CN103028610A - Rolling control device, rolling control method and rolling control program - Google Patents
Rolling control device, rolling control method and rolling control program Download PDFInfo
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- CN103028610A CN103028610A CN2012103011600A CN201210301160A CN103028610A CN 103028610 A CN103028610 A CN 103028610A CN 2012103011600 A CN2012103011600 A CN 2012103011600A CN 201210301160 A CN201210301160 A CN 201210301160A CN 103028610 A CN103028610 A CN 103028610A
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Abstract
A rolling control device, a rolling control method and a rolling control program are disclosed. In a reversible rolling mill, the shape of material to be rolled can be controlled even when a shape meter is arranged at single side of the rolling mill for measuring the shape of the material to be rolled. Predicted shape values of the material to be rolled (A) at a plurality of positions at a plate width direction can be obtained based on a plate thickness of the material to be rolled (A) before being rolled at the plate entering side, a plate thickness of the material to be rolled (A) after being rolled at the plate exiting side, an average plate thickness at the plate entering side and the average plate thickness at the plate exiting side. In rolling in a clockwise rotating direction, the shape deflection of the material to be rolled (A) is calculated by comparing the material to be rolled (A) measured by the shape meter with an object valve. In rolling in a counterclockwise rotating direction, the shape deflection is obtained by comparing the predicted shaped value with the object value. And, the control amount of a control roller is decided based on the shape deflection obtained to correct the difference between the shape of the material to be rolled (A) and the object value.
Description
Technical field
The present invention relates to rolling control device, rolling control method and rolling control program, particularly be rolled the shape control of material.
Background technology
To be rolled goods that material is rolled into (Center wave) or the limit wave (Edge wave) that do not have middle wave and be the important link on the quality guarantee.Therefore, in recent years, the thickness distribution that not only is rolled rolling direction gauge homogenising, the plate width direction of material is also included the rolling control of consideration in, and the shape control that namely is rolled material becomes general, to such an extent as to proposed various schemes.
Example as such method, following method (for example with reference to patent documentation 1) is proposed: in the situation that a plurality of passages (path) are carried out rolling operation repeatedly, control working roller bending power based on shape data and strip crown (crown) information of mensuration in the rolling of certain a time or after the rolling of this passage end.In addition, proposition comprises the shape control method (for example with reference to patent documentation 2) of following steps: METHOD FOR CONTINUOUS DETERMINATION is rolled the shape of material in rolling, according to the data of METHOD FOR CONTINUOUS DETERMINATION and the prediction strip crown rate of change of strip crown change rate forecast model, determine one by one working roller bending power, thereby revise the step of the shape defect that is rolled material in the rolling; According to the data of METHOD FOR CONTINUOUS DETERMINATION and the prediction strip crown rate of change of strip crown change rate forecast model, come the one by one step of revision board convexity change rate forecast model.
Patent documentation
Patent documentation 1:JP Unexamined Patent 3-32412 communique
Patent documentation 2:JP Unexamined Patent 9-295022 communique
In the situation that multi-pass carries out rolling operation repeatedly, implement repeatedly the rolling of forward rotation and the reversible rolling (Reverse rolling) that the rolling of multi-pass is carried out in counter-rotational rolling, wherein, in the rolling of forward rotation, to be wound on the material unwinding that is rolled on the reel (reel), rolling mill is rotated in certain direction carry out rolling, and with being rolled on the reel that material is wound up into the opposition side that is arranged on rolling mill after the rolling, in counter-rotational rolling, the material unwinding that is rolled with after the rolling of reeling makes the rolling mill backward rotation carry out rolling.
In so reversible rolling, in the situation that use patent documentation 1 disclosed method, need to be in a plurality of positions of the width that is rolled material, the shapometer that mensuration is rolled the shape of material is arranged at the both sides of rolling mill.But this shapometer high price in the standing charges of the initial outlay expense of rolling device and device, occupies the ratio that can't ignore degree.That is, only be located on one side if the shapometer of the both sides that are arranged at rolling mill is become, then can expect corresponding cost cutting effect.
