CN102451837A - Rolled product tension control device, rolled product tension control method and hot strip mill - Google Patents
Rolled product tension control device, rolled product tension control method and hot strip mill Download PDFInfo
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- CN102451837A CN102451837A CN2011103266003A CN201110326600A CN102451837A CN 102451837 A CN102451837 A CN 102451837A CN 2011103266003 A CN2011103266003 A CN 2011103266003A CN 201110326600 A CN201110326600 A CN 201110326600A CN 102451837 A CN102451837 A CN 102451837A
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Abstract
The invention relates to a rolled product tension control device, a rolled product tension control method and a hot strip mill, wherein the tension on rolled products can be stably controlled. When a load detection value obtained from a load detection part (28) is normal, a pressure command correction quantity learning part (3) indicates the relation coefficient of the correlativity between a pressure detection value obtained from a pressure detection part (27) and a first pressure command correction quantity calculated through a first pressure command correcting part (24). When the load detection part can not obtain a normal load detection value, a rolled product tension control device (1) switches the pressure command correction quantity adopted by a pressure command calculating part (20) from a first pressure command correction quantity to a second pressure command correction quantity calculated through a second pressure command correcting part (25). Since the above correction quantities are related to each other, the change of the correction quantities during the switching process is not large. Therefore, the tension on rolled products can be stably controlled.
Description
Technical field
The present invention relates to control by the tension force of stocking by the stocking tenslator, by the stocking tension control method and possess by the continuous hot-rolling mill of stocking tenslator.
Background technology
In the continuous hot-rolling mill that steel plate etc. is rolled by stocking, be held constant at the stability of the work that realizes milling train and keeping by very important aspect the product quality of stocking with being applied to tension force in rolling by stocking.For this reason,, keep constant, be provided with the equipment that is called as kink in the centre position that two rolls are provided with the position in order to be applied to by the tension force of stocking for continuous hot-rolling mill.Kink has support by the roller of stocking in the centre position that two rolls are provided with the position, regulates the tension force that is applied to by stocking through its roller is moved up and down.
In order to control the tension force that is applied to by stocking, need to detect its tension force, but do not have the detector of direct its tension force of detection.Therefore, be applied to by the tension force of stocking and ask for from the detected value that detectors of load or pressure detector etc. obtains through calculating, wherein, detectors of load detects the load of kink from being received by stocking, and pressure detector detects the pressure of kink fluid pressure drive device.
Generally speaking, the detected value that obtains from the detectors of load that is installed on kink has good precision as being used to calculate be applied to by the detected value of the tension force of stocking.Yet, detectors of load be arranged at about 1000 ℃ of high temperature by near the stocking, and, therefore often break down or remarkable action in roller cooling with under by the environment of many waters such as stocking cooling.
On the other hand, the current detector of the pressure detector of kink fluid pressure drive device and kink Vidacare corp be arranged at the weight/HP ratio detector away from high temperature by the position of stocking, therefore rare fault and remarkable action.But, under the situation that is these detectors,, also detect the operating pressure that kink fluid pressure drive device and kink Vidacare corp produce in the lump when action except being applied to by the tension force of stocking.Therefore, only be difficult to being applied to be detected well by the tension force precision of stocking.
Therefore; In the prior art; Want to obtain the tension force that is applied to by stocking, have only the use detectors of load with remarkable action that breaks down easily, perhaps use the pressure detector of the kink fluid pressure drive device that can not obtain sufficient precision, the current detector of kink Vidacare corp.
In the patent documentation 1, a solution for this problem is disclosed.According to patent documentation 1, this is possessed by the stocking tension detecting apparatus: the first tension force calculator, and it uses the current value of kink motorized motions machine to calculate the tension force that is applied to by stocking; The second tension force calculator, it uses the detected value of the detectors of load of kink to calculate the tension force that is applied to by stocking; And signal shifter; It connects from the output of the first tension force calculator with from the output of the second tension force calculator in input; This signal shifter switches from the tension signal of the first tension force calculator with from the tension signal of the second tension force calculator aptly, comes to send to tenslator.
Therefore; Record is for example broken down in the detectors of load of kink by the stocking tension detecting apparatus in the patent documentation 1; Can not obtain under the situation of detected value of the employed detectors of load of calculating of the second tension force calculator result of calculation from the first tension force calculator to tenslator that also can send.Its result, tenslator can proceed to be applied to the control by the tension force of stocking.
Patent documentation 1: japanese kokai publication hei 1-237017 communique
But, for patent documentation 1 record by the stocking tension detecting apparatus because the precision of the detector that is used separately by two tension force calculators is different with performance, so the tension force that two tension force calculators calculate may not be identical.Therefore; Under the discrepant situation of the tension force that two tension force calculators calculate; For example break down with unusual in detectors of load etc.; If the signal that signal shifter will send to tenslator switches to the result of calculation of the first tension force calculator from the result of calculation of the second tension force calculator, the then variation suddenly of the control input signal in the tenslator, thus there is the Tension Control unsettled possibility that becomes.
Summary of the invention
, the objective of the invention is to for this reason, provide a kind of promptly being used in to be switched by the control input signal of the Tension Control of stocking, also can stably carry out Tension Control by the stocking tenslator, by stocking tension control method and continuous hot-rolling mill.
The present invention relates to by the stocking tenslator, be used in the continuous hot-rolling mill, calculate to drive the pressure instruction value and the output of the hydraulic control device of kink, this continuous hot-rolling mill possesses: a plurality of rolls, it is rolling by stocking; And said kink, its centre at two rolls is supported by stocking with hydraulic pressure, and controls this tension force that is applied by stocking, and this is possessed by the stocking tenslator: pressure detecting portion, it obtains the interior hydraulic pressure of hydraulic cylinder of said kink; The load test section, it obtains the load of said kink from being received by stocking; The pressure instruction calculating part, it calculates the pressure instruction value to said hydraulic control device output; The first pressure instruction correcting section, it uses the load detected value that is obtained by said load test section, calculates the revisal amount of said pressure instruction value; Pressure instruction revisal amount learning section, the dependency relation between detected pressure value that its study is obtained by said pressure detecting portion and the revisal amount that calculates by the said first pressure instruction correcting section; The second pressure instruction correcting section, it uses said detected pressure value and by the dependency relation of said pressure instruction revisal amount learning section study, calculates the revisal amount of said pressure instruction value; With revisal amount switching part, it switches revisal amount that is calculated by the said first pressure instruction correcting section and the revisal amount that is calculated by the said second pressure instruction correcting section, comes to send to said pressure instruction calculating part.
What the present invention relates to is had a pressure instruction revisal amount learning section by the stocking tenslator, the detected pressure value that this pressure instruction revisal amount learning section study expression is obtained by pressure detecting portion and based on the coefficient of the relational expression of the dependency relation between the revisal amount of the pressure instruction value of the load detected value that is calculated by the first pressure instruction correcting section.Therefore; Even can not obtained by the load test section under the situation of normal load detected value by the stocking tenslator; Also can replace the revisal amount that calculates by the first pressure instruction correcting section and use revisal amount, proceed the revisal of pressure instruction value based on the pressure instruction value of this dependency relation of learning.And, since this revisal after switching measure with the revisal amount that calculates by the first original pressure instruction correcting section between relevant, so the variable quantity of the revisal amount when switching is little.Thereby, when the switching of revisal amount, there is not big variation for the control output quantity of kink, therefore can stably carry out by the Tension Control of stocking.
According to the present invention, provide a kind of promptly being used in to be switched by the control input signal of the Tension Control of stocking, also can carry out continuously Tension Control stably by the stocking tenslator, by stocking tension control method and continuous hot-rolling mill.
Description of drawings
Fig. 1 be the expression embodiment of the present invention relate to by the stocking tenslator and possess this by the figure of the example of the formation of the continuous hot-rolling mill of stocking tenslator.
