CN102883980B - The control of sheet metal strip camber in machining production line, the integrated approach that neutralization is adjusted - Google Patents

The control of sheet metal strip camber in machining production line, the integrated approach that neutralization is adjusted Download PDF

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Publication number
CN102883980B
CN102883980B CN201180022658.7A CN201180022658A CN102883980B CN 102883980 B CN102883980 B CN 102883980B CN 201180022658 A CN201180022658 A CN 201180022658A CN 102883980 B CN102883980 B CN 102883980B
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China
Prior art keywords
band
correction
camber
relative
production line
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CN201180022658.7A
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Chinese (zh)
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CN102883980A (en
Inventor
S·马丁内斯
F·瓜里恩托
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特诺恩工业技术(北京)有限公司
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Priority to ITMI2010A000801 priority Critical
Priority to ITMI2010A000801A priority patent/IT1399922B1/en
Application filed by 特诺恩工业技术(北京)有限公司 filed Critical 特诺恩工业技术(北京)有限公司
Priority to PCT/EP2011/002104 priority patent/WO2011137988A1/en
Publication of CN102883980A publication Critical patent/CN102883980A/en
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Publication of CN102883980B publication Critical patent/CN102883980B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00Registering, tensioning, smoothing or guiding webs
    • B65H23/02Registering, tensioning, smoothing or guiding webs transversely
    • B65H23/032Controlling transverse register of web
    • B65H23/038Controlling transverse register of web by rollers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00Handling processes for sheets or webs
    • B65H2301/30Orientation, displacement, position of the handled material
    • B65H2301/31Features of transport path
    • B65H2301/311Features of transport path for transport path in plane of handled material, e.g. geometry
    • B65H2301/3112S-shaped
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2404/00Parts for transporting or guiding the handled material
    • B65H2404/10Rollers
    • B65H2404/15Roller assembly, particular roller arrangement
    • B65H2404/152Arrangement of roller on a movable frame
    • B65H2404/1521Arrangement of roller on a movable frame rotating, pivoting or oscillating around an axis, e.g. parallel to the roller axis
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2404/00Parts for transporting or guiding the handled material
    • B65H2404/10Rollers
    • B65H2404/15Roller assembly, particular roller arrangement
    • B65H2404/152Arrangement of roller on a movable frame
    • B65H2404/1521Arrangement of roller on a movable frame rotating, pivoting or oscillating around an axis, e.g. parallel to the roller axis
    • B65H2404/15212Arrangement of roller on a movable frame rotating, pivoting or oscillating around an axis, e.g. parallel to the roller axis rotating, pivoting or oscillating around an axis perpendicular to the roller axis
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/20Calculating means; Controlling methods
    • B65H2557/24Calculating methods; Mathematic models
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00Handled material; Storage means
    • B65H2701/10Handled articles or webs
    • B65H2701/17Nature of material
    • B65H2701/173Metal

Abstract

nullSheet metal strip camber is controlled by production line、To the integrated approach neutralizing regulation,Wherein band (14) passes through in centring roll group,This production line includes movable frame (21),This frame carries one or more roller (19) and carries out rotating (β) relative to fixing frames (20),So that output strip material portion offsets relative to input strip material portion,The rotation (β) of wherein said movable frame (21) is carried out round the axis (B) relative to the planar tilt residing for the importation of band,This makes roller axis turn over steering angle (γ) relative to the vertical line vertical with production line axis by frame relative to the Plane Rotation inclination angle (α) with input band sections transverse,Wherein sensor (15,16,17) band (14) being disposed along production-line arrangement above and is connected with electronic control panel (13),This electronic control panel receives the data (position and camber) of advanced strip,And based on control algolithm by controller.

Description

The control of sheet metal strip camber in machining production line, the integrated approach that neutralization is adjusted
Technical field
The present invention relates in machining production line, sheet metal strip camber is controlled, adjust neutralizing Whole integrated approach.
Background technology
In the production line of sheet metal strip, one of them most important requirement is intended to keep band phase For the centrage " centering " in machining area.Obviously, centering degree is the highest, then process Parameter is such as repeatable and degree of accuracy will be the highest, and other aspects are such as worn and torn and safeguard into This general reduces.In other words, quality and the production cost of final products depends at maximum magnitude Processed band on the centering degree that is capable of.
For the above reasons, production line manufacturer and associated component manufacturer are always The system of the track of Focus Control band to a great extent, i.e. research and development are used for correcting strip location Monitoring and center support system.
The track defect of the band found in a practical situation can be divided into two classes (or this two class Mixing situation): biasing, i.e. band axis is relative to the centrage sidesway of production line;And by The deviation that camber causes, long radius of curvature lobe the most in a horizontal plane and vertical with axis Flexure.
From geometrical point and or rather from the point of view of metallurgical point, defect below is recognized For being the most dangerous.