Summary of the invention
The present invention proposes in view of above-mentioned actual conditions, and purpose is, in the rolling mill that carries out reversible rolling, even arrange in the situation of the shapometer of measuring the shape that is rolled material in the side at rolling mill only, also can be rolled the shape control of material.
A form of the present invention is the rolling control device, carry out the rolling mill of repeatedly rolling controls carry out the 1st rolling operation and the 2nd rolling operation by alternate repetition, wherein, in the 1st rolling operation, by tabular being rolled material and making its roller clamping by at least 1 pair carry out reeling by spool after the rolling of conveyance; In the 2nd rolling operation, make described roller backward rotation, and make the described material unwinding that is rolled of coiling, come to the direction conveyance opposite with previous rolling, carry out thus rolling, reel by spool afterwards, described rolling control device is characterised in that, the described rolling mill only described roller on the described conveyance direction that is rolled material one-sided has shapometer, described shapometer with the described direction that is rolled the conveyance perpendicular direction of material, and for the direction parallel with the described plate face that is rolled material is on a plurality of positions of plate width direction, to being measured by the described shape that is rolled material of conveyance, described rolling control device comprises: shape matching is calculating section as a result, and its comparative result of calculating between the desired value of the described shape that is rolled material and the described shape that is rolled material is the shape matching result; The controlled quentity controlled variable determination section, it decides be used to the controlled quentity controlled variable of controlling described roller based on the described shape matching result who calculates, thereby revises the described shape of material and the difference between the described desired value of being rolled; With Shape Prediction section, side plate is thick based on namely being entered by the described thickness of slab that is rolled material before the described roller rolling for it, the described thickness of slab that is rolled material after the rolling goes out namely that side plate is thick, described to be entered the thick mean value of side plate and describedly go out the thick mean value of side plate, calculates the predicted value of a plurality of locational shapes of the described described plate width direction that is rolled material; Described shape matching as a result calculating section in described the 1st rolling operation, by described shape and the described desired value that is rolled material of being measured by described shapometer compared, calculate described shape matching result, in described the 2nd rolling operation, compare by predicted value and described desired value to the described shape calculated by described Shape Prediction section, calculate described shape matching result.
In addition, other form of the present invention is the rolling control method, carry out the rolling mill of repeatedly rolling controls carry out the 1st rolling operation and the 2nd rolling operation by alternate repetition, wherein, in the 1st rolling operation, by tabular being rolled material and making its roller clamping by at least 1 pair carry out reeling by spool after the rolling of conveyance; In the 2nd rolling operation, make described roller backward rotation, and make the described material unwinding that is rolled of coiling, come to the direction conveyance opposite with previous rolling, carry out thus rolling, reel by spool afterwards, described rolling control method is characterised in that, the described rolling mill only described roller on the described conveyance direction that is rolled material one-sided has shapometer, described shapometer with the described direction that is rolled the conveyance perpendicular direction of material, and for the direction parallel with the described plate face that is rolled material is on a plurality of positions of plate width direction, to being measured by the described shape that is rolled material of conveyance, thick based on namely entering side plate by the described thickness of slab that is rolled material before the described roller rolling, it is thick that the described thickness of slab that is rolled material after the rolling namely goes out side plate, describedly enter the thick mean value of side plate, and describedly go out the thick mean value of side plate, calculate the predicted value of a plurality of locational shapes of the described described plate width direction that is rolled material, in described the 1st rolling operation, by described shape and the described desired value that is rolled material of being measured by described shapometer compared, calculate the described shape that is rolled material and desired value between comparative result be the shape matching result, in described the 2nd rolling operation, compare by predicted value and described desired value to the described shape calculated, calculate described shape matching result, decide be used to the controlled quentity controlled variable of controlling described roller based on the described shape matching result who calculates, thereby revise the described shape of material and the difference between the described desired value of being rolled.