Fig. 2 be the expression embodiment of the present invention relate to by the figure of the example of the handling process of the computing in the first pressure instruction correcting section of stocking tenslator.
Fig. 3 be the expression embodiment of the present invention relate to by the figure of the example of the handling process of the first pressure instruction value revisal amount computing in the second pressure instruction correcting section of stocking tenslator.
Fig. 4 is the figure of the example of the handling process of being handled by the tension force setting value in the tension force setting value learning section of stocking tenslator study that relates to of expression embodiment of the present invention.
Fig. 5 is the figure of example of handling process of the processing of being learnt by being used in the pressure instruction revisal amount learning section of stocking tenslator of relating to of the expression embodiment of the present invention coefficient of representing the relevant relational expression between the detected pressure value and the first pressure instruction value revisal amount.
Fig. 6 be the expression embodiment of the present invention relate to by the figure of the example of the handling process of the hand-off process of the pressure instruction value revisal amount in the revisal amount switching part of stocking tenslator.
Fig. 7 be expression embodiment of the present invention relate to by the figure of the calculating in the pressure instruction calculating part of stocking tenslator to the example of the pressure instruction value computing of the pressure instruction value of hydraulic servo drive unit output.
Fig. 8 is the figure of the example of the handling process handled of the study of the coefficient of the dependency relation formula of being learnt by being used in the tension force setting value learning section of stocking tenslator and the pressure instruction revisal amount learning section that relates to of expression embodiment of the present invention.
Fig. 9 is the figure of example of the handling process of the study computing during the study of coefficient of the relational expression of expression study Fig. 8 is handled.
Figure 10 is the load detected value figure of the example of the detailed handling process of normal handling whether that expression is used for process decision chart 6.
Figure 11 is the rolling actual achievement value figure of the example of the detailed handling process of normal handling whether that expression is used for process decision chart 4.
(symbol description)
1 by the stocking tenslator
2 tension force setting value learning section
3 pressure instruction revisal amount learning section
10 tension value configuration parts
11 kink set positions portions
12 mill speed configuration parts
13 rolling actual achievement value collection portions
14 rolling actual achievement value extraction portions
15 rolling actual achievement value accumulation portions
16 associated extraction portions
17 relevant accumulation portions
The 18 relevant portions of calculating
20 pressure instruction calculating parts
21 pressure control parts
22 kink position control section
23 mill speed control parts
24 first pressure instruction correcting section
25 second pressure instruction correcting section
26 revisal amount switching parts
27 pressure detecting portion
28 load test sections
29 kink position detection parts
30 hydraulic servo drive units
31 roller drive sets
40 kinks
The 40a backing roll
The 40b detectors of load
40c bindiny mechanism
The 40d hydraulic cylinder
The 40e piston
40f piston rod
40g piston position detector
41 hydraulic efficiency servo-valves
42 rolls
43 by stocking
44 entrance side measurement mechanisms
Measurement mechanism in the middle of 45
46 outlet side measurement mechanisms
100 continuous hot-rolling mills
The specific embodiment
Below, with reference to accompanying drawing, specify embodiment of the present invention.
Fig. 1 be the expression embodiment of the present invention relate to by the stocking tenslator and possess this by the figure of the example of the formation of the continuous hot-rolling mill of stocking tenslator.
Continuous hot-rolling mill 100 be by the roll that is arranged at not shown a plurality of supports respectively 42 come continuous rolling high temperature by the device of stocking 43, be provided with to be used to control at the pars intermedia of two rolls 42 of this continuous hot-rolling mill and be applied to by the kink 40 of the tension force of stocking 43 and hydraulic servo drive unit 30.In addition, this continuous hot-rolling mill 100 have be used to control kink 40 and hydraulic servo drive unit 30 by stocking tenslator 1.
In Fig. 1, on one side roll 42 rotate with the speed of appointment, Yi Bian come rolling through its load by stocking 43.Followed the rotation of roll 42 by stocking 43, for example move from left to right.In this explanation, will be somebody's turn to do by the translational speed of stocking 43 below and be called mill speed.
Roller drive set 31 is made up of motor etc., based on from by the speed command of stocking tenslator 1, makes roll 42 rotations with the speed of instruction.At this; If based on the roll 42a of entrance side by the translational speed of stocking 43 and based on the roll 42b of outlet side by the translational speed of stocking 43 between produce difference; During then by stocking 43 and relax, the time and strain, therefore can change the tension force that is applied by stocking 43.
For this reason; Detected by stocking tenslator 1 and to be applied to via kink 40 by the tension force of stocking 43 (actual for can be suitable physical quantity) with tension force; And kink 40 and roller drive set 31 controlled to offset the change of this tension force, that is, make to be applied to keep constant by the tension force of stocking 43.
The formation of kink 40 comprises: backing roll 40a, and it is followed by the moving of stocking 43, and supports this by stocking 43 while rotate; Detectors of load 40b, it detects the load of this backing roll 40a from being received by stocking 43; Hydraulic cylinder 40d, it possesses piston 40e and piston rod 40f, and it is mobile through hydraulic pressure piston 40e to be come and gone; The 40c of bindiny mechanism, the leading section of the piston rod 40f of the end of one of which side and hydraulic cylinder 40d links to each other, and the opposing party's end links to each other with the rotating shaft of backing roll 40a, the round running transform of the excellent 40f of piston is become above-below direction mobile of backing roll 40a; And piston position detector 40g, it detects the position of the piston 40e in hydraulic cylinder 40d.
Yet, be applied to by the tension force of stocking 43 make the kink position to above become big when moving, diminish when moving downwards.Therefore, by stocking tenslator 1 detect be applied to by the tension force of stocking 43 reduce or when increasing, in order this tension force to be increased or to reduce, 30 indications make the kink position move to top or below to get final product to the hydraulic servo drive unit.That is, the input of the control of being undertaken by stocking tenslator 1 is the tension force that is applied to by stocking 43, and output is the kink position.Therefore, carry out this control and need to detect this tension force and kink position.
In this embodiment, obtained the tension force that is applied to by stocking 43 by two kinds of methods of stocking tenslator 1 usefulness.In fact, be difficult owing to detect tension force itself, therefore obtain and the corresponding two kinds of physical quantitys of this tension force.Wherein a kind of detected value that is based on the detectors of load 40b of kink 40, a kind of in addition detected value that is arranged at the not shown pressure detector in the hydraulic cylinder 40d that is based on.In addition, will be made as the pressure differential that is used to detect two spaces that separate by the piston 40e in the hydraulic cylinder 40d at this said pressure detector.
The resulting detected value of detectors of load 40b is to detect the value of backing roll 40a from the load that received by stocking 43, can be described as and is applied to by the loyal physical quantity corresponding of the tension force of stocking 43.In addition; The hydraulic pressure that pressure differential produced in two spaces in the hydraulic cylinder 40d; The power of being transmitted via the 40c of bindiny mechanism from the load that is received by stocking 43 with backing roll 40a is balanced; Therefore, the detected value that obtains of pressure detector also can be described as and is applied to by the tension force physical quantity corresponding of stocking 43.
In addition, obtained the detected value conduct and kink position physical quantity corresponding of piston position detector 40g by stocking tenslator 1.Piston position detector 40g measures the distance that plays from the side's of hydraulic cylinder 40d the end till the piston 40e, detects as piston position.Piston position is to link in the kink position via 40c of bindiny mechanism etc. in the position of backing roll 40a.Therefore; If detect piston position; The calculating of the physical quantity that then the kink position can be through mechanical form such as this detected value and expression hydraulic cylinder 40d, piston rod 40f, the 40c of bindiny mechanism and configuration (this is the value that is given in advance a bit, therefore below be called as setting value) and trying to achieve based on the frame for movement of kink 40.
And then, explain by the formation of the detailed functional block of stocking tenslator 1 with reference to Fig. 1.