Actually in terms of geometrical point, correcting unit is so that band translates to make its position It is centered in each position of production line, but correction is generally confined to the lateral attitude of band (near alignment sensor).On the other hand, the bending of motion band cause at production line axis and Occur between band axis misalignment (even if the situation in staying the plane identical with band Under), and in these transient processes, between protrusion rate and effective rate, deviation occurs;Cause This, outside this defect propagation to correcting unit.It practice, form snakelike or sinuous phenomenon, this Propagate along whole production line.This obviously processing (such as, longitudinally cutting, deposition process or Rolling rolling) in cause error, this also can significantly affect the quality of final products.
From the point of view of metallurgical point, snakelike at stove interior or the formation in band high-temperature area Part can cause plasticization, thus affects the end of band, and this can produce and it in turn The ripple that plane is vertical.Excessive bending can cause material yield with huge correction interference effect, And sometimes causing defect such as at excessive extension or the crackle of edge, this causes part volume Material becomes waste product.It practice, it should be noted that and once formed and the most fully correcting In the case of, camber can make all Downstream processings more dangerous.
It can be seen that most widely used centralising device arrange along strip producing line, and example As being arranged in the exit of heat part, it is by rotating (i.e. relative to the main shaft of advanced strip Make in the case of carrying out according to limited mode) the one or more rollers being assemblied in frame Son is constituted.For the function that they apply, following kind of centralising device can be divided into:
Pure proportional-type: i.e., it is adaptable to by make roller relative to band importation residing for The parallel axis of plane rotate.Angle beta (seeing Fig. 1 a) is (such as in Paradine patent US3774831 or US4322060) make the output unit split-phase of band for input unit partite transport Dynamic (bias correction).This type cannot be used for inputting on band, and maximum correction amount limitation In the centralising device mechanical trip relevant to roller diameter (if i.e., this system is by two or many Individual roller is constituted, then be at axle base).It should be noted that for different rotating dog cloth Put this system major part and keep constant, as long as they are positioned at input band perpendicular and across life In the plane at Chan Xian center.This layout can set up effectively preventing biasing fault quickly and safely Only effect.This corrective action is simply carried out on output band, and if axis and centrage Unanimously, then can by consider the diameter of roller, possible axle base (if this system by More than one roller is constituted), the sine of winding angle and β deflection angle comes according to fairly simple Mode calculates its amount.So, the autocontrol method of band therefore can be introduced, but not single Solely it is confined to export band and the correction of biased error.
Pure integrated (integrated) type: i.e., it is adaptable to produce roller relative to defeated with band Enter the plane of part vertical and be arranged in the steering angle γ of the supercentral axis of production line and (see Fig. 1 b);This type causes the pulling force of band the motor side edge of production line and operator Strong unsymmetry occurs between lateral edges.Thinner at thickness or by the relatively low material of resistance In the case of the band (strip material portion particularly with from heat treatment section) made, this meeting Cause material yield, and result may cause damaging or mass property variation.? Fig. 6 of patent JP7001022 (Nishino Ken) of Somitomo company limited shows Going out the typical case of pure integrated-type centralising device group, this figure demonstrates that roller is for being positioned at upstream belt The corrective action of the camber on material (importation).It should be noted that interference effect does not limits In input strip material portion, and exporting band due to " turning to " orientation of output strip material portion Produce lasting biasing in part, or in some cases, the edge of band produces different Normal stretching.This biasing must be corrected by the ratio system being positioned on this band portion, from And add other parts to this production line, i.e. it is complicated by.Should also be noted that The corrective action of " turning to " of being applied by integrated centring roll is not instant, and is making control The effort of system automation has been subjected to the challenge of the oscillation action of strip location.Sometimes, these Effect instability, and it is thus desirable to need to reduce in the return of centering actuator, therefore shadow Ring its effect.
Ratio-integrated-type: these are the combinations of above two type, and be most widely used, Because they can be corrected on two strip material portion (input and export).
Can be seen that from illustrate above for " pure " correction system, it is clear that have with shown Layouts of these pins of the direction different axis of orientation produce the effect of mixing, i.e. can divide Become pure ratio adjustment (shown in effective angle β) and integrated correction (shown in γ) Overall behavior.
These considerations of mechanically-based equipment and the cost of control system or complexity decrease possibility The selection of suitable structures.It practice, the selection of the longest employing is by filling on fixed frame and its The movable frame having roller (1 or 2 or more roller) realizes.Movable frame Produce the rotation rail round the axis relative to the flat inclination α inputting strip material portion Mark, thus there is the rotating vector component (see Fig. 1 c) parallel with the plane of input strip material portion And the component vertical with its plane.The combination of both effects (ratio and integrated) is the most usual By making rack inclining angle [alpha] (as illustrated in figure 1 c) realize in fixed model. Change generally continuously it should be noted that the most presently used all systems are not expected Angle [alpha] that is that limit in development and that be prevented from during Assembly line on trial.Cause This, it is impossible to regulate collection for web type, the stretched condition of participation or material type and characteristic One-tenth effect.