In addition, again other form of the present invention is the rolling control program, carry out the rolling mill of repeatedly rolling controls carry out the 1st rolling operation and the 2nd rolling operation by alternate repetition, wherein, in the 1st rolling operation, by tabular being rolled material and making its roller clamping by at least 1 pair carry out reeling by spool after the rolling of conveyance; In the 2nd rolling operation, make described roller backward rotation, and make the described material unwinding that is rolled of coiling, come to the direction conveyance opposite with previous rolling, carry out thus rolling, reel by spool afterwards, described rolling control program is characterised in that, the described rolling mill only described roller on the described conveyance direction that is rolled material one-sided has shapometer, described shapometer with the described direction that is rolled the conveyance perpendicular direction of material, and for the direction parallel with the described plate face that is rolled material is on a plurality of positions of plate width direction, to being measured by the described shape that is rolled material of conveyance, described rolling control program makes information processor carry out following steps: thick based on namely entering side plate by the described thickness of slab that is rolled material before the described roller rolling, it is thick that the described thickness of slab that is rolled material after the rolling namely goes out side plate, describedly enter the thick mean value of side plate, and describedly go out the thick mean value of side plate, calculate the step of predicted value of a plurality of locational shapes of the described described plate width direction that is rolled material; In described the 1st rolling operation, by described shape and the described desired value that is rolled material of being measured by described shapometer compared, calculate the described shape that is rolled material and desired value between comparative result be shape matching result's step; In described the 2nd rolling operation, compare by predicted value and described desired value to the described shape calculated, calculate described shape matching result's step; With decide be used to the controlled quentity controlled variable of controlling described roller based on the described shape matching result who calculates, thereby revise the described shape of material and the step of the difference between the described desired value of being rolled.
The invention effect
The application of the invention is in the rolling mill that carries out reversible rolling, even only at the one-sided shapometer of measuring the shape that is rolled material that arranges of rolling mill, also can be rolled the shape control of material.
Description of drawings
Fig. 1 is the figure that the integral body of the related rolling device of expression embodiments of the present invention consists of.
Fig. 2 is the deflection of expression working roll and the figure that is rolled the shape of material.
Fig. 3 is the figure of the shape that is rolled material before and after the expression rolling.
Fig. 4 is the figure that the hardware of the related rolling control device of expression embodiments of the present invention consists of.
Fig. 5 is the figure of the formation of the related Shape Prediction model processing modules of expression embodiments of the present invention.
The flow chart of the action when Fig. 6 is the forward rotation of the related rolling device of expression embodiments of the present invention.
The flow chart of the action when Fig. 7 is the backward rotation of the related rolling device of expression embodiments of the present invention.
Fig. 8 is the figure of the formation of the related Shape Prediction model processing modules of expression other embodiment of the present invention.
Fig. 9 is the figure that the integral body of the related rolling device of expression other embodiment of the present invention consists of.
Symbol description:
1 rolling device
10 CPU
20 RAM
30 ROM
40 HDD
50 I/F
60 LCD
70 operating portions
80 buses
101,101a, 101b working roll
102,102a, 102b backing roll
103,103a, 103b intermediate calender rolls
104 working roller bending machine control device
105 middle roll bend machine control device
106 press control devices
107 shapometers
108 rolling load cells
110 rolling control device
111 Shape Prediction model processing modules
111a roller gap model
111b goes out the thick distribution of side plate (profile) model
111c Shape Prediction model
111d predicated error reflection model
112 form variations calculating parts
113 target shape configuration parts
114 controlled quentity controlled variable determination sections
The specific embodiment
Below, describe embodiments of the present invention in detail with reference to accompanying drawing.Fig. 1 is the figure that the integral body of the related rolling device 1 of expression present embodiment consists of.As shown in Figure 1, the related rolling device 1 of present embodiment comprises: be rolled materials A and contact the working roll 101a, the 101b that to carry out being rolled materials A rolling (below be called working roll 101); Produce backing roll 102a, the 102b (below be called backing roll 102) of rolling loading; And be located at intermediate calender rolls 103a, 103b between working roll 101 and the backing roll 102 (below be called intermediate calender rolls 103).In addition, in the explanation of back, working roll 101, backing roll 102 and intermediate calender rolls 103 always are called rolling mill.