Comprised following functional block by the formation of stocking tenslator 1: tension force setting value learning section 2, pressure instruction revisal amount learning section 3, kink set positions portion 11, mill speed configuration part 12, pressure instruction calculating part 20, pressure control part 21, kink position control section 22, mill speed control part 23, the first pressure instruction correcting section 24, the second pressure instruction correcting section 25, revisal amount switching part 26, pressure detecting portion 27, load test section 28 and kink position detection part 29 etc.Wherein, Tension force setting value learning section 2 portion within it comprises: tension value configuration part 10, rolling actual achievement value collection portion 13, rolling actual achievement value extraction portion 14 and rolling actual achievement value accumulation portion 15 etc.; In addition, pressure instruction revisal amount learning section 3 comprises: associated extraction portion 16, relevant accumulation portion 17 and the relevant portion 18 etc. of calculating.
The tension force setting value that the first pressure instruction correcting section 24 uses the kink position Detection value that obtained by kink position detection part 29, set by tension value configuration part 10, by the size of stocking 43 and based on the setting value of the frame for movement of kink 40 etc.; Calculate the theoretical value of the load suitable with the detected value of the load that obtains by load test section 28, and calculate the theoretical value of this load that calculates and the detected value of the load that obtains by load test section 28 between difference.And then; The first pressure instruction correcting section 24 uses theoretical value and the difference between the load detected value, the kink position probing value of these load, based on the setting value of the frame for movement of kink 40; Calculate the first pressure instruction value revisal amount, and this first pressure instruction value revisal amount that calculates is sent to revisal amount switching part 26 and associated extraction portion 16.
Pressure instruction revisal amount learning section 3 as stated; Its formation comprises: associated extraction portion 16, relevant accumulation portion 17 and the relevant portion 18 of calculating; When being rolled by stocking 43, extract the detected pressure value obtained by pressure detecting portion 27 and from the dependency relation between the first pressure instruction value revisal amount of the first pressure instruction correcting section, 24 outputs, obtain the coefficient of the relational expression of the dependency relation that expression extracted; Use the coefficient of this relational expression, learn the coefficient of this relational expression.
Promptly; In pressure instruction revisal amount learning section 3; Associated extraction portion 16 is when being rolled by stocking 43; At any time receive from the detected pressure value of pressure detecting portion 27 and from the first pressure instruction value revisal amount of the first pressure instruction correcting section 24, and the accumulative reception detected pressure value and the first pressure instruction value revisal amount that arrive.In addition, in rolling, undertaken under the situation of switching of revisal amount, sent the switching signal of notifying this switching to associated extraction portion 16 from revisal amount switching part 26 by revisal amount switching part 26.Therefore, associated extraction portion 16 judges when rolling whether switch according to having or not of this switching signal when rolling end.
And, being judged to be under the situation about when rolling, switching in this judgement, associated extraction portion 16 extracts the detected pressure value of accumulation and the dependency relation (that is coefficient correlation) between the first pressure instruction value revisal amount.And, compare under the big situation of given in advance threshold value in the coefficient correlation that the extraction through this dependency relation obtains, calculate the relational expression of this dependency relation of expression.At this, this relational expression representes that with expression of first degree if making detected pressure value is X, the first pressure instruction value revisal amount is Y, and then relational expression is shown in formula 1.
Y=AX+B ... Formula (1)
The coefficient of the relational expression (formula (1)) between the detected pressure value that associated extraction portion 16 will so extract and the first pressure instruction value revisal amount sends to relevant accumulation portion 17.Relevant accumulation portion 17 receives and accumulates the coefficient of the relational expression of being sent.Therefore, relevant accumulation portion 17 accumulates the coefficient of the relational expression between the detected pressure value and the first pressure instruction value revisal amount when carrying out by stocking 43 rolling at every turn.
The portion of calculating 18 study of being correlated with coefficient that in relevant accumulation portion 17, accumulated, that represent the relational expression of being correlated with between the detected pressure value and the first pressure instruction value revisal amount, and the coefficient of the relational expression after will learning is to 25 transmissions of the second pressure instruction correcting section.But; When rolling, carried out situation about switching and the coefficient correlation that obtains than under the little situation of given threshold value, associated extraction portion 16 do not carry out dependency relation extraction, based on the relational expression of dependency relation calculate and to the transmission of the coefficient correlation of relevant accumulation portion 17.Therefore, do not carry out the accumulation and the relevant study of calculating the coefficient of the relational expression in the portion 18 of the coefficient of the relational expression in this follow-up relevant accumulation portion 17 yet.
In addition, establishing the relevant portion 18 of calculating can be with reference to the rolling actual achievement value that is accumulated in the rolling actual achievement value accumulation portion 15,, also learns with reference to this rolling actual achievement value when detected pressure value is derived the coefficient of relational expression of revisal amount of detected pressure value in study.
In addition; Study at the coefficient of this said relational expression is meant; With being illustrated in the processing of normally having carried out being covered the coefficient of the rolling expression detected pressure value of obtaining, accumulating and the relevant relational expression between the first pressure instruction value revisal amount through the past, come to explain separately its detailed content with reference to Fig. 8 by the coefficient of the relevant relational expression between the detected pressure value that obtains under the rolling situation of stocking 43 and the first pressure instruction value revisal amount.
The second pressure instruction correcting section 25 is used the coefficient of the relevant relational expression of calculating expression detected pressure value that portion 18 learnt and the dependency relation between the first pressure instruction value revisal amount and the detected pressure value of being obtained by pressure detecting portion 27; Calculate the second pressure instruction value revisal amount, and result of calculation is sent to revisal amount switching part 26.
Revisal amount switching part 26 judges whether the load detected value of being obtained by load test section 28 is normal, under the normal situation of this load detected value, will send to pressure instruction calculating part 20 from the first pressure instruction value revisal amount that the first pressure instruction correcting section 24 is sent.In addition, under abnormal situation, revisal amount switching part 26 will send to pressure instruction calculating part 20 from the second pressure instruction value revisal amount that the second pressure instruction correcting section 25 is sent.In addition, about the detailed content of this hand-off process,, and, specify with reference to Figure 10 separately about judging whether normal handling of load detected value separately with reference to Fig. 6.
Pressure instruction calculating part 20 uses from the tension value configuration part the 10 tension force setting values, the pressure instruction value revisal amount of sending by the size of stocking 43 and the kink position of obtaining based on the setting value of the frame for movement of kink 40, by kink position detection part 29 and from revisal amount switching part 26 etc. of sending; Calculate pressure instruction value, and this pressure instruction value that calculates is sent to pressure control part 21 to 30 outputs of hydraulic servo drive unit.
The setting value of the initial position of kink position that kink position control section 22 input is obtained by kink position detection part 29 and the kink 40 set by kink set positions portion 11 and target location etc.; And the revisal amount of calculating mill speed is so that the kink position becomes the target location, and this result of calculation is sent to mill speed control part 23.
The setting value of the desired value of the compensating value of the mill speed that mill speed control part 23 input is sent from kink position control section 22 and the mill speed set by mill speed configuration part 12 etc.; And breaker roll drive unit 31 output is used to drive the electric current of roll 42, to obtain the mill speed after the revisal.
Tension force setting value learning section 2; As stated; Its formation comprises: tension value configuration part 10, rolling actual achievement value collection portion 13, rolling actual achievement value extraction portion 14 and rolling actual achievement value accumulation portion 15 etc.; When being rolled, collect rolling actual achievement value, the rolling actual achievement value of this collection of study expression and the coefficient of the relevant relational expression between the tension force setting value by stocking 43.At this; Rolling actual achievement value except measure by entrance side measurement mechanism 44, middle measurement mechanism 45 and outlet side measurement mechanism 46 by the wide actual achievement value of thickness of slab actual achievement value, plate of stocking 43, the temperature actual achievement value, also comprise the tension force actual achievement value that calculates according to the detected pressure value obtained by pressure detecting portion 27, the tension force actual achievement value that calculates according to the load detected value of obtaining by the load test section and the kink position actual achievement value that obtains by kink position detection part 29.