Therefore the selection of α is by the compromise selection of Design of Production Line person, and is not always suitable for In inlet materials condition (the most limited α value produces moderate correction probability in upstream, High alpha-value produces excessive stretching/deformation in the material, and be likely to result in edge stretching or Material ruptures self).
This structure is given in patent Posco KR20010042781 (Ju Gap Sik) Example, it is mentioned that relative to input band direction of advance tilt.
Summary of the invention
The overall purpose of the present invention is to solve according to the simplest, economic and practical mode The defect being previously mentioned the most in the prior art.
Another purpose is to provide the centering of a kind of all advantages being combined with three kinds of known types Method, in order to these defects are reduced to minimum.
Another purpose is to provide a kind of method, and the method is being deposited by carrying out optimal centering Control in all types of strip producing lines in the case of various defects and regulate the curved of band Degree.
In view of purpose above, according to the present invention it is proposed that one in production line to sheet metal strip Camber be controlled, to neutralizing the integrated approach of regulation, wherein band is logical in centring roll group Crossing, this centring roll group includes movable frame, and this movable frame carries one or more roller also And there is rotational angle β relative to fixing frames, so that output strip material portion phase For input strip material portion offset, the rotation of wherein said movable frame round relative to The axis (B) of the planar tilt that band importation is positioned at and carry out, this by described can Motivation frame makes roller axis relative to the Plane Rotation inclination alpha with input band sections transverse Turning over steering angle γ relative to the vertical line vertical with production line axis, wherein sensor is arranged on edge On the band of production-line arrangement and be connected with electronic control panel, before this electronic control panel receives The data of the band entered, described data are position and camber, and based on control algolithm by having The controller of following form uses:
Correction for the proportional parts of described rotational angle β:
Up=Kp*Ep
Wherein Up be for this correction treat to act on the amount of interference on described rotational angle β, Ep represents the site error of band, and is detected by sensor, and Kp is dimensional parameters, Its gain representing the described rotational angle β to deviation reading and change;
Correction for the integration section of described inclination alpha:
Ui=Ki*Ei
Wherein Ui is to treat to act on the amount of interference in described inclination alpha, Ei table for correct Showing the camber error of band and detected by sensor, and Ki is dimensional parameters, it represents Gain and change to the described inclination alpha of curvature parameters;
Wherein for given site error Ep=e, Up produces on described rotational angle β, Overall cumulative correction equal to prediction, it may be assumed that
Up=e*Kp
Wherein there is must use it to calculate by the integrated correction shown in described steering angle γ curved Spending error E i=e', this is calculated and true by actual described inclination alpha and described rotational angle β Fixed;" Ziegler-Nichols " method of employing is by whole schools that gain-adjusted is the camber less than 1 Just, 50% correction amount of interference altogether is taked, it may be assumed that
Ui=e'*Ki/2
Wherein said control algolithm calculates correction amount of interference, acts on and described fixing support On the actuator that frame and movable frame connect, and in the situation of the production line with heat part Under, on the cooled region of the band acting on the hot portion downstream being positioned at stove.
According to another aspect of the invention, it is proposed that a kind of camber in production line to sheet metal strip The integrated system being controlled, regulating neutralization, wherein band passes through in centring roll group, should Centring roll group includes movable frame, and this movable frame carries one or more roller and relatively In fixing frames, there is rotational angle β, so that output strip material portion is relative to input Strip material portion offsets, wherein said movable frame rotate round relative to band defeated Entering the axis (B) of the planar tilt that part is positioned at and carry out, this is by described movable frame Relative to input band sections transverse Plane Rotation inclination alpha and make roller axis relative to The vertical line vertical with production line axis turns over steering angle γ, and wherein sensor is disposed along producing Being connected on the band that line is arranged and with electronic control panel, this electronic control panel receives the band advanced The data of material, described data are position and camber, and based on control algolithm by having following shape The controller of formula uses:
Correction for the proportional parts in described rotational angle β:
Up=Kp*Ep
Wherein Up be for this correction treat to act on the amount of interference on described rotational angle β, Ep represents the site error of band and is detected by sensor, and Kp is dimensional parameters, table Show gain and the change of the described rotational angle β to deviation reading;
Correction for the integration section of described inclination alpha:
Ui=Ki*Ei
Wherein Ui be the correction for the described integration section for described inclination alpha treat to act on Amount of interference in described inclination alpha, Ei represents the camber error of band and is detected by sensor, And Ki is dimensional parameters, this demonstrate gain and the change of the described inclination alpha to curvature parameters Change;
For given site error Ep=e, Up produces on described rotational angle β, etc. Overall cumulative correction in prediction, it may be assumed that
Up=e*Kp
And wherein exist and must be calculated by the integrated correction shown in described steering angle γ by it Camber error E i=e', this is calculated by actual described inclination alpha and described rotational angle β; " Ziegler-Nichols " method of employing, by the full correction that gain-adjusted is the camber less than 1, is adopted Take 50% correction amount of interference altogether, it may be assumed that
Ui=e'*Ki/2
Wherein said control algolithm calculates correction amount of interference, acts on and described fixing support On the actuator that frame and movable frame connect, and in the situation of the production line with heat part Under, on the cooled region of the band acting on the hot portion downstream being positioned at stove.