In the related rolling mill of present embodiment, rolling and counter-rotational rolling by the alternate repetition forward rotation, come to implement to be processed as to being rolled materials A the reversible rolling of target thickness with rolling repeatedly, wherein, in the rolling of forward rotation, each roller is rotated to a direction, and conveyance on one side is rolled material and carries out rolling on one side, in the counter-rotational rolling, make each roller backward rotation, on one side and conveyance on one side be rolled material and carry out rolling.
Be connected with the bending machine of adjusting the pressure between roller at working roll 101 and intermediate calender rolls 103, working roller bending machine control device 104, middle roll bend machine control device 105 are controlled respectively the pressure of each bending machine according to the control of rolling control device 110.In addition, be connected with press control device 106 at backing roll 102,106 pairs of backing rolls 102 of press control device are given and the corresponding rolling loading of the control of rolling control device 110.In addition, the rolling loading of 108 pairs of backing rolls 102 of rolling load cell is measured, and the result is input to rolling control device 110.
In addition, be rolled the one-sided shapometer 107 that is provided with of the direction of materials A in rolling mill rolling and conveyance.107 pairs of shapometers are rolled the width of materials A, namely parallel with the plate face that is rolled material and measure with a plurality of locational plate face shape that is rolled materials A of the direction of conveyance perpendicular direction, and measurement result is input to rolling control device 110.Thus, rolling control device 110 is obtained the actual measurement shape data that is rolled materials A.
This actual measurement shape data uses in the control of the bending machine that working roller bending machine control device 104 and middle roll bend machine control device 105 carry out (below be called shape control) in rolling control device 110.In the present embodiment, in Fig. 1, during on the right side of rolling mill, namely in forward rotation only the side that is rolled materials A after the conveyance rolling shapometer 107 is set.Therefore, only in the situation that forward rotation can obtain the actual measurement shape data that is rolled materials A after the rolling.
At this, the actual measurement shape that is rolled materials A that shapometer 107 is measured is described.Owing to the working roll 101 that carries out rolling to being rolled materials A is that the both sides of roller long side direction are supported to arrange, therefore, after will being rolled materials A and sandwiching therebetween by working roll 101 up and down, produce deflection at roller.Fig. 2 (a) is the figure that expression is rolled the deflection of the working roll 101 under the state that materials A is held.In Fig. 2 (a), the state of the working roll 101 of observing from the conveyance direction that is rolled materials A is shown.
Shown in Fig. 2 (a), if the state with working roll 101 deflections carries out rolling, then shown in Fig. 2 (b), be rolled materials A parallel with this plate face and with the direction of conveyance perpendicular direction (below be called width) on, change in the thickness of slab after the rolling.That is, the thickness of slab of the both end sides of width is h
Min, the thinnest, the thickness of slab of the central authorities of width is h
Max, the thickest.In addition, establishing the mean value that the thickness of slab on the width of this moment distributes is h
1The distribution of the thickness of slab of such width is that thickness of slab distributes.
Fig. 3 (a), (b) are the shape data ε that the related shapometer 107 of expression present embodiment is measured
(i)The figure of concept.Be rolled materials A and produce deflection in the situation that be shown in such as Fig. 2 (b), if with before the rolling and the wide prerequisite that is not changed to of the plate that is rolled material after the rolling, then the both end sides of width is compared with middle body and is rolled to such an extent that the amount of attenuation makes the length of plate prolong in the conveyance direction.To be expression observe the figure of the state that is rolled materials A before the rolling from the direction vertical with the plate face to Fig. 3 (a), and to be expression observe the figure of the state that is rolled materials A after the rolling from the direction vertical with the plate face to Fig. 3 (b).
Shown in Fig. 3 (b), the mean value of the length that is rolled materials A after establishing rolling is in 1 the situation, uses the absolute value ε from the difference of mean value
(i), will be shown " 1+ ε with the lengths table that is rolled materials A of the corresponding position of the factor " i " that represents width
(i)" or " 1 one ε
(i)".The related shapometer 107 of present embodiment is obtained thus defined shape data ε
(i)As measured value.