In tension force setting value learning section 2, rolling actual achievement value collection portion 13 receive at any time in rolling by the rolling actual achievement value of stocking 43, and the actual achievement value that arrives of accumulative reception.And, after by stocking 43 rolling end, the rolling actual achievement value of this accumulation is sent to rolling actual achievement value extraction portion 14.
Rolling actual achievement value extraction portion 14 analyzes the rolling actual achievement value of collecting this moment based on the rolling actual achievement value in past, thereby judges whether the rolling actual achievement value of collecting is normal.And, being judged to be under the normal situation in the result of this judgement, the rolling actual achievement value that rolling actual achievement value extraction portion 14 will collect sends to rolling actual achievement value accumulation portion 15.The rolling actual achievement value that rolling actual achievement value accumulation portion's 15 receptions and accumulation are sent.
The rolling actual achievement value of in rolling actual achievement value accumulation portion 15, being accumulated is used in tension value configuration part 10; The coefficient of the relevant relational expression between study rolling actual achievement value of expression and the tension force setting value; And use and ask for the optimum tension setting value, and the tension force setting value of trying to achieve is sent to pressure instruction calculating part 20 based on the relational expression of this coefficient of learning.In addition; In rolling actual achievement value extraction portion 14; Be judged as under abnormal situation in rolling actual achievement value, can not be rolled the learning of coefficient of accumulation and the relevant relational expression in the expression tension value configuration part 10 of the rolling actual achievement value that the actual achievement value carried out to the transmission of rolling actual achievement value accumulation portion 15, rolling actual achievement value accumulation portion 15.
Then, Yi Bian with reference to Fig. 1, Yi Bian with reference to Fig. 2～Figure 11, explain by the detailed action of the main functional block in the stocking tenslator 1.
Fig. 2 is that expression is by the figure of the example of the handling process of the first pressure instruction value revisal amount computing in the first pressure instruction correcting section 24 of stocking tenslator 1.
The tension force setting value that the first pressure instruction correcting section 24 uses the kink position Detection value that obtained by kink position detection part 29, set by tension value configuration part 10, by the size of stocking 43 and based on the setting value of the frame for movement of kink 40, calculate the theoretical value (step S21) of the suitable load of the load detected value obtained with load test section 28.Then, the first pressure instruction correcting section 24 calculate the theoretical value of these load that calculate and the load detected value obtained by load test section 28 between difference (step S22).And then; The first pressure instruction correcting section 24 is used theoretical value and the difference between the load detected value, the kink position probing value of these load that calculate and based on the setting value of the machinery of the frame for movement of kink 40, is come calculating pressure command value revisal amount (step S23).
Fig. 3 is the figure of example of the handling process of the second pressure instruction value revisal amount computing of expression in the second pressure instruction correcting section 25.
The second pressure instruction correcting section 25 is before by the rolling beginning of stocking 43; The coefficient by the relational expression of the detected pressure value of the portion of calculating 18 study of being correlated with and the dependency relation between the first pressure instruction value revisal amount is represented in reception; That is, derive the coefficient (step S31) of the relational expression of the first pressure instruction value revisal amount from detected pressure value.Then; The second pressure instruction correcting section 25 is by in stocking 43 rolling; At any time receive detected pressure value (step S32) from pressure detecting portion 27; And use the coefficient and this detected pressure value of deriving the relational expression of the second pressure instruction value revisal amount from detected pressure value of calculating portion's 18 study by relevant, calculate the second pressure instruction value revisal amount (step S33).
Fig. 4 is the figure of the example of the handling process handled of the tension force setting value study in the expression tension force setting value learning section 2.
Rolling actual achievement value collection portion 13 receives at any time and accumulates the rolling actual achievement value of being measured by entrance side measurement mechanism 44, middle measurement mechanism 45 and outlet side measurement mechanism 46 etc. (step S41) by stocking 43 rolling the time.In addition, rolling actual achievement value comprises: the tension force actual achievement value that calculates from detected pressure value, the tension force actual achievement value that calculates from the load detected value and kink position actual achievement value etc.After by the rolling end of stocking 43, rolling actual achievement value collection portion 13 sends (step 42) with the rolling actual achievement value of its reception and accumulation to rolling actual achievement value extraction portion 14.
Rolling actual achievement value extraction portion 14 analyzes the rolling actual achievement value of collecting this moment based on the rolling actual achievement value in past; Thereby whether the rolling actual achievement value of judging this collection normal (step S43); Under the normal situation of rolling actual achievement value (in step S44 for being), rolling actual achievement value extraction portion 14 sends the rolling actual achievement value of collecting (step S45) to rolling actual achievement value accumulation portion 15.Rolling actual achievement value accumulation portion's 15 receptions are also accumulated the rolling actual achievement value (step S46) that this is sent out.
Then, rolling actual achievement value and the tension force actual achievement value of in rolling actual achievement value accumulation portion 15, being accumulated used in tension value configuration part 10, and the coefficient of the relational expression of its dependency relation is represented in study, and uses this relational expression to set optimum tension setting value (step S47).On the other hand, be worth under abnormal situation in the rolling actual achievement of collecting (in step S44 for not), rolling actual achievement value accumulation portion 15 is not rolled the accumulation of actual achievement value, and therefore, the study of the coefficient of said relational expression is not carried out in tension value configuration part 10.In addition, about judge the rolling actual achievement value in step S43, collect whether the detailed content of normal handling describe with reference to Figure 11 separately.In addition, the detailed content about the study of the tension force setting value in step S47 describes with reference to Fig. 8 separately.
Fig. 5 is the figure of example of handling process of the processing of the coefficient of representing the relevant relational expression between the detected pressure value and the first pressure instruction value revisal amount of the study in the expression pressure instruction revisal amount learning section 3.
In pressure instruction revisal amount learning section 3; Associated extraction portion 16 is when being rolled by stocking 43, receive at any time and accumulate detected pressure value from pressure detecting portion 27, from the first pressure instruction value revisal amount of the first pressure instruction correcting section 24 and come switching signal (step S51) since revisal amount switching part 26.
On the other hand; Associated extraction portion 16 receives under the situation of switching signal (in step S53 for being) in rolling; And the coefficient correlation of in step S54, extracting is (in step S55 for not) under the situation below the given threshold value, the not processing of execution in step 56～step S58.That is, can not carry out the study of the coefficient of the dependency relation formula among the step S58.
Fig. 6 is the figure of example of handling process of the hand-off process of the pressure instruction value revisal amount in the expression revisal amount switching part 26.
The detected pressure value that revisal amount switching part 26 receives the expression load test section 28 normal signals that send from load test section 28 (below, only be called normal signal) and load detected value, send from pressure detecting portion 27, the kink position probing value of sending from kink position detection part 29, from the tension value configuration part 10 send by the size of stocking 43 and the first pressure instruction value revisal amount of sending and from the second pressure instruction value revisal amount (step S61) of the second pressure instruction correcting section, 25 transmissions based on the setting value of the frame for movement of kink 40, from the first pressure instruction correcting section 24.
Then; Revisal amount switching part 26 uses the load detected value that receives, detected pressure value, kink position probing value, by the size of stocking 43 with based on the setting value of the frame for movement of kink 40, come to calculate respectively based on the tension force of load detected value and based on the tension force (step S62) of detected pressure value.
Then; Revisal amount switching part 26 uses normal signal from load test section 28, the first pressure instruction value revisal amount, the second pressure instruction value revisal amount, based on the tension force of the load detected value that calculates and based on the tension force of the detected pressure value that calculates, judge load detected value whether normal (step S63).In addition, about the load detected value of the determination step S63 detailed content of normal handling whether, describe with reference to Figure 10 separately.