Accompanying drawing explanation
Understand structure and the merit of the present invention with will be apparent from from the explanation be given with reference to the accompanying drawings Energy feature and the advantage relative to prior art thereof, these accompanying drawings also show that according to the present invention real Existing carries out integrating control, to the method neutralizing regulation to the band camber in production line.
More specifically, in the drawings:
Fig. 1 a is schematic plan view viewed from above, demonstrates the pure ratio centering of prior art Equipment;
Fig. 1 b is schematic plan view viewed from above, demonstrates the pure integrated centering of prior art Equipment;
Fig. 1 c is schematic plan view viewed from above, demonstrates the combination type ratio of prior art -integrated aligning equipment;
Fig. 2 is, according to what the present invention realized, the band camber in production line is carried out integrated control Make, to the schematic block layout drawing neutralizing the method regulated.
Detailed description of the invention
Band camber in production line is controlled, to neutralizing tune according to what the present invention realized The integrated approach of joint is the most substantially made up of three parts: with 11 bands schematically shown The position of material 14 and the measurement assembly of camber;By the 12 centring roll group (examples schematically shown One or more rollers as being arranged in frame);And the control schematically shown with 13 Unit, is used for obtaining data, driving moving element and record the state of production line.
More specifically, in control system 11, the measurement assembly of strip location is by band 14 Shape and position analyzer constitute, it can limit the geometry state of band 14 in real time, with Just the corrective action starting and taking necessity of possible defect it is capable of detecting when.
In the embodiment of indefiniteness, shape analyzer is used as to include the monitoring of optical means System, wherein band 14 shows its position by intercepting the part light sent by light source.It is subject to The geometrical constraint of production line, light source is positioned at before detector to obtain its curvature.The most favourable Ground needs at least two optical monitoring system, that schematically show the most in fig. 2 and with 15, 16 and 17 those schematically shown.The sense schematically shown out in fig. 2 can also be used Answer formula or capacitance type sensor 15.
Such as based on " image procossing " renewal with the most traditional system is also effective.At this In situation, be substantially by image recognition, as in figure 2 it is shown, use at least one video camera 16, Or 17 and the algorithm of geological information can be extracted from acquired frame to carry out image recognition.Can Choosing, can use equipped with removable or the equipment of fixed laser.Shape is examined The location of examining system is not necessarily with restriction.Due to the feedback time that reduces for camber defect relatively Long, the regioselective of the acquisition system of ribbon shape is (before the 17 of roller control system 18 Or after 16, or in two positions) limited shadow is only had for the algorithm controlling to be used Ring.
According to relevant to this first group 11 it is contemplated by the invention that go out one group of centring roll 12, it is determined that The position of band 14 and the Mechanical course of curvature.To this end, in embodiments, roller 19 It is designed to fit within fixed frame 20 and 21 two kinds of frames of movable frame.These frames it Between, reference the frame 20 fixing relative to production line with carry the roller 19 that determines control Between movable frame 21, be provided with active and passive component, such as hydraulic pressure or electromagnetic piston 22, 23, ball bearing (not shown) etc..These parts can by simultaneously, automatically and continuously Ground changes conventional angle α and β and ensures to turn to the motion of frame, and this determines as described above Integrated and proportional action.
The control system that the hot rolling line that is then departed from by heating furnace 24 to band 14 is relevant Integration section by one group cooling fluid flow control valve 25 constitute, it can be for its width (between operator's lateral edges and motor side edge) regulates band 14 according to differentiation mode Rate of cooling.Integrated Mechanical course (by introducing Non-constant stress on width) therefore leads to Cross simply an edge of band 14 is carried out selective and prudent " stretching " thus Differentiation operation is carried out on the band 14 in the exit being positioned at cooling segment 26.It practice, meter Calculation introduces selective deformation, in order to the metallurgy allowed to or geometrical defect (partly) With tensile residual (that be pre-existing in and/or caused by current production cycle) recovery, it is thus possible to Enough quality conditions substantially changing final products.
In the system of the present invention, design the EOC 13 as this system core, Perform following function: in 31, obtain the conceptual data of handled band 14 and 32 Middle reception deviation data and the curvature data that acquisition obtains from system 11 at 33;Calculate Correct amount of interference and control the control (expression for the interference in β-ratio of roller group 12 It is 34, and is expressed as 35 for the modification in α-hybrid integrated/ratio);And In 36, the information relevant to band to be dealt with is sent to the automated system of production line 37. Specifically, this algorithm (passes through monitoring system based on to the assessment of amount of bias 32 and curvature 33 11 observe) limit the ratio angle beta and integrated angle α being applied on master cylinder 19 Real-time change.The algorithm used by controller has with Types Below:
Correction for the proportional parts in β:
Up=Kp*Ep
Wherein Up is that Ep represents the position of band for this corrective action amount of interference on β Error (is detected by sensor), and Kp is dimensional parameters, represents the β to deviation reading Gain and change.
