correction amount of the control code calculated by the pre-cooling temperature deviation correction unit, and the correction amount of the control code calculated by the speed deviation correction unit. Calculation of the quantity calculates the corrected temperature with respect to the target temperature of the steel plate for arbitrary cooling after the next time. 16. The winding temperature control device according to claim 9, 10 or 15, characterized in that: The adaptive control unit has: a tip adaptive control unit calculating a corrected temperature relative to a target temperature of the tip portion of the steel plate; a stable adaptation control unit that calculates a corrected temperature with respect to a target temperature at the central portion of the steel plate; and The corrected temperature synthesizing unit finally determines the corrected temperature for the entire region in the longitudinal direction of the steel plate with respect to the target temperature based on the outputs of the tip adaptive control unit and the stable adaptive control unit. 17. The winding temperature control device according to claim 9, 10 or 13, characterized in that: The tip adaptation control unit takes in the correction amount of the control code calculated by the coiling temperature deviation correcting unit, the pre-cooling temperature deviation correction The correction amount of the control code calculated by the unit and the correction amount of the control code calculated by the speed deviation correction unit calculate the corrected temperature relative to the target temperature of the front end of the steel plate; The stability adaptation control unit takes in the correction amount of the control code calculated by the coiling temperature deviation correction unit during cooling of the center portion of the steel plate, the correction amount of the control code calculated by the pre-cooling temperature deviation correction unit, The corrected temperature with respect to the target temperature of the center portion of the steel plate is calculated from the correction amount of the control code calculated by the speed deviation correcting unit. 18. The winding temperature control device according to claim 9, characterized in that: The dynamic control unit has: The coiling temperature deviation correction unit calculates, as a correction amount of the control code, opening and closing of the water tank for compensating the deviation between the target coiling temperature and the coiling temperature detected from the steel plate during the cooling control; The pre-cooling temperature deviation correction unit uses opening and closing of the water tank for compensating the deviation between the pre-cooling temperature of the steel plate assumed at the time of the preset control and the pre-cooling temperature detected from the steel plate during the cooling control as correction of the control code. Calculated; and A speed deviation correction unit calculates, as a correction amount of the control code, opening and closing of the water tank for compensating the deviation between the steel plate speed assumed in the preset control and the steel plate speed in the cooling control; The adaptive control unit uses the correction amount of the control code calculated by the winding temperature deviation correction unit, the correction amount of the control code calculated by the pre-cooling temperature deviation correction unit, and the correction amount of the control code calculated by the speed deviation correction unit. Calculation of the amount calculates the correction amount of the control code for the steel plate that is arbitrarily cooled after the next time. 19. The winding temperature control device according to claim 9, characterized in that: The adaptive control unit has: a front-end adaptation control unit that calculates a correction amount of the control code for the front end of the steel plate; a stability adaptation control unit calculating a correction amount for the control code at the central portion of the steel plate; and The temperature correction synthesis unit finally determines the correction amount of the control code for the entire area in the longitudinal direction of the steel plate from the outputs of the tip adaptation control unit and the stability adaptation control unit. 20. The winding temperature control device according to claim 9, 10, 23 or 15, characterized in that: The front end adaptation control unit takes in the correction amount of the control code calculated by the coiling temperature deviation correcting unit, the pre-cooling temperature deviation correction The correction amount of the control code calculated by the section, the correction amount of the control code calculated by the speed deviation correction section, and the correction amount of the control code for the front end of the steel plate; The stability adaptation control unit takes in the correction amount of the control code calculated by the coiling temperature deviation correction unit while the center portion of the steel plate is being cooled, and the correction amount of the control code calculated by the pre-cooling temperature deviation correction unit. . The correction amount of the control code calculated by the speed deviation correction unit calculates the correction amount of the control code for the center portion of the steel plate. 21. A winding temperature control method, According to the target winding temperature and the information related to the speed of the steel plate, the operation code represents the control code of the opening and closing information of the cooling water tank; calculating code correction information for correcting the control code according to the state of the steel plate, that is, the observation result; Convert the control code corrected by the code correction information into a water tank mode, and output it to the water tank control device; Correct the information according to the code, and calculate the temperature correction information; According to the temperature correction information, the target coiling temperature of the next arbitrary steel plate to be coiled by the down coiler is corrected. 22. A winding temperature control method, According to the target winding temperature and the information related to the speed of the steel plate, the operation code represents the control code of the opening and closing information of the cooling water tank; calculating code correction information for correcting the control code according to the state of the steel plate, that is, the observation result; Convert the control code corrected by the code correction information into a water tank mode, and output it to the water tank control device; Based on the temperature correction information, code correction information to be used for the next arbitrary steel plate to be wound by the down coiler is calculated.

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