In the judgement of step S63; Under the normal situation of load detected value (in step S64 for being); Revisal amount switching part 26 sends to pressure instruction calculating part 20 (step S65) with the first pressure instruction value revisal amount; In addition, (being not in step S64) sends to pressure instruction calculating part 20 (step S66) with the second pressure instruction value revisal amount under the abnormal situation of load detected value.
Fig. 7 is that calculating in the expression pressure instruction calculating part 20 is to the figure of the example of the pressure instruction value computing of the pressure instruction value of hydraulic servo drive unit 30 outputs.
Pressure instruction calculating part 20 receives the kink position probing value of sending from kink position detection part 29, the 10 tension force setting values of sending and by the size of stocking 43 with based on the setting value of the frame for movement of kink 40 and the pressure instruction value revisal amount (step S71) of sending from revisal amount switching part 26 from the tension value configuration part.Then; Pressure instruction calculating part 20 uses the kink position probing value that receives, tension force setting value, comes calculating pressure setting value (step S72) by the size of stocking 43 with based on the setting value of the frame for movement of kink 40, and uses pressure set points that obtains through this calculating and the pressure instruction value revisal amount that receives to come calculating pressure command value (step S73).
Fig. 8 is illustrated in the figure of the example of the handling process that the study of the coefficient of the study dependency relation formula in tension force setting value learning section 2 and the pressure instruction revisal amount learning section 3 handles.
At this; It is that being used to of in tension value configuration part 10, being carried out set the processing (with reference to Fig. 4, step S47) that the coefficient of the relevant dependency relation formula tension force optimum with respect to rolling actual achievement value, between the rolling actual achievement value of expression and the tension force actual achievement value is learnt that study in the tension force setting value learning section 2 is handled.In addition; Study in the pressure instruction revisal amount learning section 3 handle be to relevant calculate carried out in the portion 18 derive the study processing (with reference to Fig. 5, step S58) that the coefficient of the dependency relation formula of the second pressure instruction value revisal amount is learnt from tension force setting value and detected pressure value.In addition, because both processing are similar processing, therefore, the form that is summarised among Fig. 8 with the processing with both describes.In addition, in the following explanation of this specification, the dependency relation formula that both are used is separately carried out general name, only abbreviate " relational expression " as, to tension value configuration part 10 and relevantly calculate portion 18 and carry out general name, only be called " learning section ".
Shown in Fig. 8 (also with reference to Fig. 1), learning section receives the FACTOR P (step S81) of rolling actual achievement value R, tension force setting value T and the relational expression of sending from rolling actual achievement value accumulation portion 15 under the normal situation of rolling actual achievement value R.
Learning section is according to steel grade G, thickness of slab desired value X and the wide desired value Y of plate of this material, and the FACTOR P of rolling actual achievement value R, tension force setting value T and relational expression is categorized as multilayer (step S82).At this; Be made as R (i) if will be categorized into the rolling actual achievement value R of layer i, tension force setting value T is made as T (i), and the FACTOR P of relational expression is made as P (i); And then the function that pressure actual achievement value R is categorized into layer i is made as fri; The function that tension force setting value T is categorized into layer i is made as fti, and the function that the FACTOR P of relational expression is categorized into layer i is made as fpi, then R (i), T (i), P (i) each free below shown in formula (2)～formula (4) expression.
R (i)=fri (R, G, X, Y) ... Formula (2)
T (i)=fti (T, G, X, Y) ... Formula (3)
P (i)=fpi (P, G, X, Y) ... Formula (4)
In learning section in order to preserve the FACTOR P (i) of the rolling actual achievement value R (i), tension force setting value T (i) and the relational expression that are categorized into layer i; Be provided with the table of the table of long-standing study usefulness and the study usefulness between short-term, learning section is saved in the FACTOR P (i) of rolling actual achievement value R (i), tension force setting value T (i) and relational expression in the table of the table of long-standing study usefulness and the study usefulness between short-term (step S83) separately.In addition, at this moment, in table separately, by every layer of i preserved before last time rolling by the coefficient of rolling actual achievement value, tension force setting value and the relational expression of stocking 43 (below, be called material last time).
At this; In order to be easy to explanation; The rolling actual achievement value representation of this material among the layer i, that in the table that long-standing study is used, preserve is Rl (i); The rolling actual achievement value representation of this material of preserving in the table that the study between short-term is used is Rs (i); The tension force setting value of this material of in the table of long-standing study usefulness, preserving is expressed as Tl (i), and the tension force setting value of this material of preserving in the table of the study usefulness between short-term is expressed as Ts (i), and the coefficient table of the relational expression of this material of in the table of long-standing study usefulness, preserving is shown Pl (i); The coefficient table of the relational expression of this material of preserving in the table of the study usefulness between short-term is shown Ps (i); And then the rolling actual achievement value representation that will arrive the long-standing study till material last time is Rlo (i), and the rolling actual achievement value representation of the study between the short-term till the last time material is Rso (i); The tension force setting value of the long-standing study till the last time material is expressed as Tlo (i); The tension force setting value of the study between the short-term till the last time material is expressed as Tso (i), and the coefficient table of the relational expression of the long-standing study till the last time material is shown Plo (i), and the coefficient table of the relational expression of the study between the short-term till the last time material is shown Pso (i).
That is, be stored in Rl (i) in the table of the table of long-standing study usefulness and the study usefulness between short-term, Rs (i), Tl (i), Ts (i), Pl (i), Ps (i) separately by formula (5)～formula (10) expression.
Rl (i)=R (i) ... Formula (5)
Rs (i)=R (i) ... Formula (6)
Tl (i)=T (i) ... Formula (7)
Ts (i)=T (i) ... Formula (8)
Pl (i)=P (i) ... Formula (9)
Ps (i)=P (i) ... Formula (10)
Carry out in learning section under the situation of the study between short-term, the tension force setting value of next material (then want rolling by stocking 43) and the coefficient of relational expression can use FACTOR P so (i) of rolling actual achievement value Rso (i), tension force setting value Tso (i) and relational expression of FACTOR P s (i) and the study between the short-term till the last time material of rolling actual achievement value Rs (i), tension force setting value Ts (i), the relational expression of this material to calculate.Therefore; Learning section is made as fts with function among the layer i, that calculate the tension force setting value Tsn (i) of next material; The function that calculates the FACTOR P sn (i) of the relational expression of next material is made as fps, and calculates the FACTOR P sn (i) (step S84) of relational expression of tension force setting value Tsn (i) and the next material of the next material of layer among the i under the situation of carrying out the study between short-term through formula (11) and formula (12) respectively.
Tsn (i)=fts (Ts (i), Tso (i)) ... Formula (11)
Psn (i)=fps (Ps (i), Pso (i)) ... Formula (12)
In addition; Carry out in learning section under the situation of long-standing study, the tension force setting value of next material and the coefficient of relational expression use the FACTOR P lo (i) of rolling actual achievement value Rlo (i), tension force setting value Tlo (i) and relational expression of FACTOR P l (i) and the long-standing study till the last time material of rolling actual achievement value Rl (i), tension force setting value Tl (i) and the relational expression of this material to calculate.Therefore; Learning section is made as ftl with function among the layer i, that calculate the tension force setting value Tln (i) of next material; The function that calculates the FACTOR P ln (i) of the relational expression of next material is made as fpl, calculates the FACTOR P ln (i) (step S85) of relational expression of tension force setting value Tln (i) and the next material of the next material of layer among the i under the situation of carrying out long-standing study respectively through formula (13) and formula (14).