In the related rolling device 1 of present embodiment, by above-mentioned shape control, not only improved the uniformity of the thickness of the conveyance direction that is rolled materials A, also improved the uniformity of the thickness of the width that is rolled materials A.Therefore, common words, rolling direction both sides at rolling mill arrange shapometer 107, but what present embodiment was related will be intended to, even only in the situation that the one-sided shapometer 107 that arranges, both sides' shape control in the time of also realizing forward rotation and during backward rotation, and realize that making shapometer 107 is the reduction of the cost of 1 device that brings.
As shown in Figure 1, rolling control device 110 comprises: Shape Prediction model processing modules 111, form variations calculating part 112, target shape configuration part 113 and controlled quentity controlled variable determination section 114.Shape Prediction model processing modules 111 is the related formations of the main idea of present embodiment, when counter-rotational rolling operation shown in Figure 1, namely, be not provided with in the situation of shapometer 107 in materials A one side that is rolled after the conveyance rolling, calculating by the Shape Prediction model, the predicted value of the shape after the rolling that is rolled materials A after the generation rolling is the predicting shape data, and is entered into form variations calculating part 112.That is, the Shape Prediction model processing modules 111 controlled quentity controlled variable determination section that is rolled the shape after the rolling of materials A as prediction plays a role.In detail in the back narration about Shape Prediction model processing modules 111.
Form variations calculating part 112 calculates form variations based on the actual measurement shape data of obtaining from shapometer 107, the shape data (back is called the target shape data) that becomes the target of being set by target shape configuration part 113 when the forward rotation of rolling mill.In addition, form variations calculating part 112 based on from the predicting shape data of Shape Prediction model processing modules 111 inputs and the target shape data of being set by target shape configuration part 113, calculates form variations when the backward rotation of rolling mill.
That is, form variations calculating part 112 as the measured value of calculating the shape that is rolled materials A or predicted value, and be rolled comparative result between the desired value of shape of materials A be the shape matching result shape matching as a result calculating section play a role.Form variations calculating part 112 inputs to controlled quentity controlled variable determination section 114 with the form variations of calculating.At this, target shape configuration part 113 is for example with the data of pre-stored target shape value, export to form variations calculating part 112 by the data of the target shape value of user's input as the shape data that becomes target.
Controlled quentity controlled variable determination section 114 determines and output services bending machine control device 104, middle roll bend machine control device 105 and the bending machine of press control device 106 execution controls and the controlled quentity controlled variable separately of backing roll based on the form variations from 112 inputs of form variations calculating part.Thus, working roller bending machine control device 104, middle roll bend machine control device 105 and press control device 106 are controlled respectively each bending machine and backing roll.
Controlled quentity controlled variable determination section 114 determines above-mentioned controlled quentity controlled variable, revises the form variations of as above calculating, namely is rolled the shape of material and the difference between the desired value.In addition, controlled quentity controlled variable determination section 114 is carried out the controlled quentity controlled variable actual achievement of controlling with working roller bending machine control device 104, middle roll bend machine control device 105 and press control device 106 and is input to Shape Prediction model processing modules 111.
By such formation, in rolling control device 110, carry out the shape control that is rolled materials A based on the actual measurement shape data of being obtained by shapometer 107 or by the predicting shape data of Shape Prediction model processing modules prediction.
At this, rolling control device 110 is realized by the information processor of PC (Personal Computer, personal computer) etc.At this, illustrate that with reference to Fig. 4 the hardware of the rolling control device 110 that present embodiment is related consists of.As shown in Figure 4, the related rolling control device 110 of present embodiment comprises the formation identical with general server, PC etc.Namely, the related information processor of present embodiment via bus 80 with CPU (Central Processing Unit, CPU) 10, RAM (Random Access Memory, random access memory) 20, ROM (Read Only Memory, read-only storage) 30, HDD (Hard Disk Drive, hard disk drive) 40 and I/F50 couple together.In addition, be connected with LCD (Liquid Crystal Display, liquid crystal display) 60 and operating portion 70 at I/F50.
CPU10 is arithmetic element, the action of the integral body of control rolling control device 110.RAM20 is the storage medium of volatibility of the high-speed read-write of the information of carrying out, and uses as the working region when the CPU10 process information.ROM30 reads special-purpose non-volatile memory medium, holds the program of firmware etc.HDD40 is the non-volatile memory medium of energy reading writing information, holds OS (Operation System, operating system), various control program, application program etc.