Similarly, for the integration section in α:
Ui=Ki*Ei
Wherein Ui is that Ei represents the curved of band for described corrective action amount of interference on α Spend error (being detected by sensor), and Ki is dimensional parameters, indicate and curvature is joined The gain of the α of number and change.
It practice, for given site error Ep=e, Up produces on β, equal to pre- The overall cumulative correction surveyed, it may be assumed that
Up=e*Kp
Accordingly, there exist must for calculating camber error E i=e' of integrated correction (steering angle γ), This is calculated by actual inclination alpha and β;Such as " Ziegler-Nichols " side must be used Gain-adjusted is less than 1 (full correction camber) by method, takes 50% correction amount of interference altogether, That is:
Ui=e'*Ki/2
Once have been carried out integrated correction (by correction angle [alpha]), then actuator waits basis " flight time " that the region distance with maximum temperature in heating furnace and ratiometer calculate, it It is by comparing the reading obtained with desired numerical value (the 50% of initial value) afterwards Reanalyse camber.
At this moment, modulator function is (current β, α and camber error, residual according to new parameter Residual value Ei) and determine being recycled for again of new numerical value of Ui (amount of interference on α) Circulation.
In hot rolling line, can use and optionally change with 38 another group signals represented Become be usually in those regions of band 14 three regions (outside operator side, center side and External electrical pusher side) the middle deflection cooling down fluid.This action is preferably by changing at cooling segment The winding-up flow of the cooling fluid being blown at 39 on three regions of 26 realizes.
As it has been described above, this algorithm must take into sensor and centralising device relative at heating furnace 24 (in the case of centralising device is positioned at furnace outlet) has maximum temperature region or Input the length of free strip material portion (in the normal conditions that centralising device operates in territory, cold-zone In), but the most significant aspect of this calculating is the progressively property interfered: on part centring roll While effect and full correction also can in addition to instability on its track and dispersion response Strip edge applies excessive stress.It should be noted that from the perspective of energy, integrated Action increases, by making the potential energy of system, the change becoming to be applied with the elastic modelling quantity of material Square amount being directly proportional of shape amount acts on, and therefore it is for the difference in terms of track Change (between edge) is very sensitive.From the perspective of dynamically, band is fricton-tightly at roller On son by and arrive new least energy situation, wherein in the case of steering angle γ is identical, The stress that produces in strip edge due to " pulling force " difference of being derived between two edges Deflection ε and stretching σ with input strip material portion free-span distance length be inversely proportional to.
This system is not instantaneous for the response time that " integrated " corrects, but mobile (right For steering angle) continue to increase (therefore term " integrated ") until angle " γ " reversely changes.
Obvious this interference (for furnace outlet centralising device) is unstable, Return similar being still between the level in relative position relative to production line center of energy level Bullet.
It practice, the strategy be here given is that setting up ratio is completely eliminated the defeated of hot rolling line Enter the camber of band or lower integrated needed for the input strip location of cold strip material portion γ corrects, so that system can owing to so-called " ratio " acts on (β rotation) ideally Correction outgoing position.Can pass through is also to act on a series of continuous accumulation on the cooling system Interference effect obtains the full correction of camber.So, whole correction time can with deposited Or being adapted by the time, so that it is corrected into of camber that caused by hot-working circulation For possible.In order to avoid sinking dangerous for product or deformation occur, except dynamically joining Outside number, consider also to calculate the amount of interference every time according to metallurgy.
Optional control method the most initially includes pre-established correction parameter, these parameters Derive from geometry and the component characteristic of band.Then by relatively actual and desired behavior These parameters are optimized during the course of processing.Such method may be used for isolated operation Control roller (that is, in rolling mill production line) and may be also used in more complicated system such as its In in addition to roller, there is also (regulation cooling fluid in those systems of different chillers Flow).In view of the feedback signal in these hot-working systems, this algorithm is based on such The fact, i.e. different flow or strict cooling condition according to cooling fluid are (different cold have employed But system is such as atomized or in the case of atomizing gas), cooling gradient is the biggest, then involved fibre Dimension thermal contraction is the highest.Result is, when improving cooling effect, realizes tension force in heating furnace 24 Increase, and therefore fiber stretching.Can calculate with analysis meter or with relative to final element Model calculates the dependency between cooling gradient and fiber stretching.By for final element Or the computation model of final accurate difference simulates the most complicated air-circulation features, in order to By could be adjusted to consider the concrete property of production line in the test running stage.
For the important of control centre 13 but not novel function is the calculating with steel mill Machine and information system interconnection, in order in 31 of the roller under being in processing and transmission, obtain physics And chemical parameters, obtaining the explanation parameter of the processing carried out in 36, this may be equipped with to shape The analytical calculation of shape defect.Can also implement and heat-treatment furnace 24 and quenching part (not shown) Carry out the function of immediate data exchange.