Tln (i)=ftl (Tl (i), Tlo (i)) ... Formula (13)
Pln (i)=fpl (Pl (i), Plo (i)) ... Formula (14)
Learning section at the FACTOR P sn (i) of the tension force setting value Tsn (i), Tln (i) and the relational expression that calculate next material through study between aforesaid short-term and long-standing study respectively, Pln (i) afterwards, layer whether consistent (the step S86) of the layer of judging next material and this material.At this, if the layer of next material is expressed as in, then the judgement of step S86 can be represented through the judgement of formula (15).
I=in ... Formula (15)
During this judges; Under the consistent situation of layer i of layer in and this material of next material; Promptly; Under the situation of i=in (in step S86 for being), the FACTOR P sn (i) of the tension force setting value Tsn (i) of the next material that learning section will obtain through the study between short-term and the relational expression of next material is respectively as FACTOR P n (i) output (step S87) of the relational expression of the tension force setting value Tn (i) of next material and next material.Therefore, the FACTOR P n (i) of the relational expression of the tension force setting value Tn (i) of next material and next material respectively can enough formulas (16) and formula (17) expression.
Tn (i)=Tsn (i) ... Formula (16)
Pn (i)=Psn (i) ... Formula (17)
In addition; In the judgement of step S86; Under layer inconsistent situation of i of layer in and this material of next material; That is, under the situation of i ≠ in (in step S86 for not), the FACTOR P ln (in) of the tension force setting value Tln (in) of the next material that learning section will obtain through long-standing study and the relational expression of next material is updated to the FACTOR P sn (in) (step S88) of relational expression of layer in of tension force setting value Tsn (in) and next material of the layer in of the next material in the study between short-term respectively.Therefore, Tsn (in) and Psn (in) respectively can enough formulas (18) and formula (19) expressions.
Tsn (in)=Tln (in) ... Formula (18)
Psn (in)=Pln (in) ... Formula (19)
Tsn (in) that learning section will obtain through the i.e. calculating through formula (18) and formula (19) that substitution obtains and Psn (in) are as the tension force setting value Tn (in) of next material and FACTOR P n (in) output (step S89) of relational expression.Therefore, under the situation of i ≠ in, Tn (in), Pn (in) respectively can enough formulas (20) and formula (21) expressions.
Tn (in)=Tsn (in) ... Formula (20)
Pn (in)=Psn (in) ... Formula (21)
Fig. 9 is the figure of example that is illustrated in the handling process of the study computing (step S84 and step S85) of the study that the coefficient of the relational expression of Fig. 8 is learnt in handling.
At this, for the purpose of simplifying the description, in explanation after this; When rolling, detected thickness of slab by stocking 43 is called the actual achievement thickness of slab, the thickness of slab by stocking 43 that sets is called the setting thickness of slab; Wide to be called the actual achievement plate wide with detected plate by stocking 43; Be called that to set plate wide with the plate by stocking 43 that sets is wide, it is long that detected length by stocking 43 is called plate, and detected full plate length by stocking 43 is called the plate total length; Used being applied to of load detected value to be called actual achievement tension force with detected by the tension force of stocking 43; Being applied to by the tension force of stocking 43 of setting is called setting tension force, the position of detected kink 40 is called the actual achievement position, detected flatness by stocking 43 is called the flatness of plate.
In the study of learning section between short-term, the long-standing study; Based on rolling actual achievement value Rs (i), the Rl (i) of this material, employed level of learning α ts, α tl, α ps, α pl (step S91) in the FACTOR P s (i) that calculates respectively in tension force setting value Ts (i), Tl (i) and the relational expression of this material, the study of Pl (i).In addition, level of learning α ts, α tl, α ps, α pl are the parameters below 1 more than 0, under the situation that does not need special difference, level of learning are generically and collectively referred to as α.
In the calculating of these level of learnings α; As rolling actual achievement value Rs (i), Rl (i), use the actual achievement thickness of slab and set between the thickness of slab deviation as threshold value with interior plate length account for ratio, the actual achievement plate of plate total length wide and set the deviation of plate between wide account for ratio, actual achievement tension force average of plate total length with interior plate length as threshold value and set standard deviation, the actual achievement kink position of deviation between the tension force, actual achievement tension force standard deviation, used the tension force of load detected value and used the flatness etc. of average and plate of the absolute value of the deviation between the tension force of detected pressure value.
Then, will learn the FACTOR P s (i) of tension force setting value Ts (i), Tl (i) and relational expression, the level of learning α of Pl (i) is expressed as α ts, α tl, α ps, α pl separately.Learning section use the level of learning α ts calculated, α tl, α ps, α pl and below formula (22)～formula (25), calculate FACTOR P sn (i), the Pln (i) (step S92) of relational expression of tension force setting value Tsn (i), Tln (i) and the next material of next material.
Tsn (i)=α tsTs (i)+(1-α ts) Tso (i) ... Formula (22)
Tln (i)=α tlTl (i)+(1-α tl) Tlo (i) ... Formula (23)
Psn (i)=α psPs (i)+(1-α ps) Pso (i) ... Formula (24)
Pln (i)=α plPl (i)+(1-α pl) Plo (i) ... Formula (25)
In addition, these formulas (22)～formula (25) and above-mentioned formula (11)～formula (14) equivalence, so formula (11)～formula (14) is separately shown in formula (26)～formula (29).
fts(Ts(i)，Tso(i))
=α tsTs (i)+(1-α ts) Tso (i) ... Formula (26)
ftl(Tl(i)，Tlo(i))
=α tlTl (i)+(1-α tl) Tlo (i) ... Formula (27)
fps(Ps(i)，Pso(i))
=α psPs (i)+(1-α ps) Pso (i) ... Formula (28)
fpl(Pl(i)，Plo(i))
=α plPl (i)+(1-α pl) Plo (i) ... Formula (29)
Figure 10 is whether normal handling (step S63, the figure of the example of detailed handling process S64) of the load detected value of expression in the process decision chart 6.
Revisal amount switching part 26 is judged the having or not of reception (step S101) of expression load test sections 28 normal normal signal, not receiving under the situation of normal signal (in step S102 for not), is judged to be load detected value (step S109) unusually.In addition, receiving under the situation of normal signal (in step S102 for being), revisal amount switching part 26 and then judge through two kinds of processing shown in following whether the load detected value is normal.
At first, describe about first determination processing.Revisal amount switching part 26 maneuvering load detected values, detected pressure value, kink position probing value, by the size of stocking 43 and based on the setting value of the frame for movement of kink 40, come to calculate respectively tension force T based on the load detected value
LC, and based on the tension force T of detected pressure value
PR(step S103).
Secondly, revisal amount switching part 26 calculates the tension force T that is calculated
LCAnd T
PRBetween difference, and judge that whether this difference is than given threshold value Δ T
LP β 1γ is little, that is, whether the formula 30 shown in judgement is following sets up (step S104).
| T
LC-T
PR|＜Δ T
LP β 1γ ... Formula (30)
At this, γ is the parameter below 1 more than 0, the setting of carrying out according to the number of times of learning, user arbitrarily and be updated (in the following explanation of this specification, the meaning of γ is identical) at any time.
Then; Result about the judgement of revisal amount switching part 26 in step S104; Under the invalid situation of formula (30) (being not in step S105); Judge load detected value unusual (step S109), under the situation that formula (30) is set up (in step S105 for being), judge load detected value normally (step S108).In addition, at this, formula (30) is false and is meant formula (30) certain was false more than the given time continuously, and formula (30) is set up and is meant and with this negates.
Then, describe about second determination processing.Revisal amount switching part 26 receives the first pressure instruction value revisal amount and the second pressure instruction value revisal amount as use Fig. 1 explains.Therefore, revisal amount switching part 26 calculates the difference between the first pressure instruction value revisal amount P and the second pressure instruction revisal amount Ps | P-Ps|, and judge this difference based on formula (31) | whether P-Ps| is than the given threshold value Δ P that sets
β 1γ little (step S106).
| P-Ps|＜Δ P
β 1γ ... Formula (31)
And; Revisal amount switching part 26 results about the judgement in step S106; Under the invalid situation of formula (31) (being not in step S107); Judge load detected value unusual (step S109), under the situation that formula (31) is set up (in step S107 for being), judge load detected value normally (step S108).In addition, at this, formula (31) is false and is meant formula (31) certain was false more than the given time continuously, and formula (31) is set up and is meant and with this negates.