I/F50 connects and control bus 80 and various hardware, network etc.LCD60 is the user interface for the sense of vision of the state of confirming Distributor 2.Operating portion 70 be keyboard, mouse, touch panel etc. be used for allow the user with the user interface of input information to rolling control device 110.
In such hardware consisted of, the program of holding in the storage medium with ROM30, HDD40 or not shown CD etc. read among the RAM20, moves by the control according to CPU10, has consisted of software control section.By software control section and the hardware combinations that will so consist of, consisted of the functional module that realizes the function of the rolling control device 110 that present embodiment is related.
In addition, in Fig. 4, be illustrated as an example of the situation that consists of rolling control device 110 with 1 information processor example, take to process but connect by many station informations treating apparatus, sometimes also can realize the function of rolling control device 110 as shown in Figure 1.
Next, the function of the Shape Prediction model processing modules 111 that present embodiment is related is described.Fig. 5 is the figure that the company of the function that comprises in the expression Shape Prediction model processing modules 111 and each function takes form.As shown in Figure 5, the related Shape Prediction model processing modules 111 of present embodiment comprises roller gap model 111a, goes out the thick distributed model 111b of side plate and these 3 computation models of Shape Prediction model 111c.
At this, F
WBe the bending machine pressure of working roll 101, can obtain F via working roller bending machine control device 104
IBe the bending machine pressure of intermediate calender rolls 103, can obtain via middle roll bend machine control device 105.P
DS, P
WSBeing the rolling loading of backing roll 102, is the rolling loading separately of the both sides of roll axial direction, and Δ P is the variable quantity of rolling loading, can obtain via rolling load cell 108.Δ S
GapBe the variable quantity in roller gap, can obtain by the not shown sensor of special setting.Roller gap S
(i)In " i ", as Fig. 3 illustrates, be the location point factor of width that expression is rolled materials A.
Go out the thick distributed model 111b of side plate and be for calculating by going out the thick h of side plate after the rolling that is rolled materials A after the rolling mill rolling
(i)Computation model, calculate the thick h of side plate by following formula (2)
(i)
At this, M is the rolling modulus (mill modulus) of rolling mill, uses predefined value.P
(i)Be and the corresponding rolling loading in the position of the width that is rolled materials A, based on P
DS, P
WSAsk for.In addition, S
(i)Use is based on the result of calculation of roller gap model 111a.
At this, h
(i)Be by go out that the thick distributed model of side plate calculates to go out side plate thick.H
(i)Be expression be rolled the thickness of slab of materials A before by the rolling mill rolling enter the thick distribution of side plate.As mentioned above, in the present embodiment, because take reversible rolling as prerequisite, so Shape Prediction model processing modules 111 is by will be in the rolling operation of front passage going out the thick h of side plate by what go out that the thick distributed model 111b of side plate calculates
(i)Time series carry out inverse transform, ask for and enter the thick distribution H of side plate in this passage
(i)
H
1Into the thick H of side plate
(i)Mean value, h
1As Fig. 2 (b) illustrates, be the thick h of side plate
(i)Mean value, ask for by following formula (4), formula (5) respectively.
At this, as mentioned above, enter the thick H of side plate
(i)That the front passage calculated gone out that side plate is thick to carry out conversion and ask for.Therefore, Shape Prediction model processing modules 111 can when the rolling operation of the passage that begins this, be carried out the calculating of above-mentioned formula (4) and ask in advance into the thick mean value H of side plate
1On the other hand, go out the thick mean value h of side plate
1Go out the thick h of side plate based on what calculate one by one by the calculating of above-mentioned formula (2)
(i), calculate again one by one.That is, Shape Prediction model processing modules 111 is according to going out the thick h of side plate
(i)Calculate, carry out the calculating of above-mentioned formula (5), to going out the thick mean value h of side plate
1Calculate again.