Specifically, it should be noted that in rolling mill production line part (this does not include hot part) In, center support system adds integrated effect (being determined by device 22 and 23) equipped with proportional action, The latter can (it be right to be generally arranged at according to the master reference 15 from the position for band 14 The downstream of central roll 12), from the position sensor of frame (employed in common centralising device Linear transducer) and may time from being arranged to by specific electronic equipment 40 Or production line automation equipment 41 calculates other position sensors anti-of camber of band 14 Feedback signal is adjusted.Therefore according to characteristic (thickness of material, width and the surrender of band 31 Point) and measured camber and regulate integrated effect.
In the production line part including hot part 24,26, correction system is usually located at heat The exit of the cooling segment 26 of reason stove 24.Roller pair system 12 have proportional action ( In 22) plus integrated effect (in 23), the latter can be according to from for band 14 Position sensor (being generally arranged at the downstream of centring roll group), from frame position sensor with And calculated by specific electronic equipment set 40 or production line automation equipment 41 from being arranged to Go out other position sensors of the camber of band 14 and/or plane and camber measurement apparatus (such as 16 and/or 17) feedback signal 32 is adjusted.
Characteristic according to band be (material at a temperature of the operation of heating furnace provided in 31 Thickness, width and yield point) and measured camber (in 40) regulate integrated effect, So that except after centering campaign and then outlet strip material portion in operation proportional action it The shape of input strip material portion is corrected by outer acquisition.Suitable means are used (such as to pass through Avoiding being deformed around roller, this can make uniform load), can be in heating furnace 24 Portion extends by turning to the differential stresses effect caused.As such, it is possible to by directly at heating furnace 24 Internal calibrations defect utilizes the plastic properties of high-temperature metal.From just described it can be seen that This effect can be improved further by cooling unit 26 is suitably controlled.By can Different intensity of cooling curve (relative to band in the vertical and in the horizontal) is used to grasp Make, therefore can be further such that heating the stress state homogenization discussed in 24, in order at least Partially remove camber defect (no matter it is pre-existing in or is produced by identical heat treatment Go out).
Referring to Fig. 2 above, the action principle of the embodiment above is provided example.
In this function, initial conditions is:
Centralising device equipped be provided with on fixed frame 20 and its roller 19 (1,2 or More plurality of roller) movable frame 21, movable frame 21 produces movement locus and (adopts in this motion In the case of obtaining with other mechanisms, the axis B round Fig. 1 a rotates or round figure The instantaneou axis of rotation line A of 1c rotates);
Its rotation axis of centralising device (A of Fig. 1 c) is relative to input strip material portion position thereon Plane there is inclination angle (α) (hang down relative to the importation of band thereon with movable frame The angle of plane that straight plane carries out rotating is consistent);
Band 14 has the skew of X cm also relative to the centrage on position sensor 15 And be there is the camber (being observed by sensor 17) that radius of curvature is Y m, so that it is determined that Minor face and long limit.
The Part I of centralising device acts on (centralising device integrated with typical proportions the most as follows Behavior is corresponding):
According to by measuring the measurement that system 11 (15,16 and/or 17) is carried out, control unit 13 Calculate the first ratio adjustment and will be indicated as this side-play amount of angle beta and send actuator to 22;
The amount of spin β (round the rotation axis B of Fig. 1 a) of frame 21 produces ratio school Just (employing is calculated as the side-play amount of X+ ε cm, and wherein ε is defeated for consider due to band Go out the other correction of the camber defect Y m of part), this makes band right relative to sensor 15 In.The position that amount of spin β is always intended to according to the band leaving centralising device (sensor 15) is anti- Feedback signal continuously adjusts, in order to be retained in position in the margin of tolerance position of output band (such as ex. ± 5mm);
Band 14 trends towards, in the exit of centralising device 12, self is repositioned at sensor In center (center of production line) on 15;
Due to the inclination alpha (suitably calculating according to the geometric data of factory) of centralising device 12, Integrated effect (be equal to roller and turn over angle γ round the axis G of Fig. 1 b) is at band 14 Importation on start simultaneously at proportional action, therefore improve two at band 14 self " drag " on one in edge.
According to the present invention, the second effect of centralising device is also carried out as follows:
Owing to camber measures sensor, (non-limiting examples can be that continuous print has Class1 5 One or more video cameras 16 and/or 17 or 2 or more sensor), by use The geometry situation of band measures the result carrying out acting on;
According to new situation, by for computer rack inclination angle by the 42 optimization angle [alpha] represented Control algolithm, regulate the collection of centralising device 12 by utilizing actuator 23 to change angle [alpha] One-tenth effect, in order to the position of correction input strip material portion.In calculating amount of interference, except lacking Falling into outside amount, the algorithm in 42 it is also contemplated that the thickness of band and width and the surrender of material Point;
Accurately calculate the integrated interference carried out so that with the full recovery institute less than shape defect The lower amount needed operates on importation.In this stage, system 13 reanalyses (logical Cross sensor 11) the geometry state (position and camber) of band 14, and by practical function with Compared by the effect of model prediction.In the case of there are differences, if the camber of band With position in the margin of tolerance allowed, then keep the regulation (angle [alpha]) realized, be otherwise System 13 change calculates parameter to fall within the desired margin of tolerance.