Figure 11 is whether normal handling (step S43, the figure of the example of detailed handling process S44) of the rolling actual achievement value of expression in the process decision chart 4.
Rolling actual achievement value extraction portion 14 is calculated by the actual achievement thickness of slab h of stocking 43
ActWith setting thickness of slab h
RefBetween the given threshold value Δ h of differential ratio
Act βThe long L of the plate of little part
Hact β, and with the long L of the plate that calculates
Hact βAccount for the long L of full plate
AllRatio and given threshold value Δ L
H βγ is (step S111) relatively, judges whether this formula (32) relatively sets up (step S112).
L
Hact β/ L
All＜Δ L
H βγ ... Formula (32)
Rolling actual achievement value extraction portion 14 (being not in step S112) under the invalid situation of formula (32); Be judged to be rolling actual achievement value unusual (step S126); Under the situation that formula (32) is set up (in step S112 for being), judge further whether other rolling actual achievement values are normal.
Therefore, the wide w of rolling actual achievement value extraction portion's 14 calculating actual achievement plates
ActWith the wide w of setting plate
RefBetween the given threshold value Δ w of differential ratio
Act βThe long L of the plate of little part
Wact β, and with the long L of the plate that calculates
Wact βAccount for the long L of full plate
AllRatio and given threshold value Δ w
Act βγ is (step S113) relatively, judges whether this formula (33) relatively sets up (step S114).
L
Wact β/ L
All＜Δ L
W βγ ... Formula (33)
Rolling actual achievement value extraction portion 14 (being not in step S114) under the invalid situation of formula (33); Judge rolling actual achievement value unusual (step S126); Under the situation that formula (33) is set up (in step S114 for being), judge further whether other rolling actual achievement values are normal.
Then, the average T of actual achievement tension force is calculated by rolling actual achievement value extraction portion 14
ActAV, and with the average T of this actual achievement tension force
ActAVWith setting tension force T
RefBetween difference and given threshold value Δ T
βγ is (step S115) relatively, judges whether this formula (34) relatively sets up (step S116).
| T
ActAV-T
Ref|＜Δ T
βγ ... Formula (34)
Rolling actual achievement value extraction portion 14 (being not in step S116) under the invalid situation of formula (34); Judge rolling actual achievement value unusual (step S126); Under the situation that formula (34) is set up (in step S116 for being), judge further whether other rolling actual achievement values are normal.
Then, rolling actual achievement value extraction portion 14 standard deviation S with actual achievement tension force
TactWith given threshold value Δ S
T βγ is (step S117) relatively, judges whether this formula (35) relatively sets up (step S116).
S
Tact＜Δ S
T βγ ... Formula (35)
Rolling actual achievement value extraction portion 14 (being not in step S118) under the invalid situation of formula (35); Judge rolling actual achievement value unusual (step S126); Under the situation that formula (35) is set up (in step S118 for being), judge further whether other rolling actual achievement values are normal.
Then, rolling actual achievement value extraction portion 14 standard deviation S with actual achievement kink position
LAactWith given threshold value Δ S
LA βγ is (step S119) relatively, judges whether this formula (36) relatively sets up (step S120).
S
LAact＜Δ S
LA βγ ... Formula (36)
Rolling actual achievement value extraction portion 14 (being not in step S120) under the invalid situation of formula (36); Judge rolling actual achievement value unusual (step S126); Under the situation that formula (36) is set up (in step S120 for being), judge further whether other rolling actual achievement values are normal.
Then, rolling actual achievement value extraction portion 14 is with difference between the first pressure instruction value revisal amount P and the second pressure instruction value revisal amount Ps and given threshold value Δ P
β 2γ is (step S121) relatively, judges whether this formula (37) relatively sets up (step S122).
| P-Ps|＜Δ P
β 2γ ... Formula (37)
Rolling actual achievement value extraction portion 14 (being not in step S122) under the invalid situation of formula (37); Judge rolling actual achievement value unusual (step S126); Under the situation that formula (37) is set up (in step S122 for being), judge further whether other rolling actual achievement values are normal.
Then, rolling actual achievement value extraction portion 14 will be based on the tension force T of load detected value
LCWith tension force T based on detected pressure value
PRBetween difference and given threshold value Δ T
LP β 2γ is (step S123) relatively, judges whether this formula (38) relatively sets up (step S124).
| T
LC-T
PR|＜Δ P
LP β 2γ ... Formula (38)
Rolling actual achievement value extraction portion 14 (being not in step S124) under the invalid situation of formula (38); Judge rolling actual achievement value unusual (step S126); Under the situation that formula (38) is set up (in step S124 for being), judge rolling actual achievement value normally (step S125).
In addition, in the example of handling process shown in figure 11, through a plurality of rolling actual achievement values and given threshold ratio have been judged whether rolling actual achievement value is normal, but this item compared is not limited to this example.Can omit the item compared shown in the example any one, in addition, can append other item compareds.In addition, discrimination ratio order also is not limited to the example of Figure 11.
More than; Embodiment of the present invention relates to is had pressure instruction revisal amount learning section 3 by stocking tenslator 1; Under the N/R situation of load detected value that obtains by load detected value 28, the detected pressure value that the 3 study expressions of this pressure instruction revisal amount learning section are obtained by pressure detecting portion 27 and based on the coefficient of the relational expression of the dependency relation between the pressure instruction value revisal amount (the first pressure instruction value revisal amount) of the load detected value that calculates by the first pressure instruction correcting section 24.Therefore; Can not be obtained at load test section 28 under the situation of normal load detected value by stocking tenslator 1, can pressure instruction value revisal amount be switched to the second revisal amount (the second pressure instruction value revisal amount) that the second pressure instruction correcting section 25, is calculated based on by the dependency relation of pressure instruction revisal amount learning section 3 study from the revisal amount that is calculated by the first pressure instruction correcting section 24.
At this moment, because the second revisal amount (the second pressure instruction value revisal amount) obtains the relevant of original pressure instruction value revisal amount (the first pressure instruction value revisal amount), so its difference is little.Therefore,, do not have big variation yet, therefore can not become unstable by the Tension Control of stocking for the control output quantity (pressure instruction value) of kink even carry out the switching of revisal amount.Thereby, being stablized in the continuous hot-rolling mill 100 by the Tension Control of stocking, its result can not only improve by the product quality of stocking, can also realize the raising of the rate of capacity utilization of continuous hot-rolling mill.
Claims (6)
1. one kind by the stocking tenslator, in continuous hot-rolling mill, calculates the pressure instruction value and the output of the hydraulic control device that drives kink, and this continuous hot-rolling mill possesses: a plurality of rolls, and it is rolling by stocking; And said kink, its centre at two rolls is supported by stocking with hydraulic pressure, and controls this tension force that is applied by stocking,
Said possessed by the stocking tenslator:
Pressure detecting portion, it obtains the interior hydraulic pressure of hydraulic cylinder of said kink;
The load test section, it obtains the load of said kink from being received by stocking;
The pressure instruction calculating part, it calculates the pressure instruction value to said hydraulic control device output;
The first pressure instruction correcting section, it uses the load detected value that is obtained by said load test section, calculates the revisal amount of said pressure instruction value;
Pressure instruction revisal amount learning section, the dependency relation between detected pressure value that its study is obtained by said pressure detecting portion and the revisal amount that calculates by the said first pressure instruction correcting section;
The second pressure instruction correcting section, it uses said detected pressure value and by the dependency relation of said pressure instruction revisal amount learning section study, calculates the revisal amount of said pressure instruction value; With
Revisal amount switching part, it switches revisal amount that is calculated by the said first pressure instruction correcting section and the revisal amount that is calculated by the said second pressure instruction correcting section, comes to send to said pressure instruction calculating part.