3rd effect of centralising device is also carried out as follows according to the present invention:
Owing to camber measures sensor, (non-limiting examples can be that continuous print has Class1 5 One or more video cameras 16 and/or 17 or 2 or more sensor), by update The geometry situation of band measures carried out exercising result;
If centralising device is positioned at heat part (24 and 26) downstream, then with 43 algorithms represented Calculate for transmission due to the hot material (and therefore plastics) in being positioned at heating furnace 24 The optimum of the Differential loading (between edge) carrying out the integration section interfered and produce. To this end, the flow that algorithm 43 is regulated through nozzle 25 by signal 38 is made in cooler 26 With, it is therefore intended that eliminate the cause having produced camber defect.
After being applied with change, system uses new calculating parameter to carry out another correction circulation. It practice, this circulation starts from the first listed here effect and is performed repeatedly until institute The band of processing terminates.
Present invention accordingly comprises the integrated form for centering and/or control/regulation band camber is newly System, this can optimize and be applicable to actually all strips production line, at usual production routine The middle all defect that can encounter and all strips type processed in steel mill.
The present invention includes proportional action (the outlet strip material portion phase with camber on-line measurement system For entrance strip material portion offset) and integrated effect (roller relative to input band advance side Effect of going forward one by one to carrying out turning to period) centralising device (there is one or more roller) and Can be according to the angle of bend detected by camber measuring device and according to the physical characteristic of material The Electronic Control system of the integrated actuating quantity of (from production line automation system) regulation center support system System.
By hydraulic pressure or the electro-mechanical actuator of the inclination alpha of roller rotation axis can be changed Carry out the regulation of integrated effect, so as to adjusted by the actual state according to band and produce Line changes the ratio between integrated effect and proportional action.
It is a feature of the present invention that it allows in order to elasticity represents that it is specifically applied By can real-time continuous accurately calculate its interfere computational algorithm control angle beta and angle simultaneously Degree α (and therefore also having γ).
Equipped with in the production line of heat-treatment furnace, another feature of the invention includes using meter Calculate algorithm to driving roller simultaneously and synchronously to control (by utilizing " the towing caused by γ Power " unsymmetry) and cooling step at stove exit (variable flowed by cooling, This controls cooling so that set up plastic deformation time can faster or slower).Pass through Using this combined system, therefore, it is possible to band is carried out controlled-deformation, this can be used to alleviate curved Degree, thus avoid and form the metallurgy defect that caused by the excessive deformation at edge and (improve band The quality condition of material).
For the reduction of camber amount, result shows especially when centralising device is positioned at hot portion downstream Existing defects improves.Some improvement is due to the fact that, by carrying out when closing stove Attempting, its frequency of the dispersibility in the part of line downstream increases.By on value of calculation Use α angle, it is achieved excessive correction, and therefore behavior is unstable (in motor side correction And vibrate between the correction of operator side).Due to the operation restrictive condition that these are strict, result is outstanding It is effective.
It is achieved that the purpose being previously mentioned in description previous section.
For the version of embodiment of the present invention also have material and assembly model naturally also with For pure those differences illustrating and demonstrating with non-limiting purpose in accompanying drawing.
Therefore protection scope of the present invention is defined by included claim.

Claims (8)

1. the camber in production line to sheet metal strip is controlled, to the collection neutralizing regulation One-tenth method, wherein band (14) passes through in centring roll group, and this centring roll group includes can motivation Frame (21), this movable frame carries one or more roller (19) and relative to fixing Frames (20) has rotational angle β, so that output strip material portion is relative to input Strip material portion offsets, and the rotation of wherein said movable frame (21) is round relative to band The axis (B) of the planar tilt that material importation is positioned at and carry out, this by described movably Frame makes roller axis phase relative to the Plane Rotation inclination alpha with input band sections transverse Turning over steering angle γ for the vertical line vertical with production line axis, wherein sensor is disposed along The band (14) of production-line arrangement is upper and is connected with electronic control panel, and this electronic control panel connects Receiving the data of band advanced, described data are position and camber, and based on control algolithm by The controller with following form uses:
Correction for the proportional parts of described rotational angle β:
Up=Kp*Ep
Wherein Up be for this correction treat to act on the amount of interference on described rotational angle β, Ep represents the site error of band, and is detected by sensor, and Kp is dimensional parameters, Its gain representing the described rotational angle β to deviation reading and change;
Correction for the integration section of described inclination alpha:
Ui=Ki*Ei
Wherein Ui is to treat to act on the amount of interference in described inclination alpha, Ei table for correct Showing the camber error of band and detected by sensor, and Ki is dimensional parameters, it represents Gain and change to the described inclination alpha of curvature parameters;
Wherein for given site error Ep=e, Up produces on described rotational angle β, Overall cumulative correction equal to prediction, it may be assumed that
Up=e*Kp
Wherein there is must use it to calculate by the integrated correction shown in described steering angle γ curved Spending error E i=e', this is calculated and true by actual described inclination alpha and described rotational angle β Fixed;" Ziegler-Nichols " method of employing is by whole schools that gain-adjusted is the camber less than 1 Just, 50% correction amount of interference altogether is taked, it may be assumed that
Ui=e'*Ki/2
Wherein said control algolithm calculates correction amount of interference, acts on and described fixing support On the actuator (22,23) that frame (20) and movable frame (21) connect, and at tool In the case of having the production line of heat part, act on the band of the hot portion downstream being positioned at stove (24) On the cooled region (26) of material (14).
2. the method for claim 1, it is characterised in that arrange along production line Band (14) is upper and the described sensor (15) that is connected with electronic control panel by sense and/ Or electric capacity and/or optical means analyze shape, wherein said band (14) intercepts and is sent by light source Part light in case obtain curvature.
3. method as claimed in claim 2, it is characterised in that described sensing and/or electric capacity And/or optical means is " image procossing " type, and carried out by least one video camera (16) Image recognition, and include from the Picking up geometry information phase place in acquired frame.
4. the method for claim 1, it is characterised in that described sensor includes three Sensor, this defines three of the band (14) needed for following the tracks of the curvature of described band and passes through Position, described sensor is optics, sensing or capacity type.
5. the method for claim 1, it is characterised in that described on cooled region Act through one group of signal (38) to carry out, be used for selectively changing cooling fluid in band (14) Region in distribution, by the cooling fluid that is blown on described cooled region (26) of change Injection flow realize cool down fluid distribution in the region of band (14) change.
6. the method for claim 1, it is characterised in that the computer of steel mill (37) Information system interconnects with described electronic control panel, in order to obtain just at processed band (14) Chemically and physically parameter, and carry the explanation parameter that is processed in exit, and This electronic control panel can calculate the shape defect of band by analysis meter.
7. method as claimed in claim 5, it is characterised in that described region is three regions, I.e. outside operator side, center side and outer side.
8. sheet metal strip camber is controlled, to neutralizing the integrated of regulation in production line by one kind System, wherein band (14) passes through in centring roll group, and this centring roll group includes movable frame (21), this movable frame carries one or more roller (19) and relative to fixing support Frame (20) has rotational angle β, so that output strip material portion is relative to input band Part offsets, rotating round relative to band of wherein said movable frame (21) The axis (B) of the planar tilt that importation is positioned at and carry out, this by described can motivation Frame makes roller axis relative relative to the Plane Rotation inclination alpha with input band sections transverse Turning over steering angle γ in the vertical line vertical with production line axis, wherein sensor is disposed along raw The band (14) producing line layout above and is connected with electronic control panel, and this electronic control panel receives The data of the band advanced, described data are position and camber, and based on control algolithm by having The controller having following form uses:
Correction for the proportional parts in described rotational angle β:
Up=Kp*Ep
Wherein Up be for this correction treat to act on the amount of interference on described rotational angle β, Ep represents the site error of band and is detected by sensor, and Kp is dimensional parameters, table Show gain and the change of the described rotational angle β to deviation reading;
Correction for the integration section of described inclination alpha:
Ui=Ki*Ei
Wherein Ui be the correction for the described integration section for described inclination alpha treat to act on Amount of interference in described inclination alpha, Ei represents the camber error of band and is detected by sensor, And Ki is dimensional parameters, this demonstrate gain and the change of the described inclination alpha to curvature parameters Change;
For given site error Ep=e, Up produces on described rotational angle β, etc. Overall cumulative correction in prediction, it may be assumed that
Up=e*Kp
And wherein exist and must be calculated by the integrated correction shown in described steering angle γ by it Camber error E i=e', this is calculated by actual described inclination alpha and described rotational angle β; " Ziegler-Nichols " method of employing, by the full correction that gain-adjusted is the camber less than 1, is adopted Take 50% correction amount of interference altogether, it may be assumed that
Ui=e'*Ki/2
Wherein said control algolithm calculates correction amount of interference, acts on and described fixing support On the actuator (22,23) that frame (20) and movable frame (21) connect, and at tool In the case of having the production line of heat part, act on the band of the hot portion downstream being positioned at stove (24) On the cooled region (26) of material (14).
CN201180022658.7A 2010-05-06 2011-04-20 The control of sheet metal strip camber in machining production line, the integrated approach that neutralization is adjusted CN102883980B (en)

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ITMI2010A000801 2010-05-06
ITMI2010A000801A IT1399922B1 (en) 2010-05-06 2010-05-06 Integrated process of control, centering and adjustment of the camber of the metal strip in process lines
PCT/EP2011/002104 WO2011137988A1 (en) 2010-05-06 2011-04-20 Integrated process for the control, centering and regulation of the camber of the metallic strip in process lines

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ITMI20100801A1 (en) 2011-11-07
CN102883980A (en) 2013-01-16
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EP2566799A1 (en) 2013-03-13
IT1399922B1 (en) 2013-05-09

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