2. as claimed in claim 1ly it is characterized in that by the stocking tenslator,
Said pressure instruction revisal amount learning section comprises:
Associated extraction portion, its extract the said detected pressure value of expression and the revisal amount of the said pressure instruction value that calculates by the said first pressure instruction correcting section between the coefficient of relational expression of dependency relation;
Relevant accumulation portion, the coefficient of the said relational expression that its accumulation has been extracted; With
The relevant portion of calculating, the coefficient of the said relational expression that its study has been accumulated, and calculate the relational expression that derives the revisal amount of said pressure instruction value from said detected pressure value.
3. as claimed in claim 1ly it is characterized in that by the stocking tenslator,
Said revisal amount switching part,
Difference between the revisal amount of the pressure instruction value that calculates based on the revisal amount of the pressure instruction value that calculates by the said first pressure instruction correcting section with by the said second pressure instruction correcting section; Judge whether the load detected value that is obtained by said load test section is normal
Under the normal situation of said load detected value, send the revisal amount of the pressure instruction value that calculates by the said first pressure instruction correcting section to said pressure instruction calculating part,
Under the abnormal situation of said load detected value, send the revisal amount of the pressure instruction value that calculates by the said second pressure instruction correcting section to said pressure instruction calculating part.
4. as claimed in claim 1ly it is characterized in that by the stocking tenslator,
Said revisal amount switching part,
Difference between the tension value that calculates based on the tension value that calculates according to said detected pressure value with according to said load detected value judges whether the load detected value that is obtained by said load test section is normal,
Under the normal situation of said load detected value, send the revisal amount of the pressure instruction value that calculates by the said first pressure instruction correcting section to said pressure instruction calculating part,
Under the abnormal situation of said load detected value, send the revisal amount of the pressure instruction value that calculates by the said second pressure instruction correcting section to said pressure instruction calculating part.
In the continuous hot-rolling mill by the stocking tension control method, this continuous hot-rolling mill possesses: a plurality of rolls, it is rolling by stocking; Kink, its centre at two rolls is supported by stocking with hydraulic pressure, and control is to this tension force that is applied by stocking; And by the stocking tenslator, it calculates the pressure instruction value and the output of the hydraulic control device that drives said kink,
The said execution as follows by the stocking tenslator handled:
Pressure detecting is handled, and obtains the interior hydraulic pressure of hydraulic cylinder of said kink;
Load detects to be handled, and obtains the load of said kink from being received by stocking;
The pressure instruction value to said hydraulic control device output is calculated in the pressure instruction computing;
The first pressure instruction revisal is handled, and uses through said load and detects the load detected value that processing obtains, and calculates the revisal amount of said pressure instruction value;
Pressure instruction revisal amount study is handled, the dependency relation between detected pressure value that study is obtained by said pressure detecting portion and the revisal amount that calculated by the said first pressure instruction correcting section;
The second pressure instruction revisal is handled, and uses said detected pressure value and by the dependency relation of said pressure instruction revisal amount learning section study, calculates the revisal amount of said pressure instruction value; With
Revisal amount hand-off process is switched revisal amount that is calculated by the said first pressure instruction correcting section and the revisal amount that is calculated by the said second pressure instruction correcting section, comes to send to said pressure instruction calculating part.
6. continuous hot-rolling mill possesses: a plurality of rolls, and it is rolling by stocking; Kink, its centre at two rolls is supported by stocking with hydraulic pressure, and control is to this tension force that is applied by stocking; And by the stocking tenslator, it calculates the pressure instruction value and the output of the hydraulic control device that drives said kink,
Said possessed by the stocking tenslator:
Pressure detecting portion, it obtains the interior hydraulic pressure of hydraulic cylinder of said kink;
The load test section, it obtains the load of said kink from being received by stocking;
The pressure instruction calculating part, it calculates the pressure instruction value to said hydraulic control device output;
The first pressure instruction correcting section, it uses the load detected value that is obtained by said load test section, calculates the revisal amount of said pressure instruction value;
Pressure instruction revisal amount learning section, the dependency relation between detected pressure value that its study is obtained by said pressure detecting portion and the revisal amount that calculates by the said first pressure instruction correcting section;
The second pressure instruction correcting section, it uses said detected pressure value and by the dependency relation of said pressure instruction revisal amount learning section study, calculates the revisal amount of said pressure instruction value; With
Revisal amount switching part, it switches revisal amount that is calculated by the said first pressure instruction correcting section and the revisal amount that is calculated by the said second pressure instruction correcting section, comes to send to said pressure instruction calculating part.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010-240240 | 2010-10-27 | ||
| JP2010240240A JP5519472B2 (en) | 2010-10-27 | 2010-10-27 | Rolled material tension control device, rolled material tension control method, and hot tandem rolling mill |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105414203A (en) * | 2015-12-10 | 2016-03-23 | 安徽马钢自动化信息技术有限公司 | Method for improving control accuracy of rolling force of HGC hydraulic cylinder of temper mill |
| CN107486475A (en) * | 2017-08-25 | 2017-12-19 | 宝钢特钢韶关有限公司 | A kind of wire and rod continuous rolling kink setting value input control device and the system for controlling the device |
| CN108500064A (en) * | 2017-02-23 | 2018-09-07 | 株式会社日立制作所 | Tandem rolls rolling mill control apparatus and tandem rolls milling train control method |
| CN109500098A (en) * | 2018-12-03 | 2019-03-22 | 山西太钢不锈钢股份有限公司 | A kind of method that loop vibrates between control hot-tandem unit |
| CN111587156A (en) * | 2018-12-19 | 2020-08-25 | 东芝三菱电机产业系统株式会社 | Learning control device for rolling process |
| TWI728422B (en) * | 2019-03-26 | 2021-05-21 | 日商東芝三菱電機產業系統股份有限公司 | Abnormality determination support apparatus |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103406367B (en) * | 2013-08-16 | 2015-08-19 | 中冶南方（武汉）自动化有限公司 | A kind of method improving direct tension control precision of cold calender |
| CN106269912A (en) * | 2016-09-30 | 2017-01-04 | 安徽马钢自动化信息技术有限公司 | The control method of hydraulic servocontrol |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105414203A (en) * | 2015-12-10 | 2016-03-23 | 安徽马钢自动化信息技术有限公司 | Method for improving control accuracy of rolling force of HGC hydraulic cylinder of temper mill |
| CN108500064A (en) * | 2017-02-23 | 2018-09-07 | 株式会社日立制作所 | Tandem rolls rolling mill control apparatus and tandem rolls milling train control method |
| CN108500064B (en) * | 2017-02-23 | 2019-08-02 | 株式会社日立制作所 | Tandem rolls rolling mill control apparatus and tandem rolls milling train control method |
| CN107486475A (en) * | 2017-08-25 | 2017-12-19 | 宝钢特钢韶关有限公司 | A kind of wire and rod continuous rolling kink setting value input control device and the system for controlling the device |
| CN109500098A (en) * | 2018-12-03 | 2019-03-22 | 山西太钢不锈钢股份有限公司 | A kind of method that loop vibrates between control hot-tandem unit |
| CN111587156A (en) * | 2018-12-19 | 2020-08-25 | 东芝三菱电机产业系统株式会社 | Learning control device for rolling process |
| TWI728422B (en) * | 2019-03-26 | 2021-05-21 | 日商東芝三菱電機產業系統股份有限公司 | Abnormality determination support apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102451837B (en) | 2014-07-16 |
| JP2012091200A (en) | 2012-05-17 |
| JP5519472B2 (en) | 2014-06-11 |
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