So, according to the result of calculation of Shape Prediction model 111c, even when the counter-rotational rolling operation of rolling mill, namely in the going out in the situation that side do not arrange shapometer 107 of rolling mill, also can obtain be rolled materials A shape data as predicting shape data λ
(i)Present embodiment is related will be intended to use these predicting shape data λ
(i)Implement above-mentioned shape control.
In addition, Shape Prediction model 111c is when the rolling operation of the forward rotation of rolling mill, the actual measurement shape data ε (i) that use is obtained by shapometer 107 estimates namely to enter side plate thick by the thickness of slab that is rolled materials A before the rolling mill rolling by following formula (6).
Above-mentioned formula (6) is with the predicting shape data λ in the above-mentioned formula (3)
(i)As actual measurement shape data ε
(i), for entering the thick H of side plate
(i)The mathematical expression of finding the solution.Shape Prediction model processing modules 111 enters the thick H of side plate by what more so try to achieve
(i), and the thickness of slab that is rolled materials A measured in advance, as described above from h
(i)The H that is transformed into
(i), can confirm roller gap model 111a, go out the precision of the thick distributed model 111b of side plate and Shape Prediction model 111c.
The action of the rolling control device 110 when next, the related rolling operation of present embodiment being described.Fig. 6 is that expression makes the rolling mill forward rotation carry out the flow chart of the action of the rolling control device 110 in the situation of rolling operation.As shown in Figure 6, behind the rolling operation of rolling control device 110 beginning forward rotation, the actual measurement shape data ε that beginning is measured by shapometer 107
(i)Obtain (S401).
Beginning ε
(i)Obtain after, form variations calculating part 112 is calculated in the target shape configuration part 113 the target shape data of setting and the actual measurement shape data ε that obtains
(i)Between form variations (S602).The target shape data of target shape configuration part 113 outputs and actual measurement shape data ε
(i)Or predicting shape data λ
(i)Correspondence is time series data, and is the corresponding data of factor " i " of position that are rolled the width of materials A with expression.
After calculating form variations by form variations calculating part 112, controlled quentity controlled variable determination section 114 decides the controlled quentity controlled variable separately (S603) of working roller bending machine control device 104, middle roll bend machine control device 105 and press control device 106 based on the form variations of calculating, be set in respectively in working roller bending machine control device 104, middle roll bend machine control device 105 and the press control device 106.
At this, the change of the controlled quentity controlled variable separately of working roller bending machine control device 104, middle roll bend machine control device 105 and press control device 106 can have influence on the F of explanation in the formula (1)
I, F
W, P
DS, P
WS, roller gap S consequently
(i)Change.That is, controlled quentity controlled variable determination section 114 is according to roller gap S
(i)Variation, determine the controlled quentity controlled variable separately of working roller bending machine control device 104, middle roll bend machine control device 105 and press control device 106, to revise form variations.
In addition, Shape Prediction model processing modules 111 is based on the F from 114 inputs of controlled quentity controlled variable determination section
W, F
I, P
DS, P
WS, obtain rolling loading P
(i), calculate h by the order of Fig. 5 explanation
(i)And H
(i)(S604).As described above, with the h that so calculates
(i)For lower a time, enter the thick H of side plate when being counter-rotational rolling operation
(i)And use.In addition, as described above, the H that calculates at S604
(i)Be used on the precision confirmation etc. of Shape Prediction model processing modules 111.
In addition, in Fig. 7, the processing of carrying out S604 after S601～S603 has been described, but also can with the processing of S601～S603 and the processing executed in parallel of S604, also can have carried out first the processing of S604.
Fig. 7 is that expression makes the rolling mill backward rotation carry out the flow chart of the action of the rolling control device 110 in the situation of rolling operation.As shown in Figure 7, behind the counter-rotational rolling operation of rolling control device 110 beginning, the passage that Shape Prediction model processing modules 111 will be last time, be calculate in the rolling operation of forward rotation go out the thick h of side plate
(i)Be transformed to and enter the thick H of side plate in this passage
(i)(S701).
In addition, Shape Prediction model processing modules 111 obtains P by the order in Fig. 5 explanation
(i), calculate out the thick h of side plate
(i)(S702).Then, Shape Prediction model processing modules 111 is calculated predicting shape data λ according to Shape Prediction model 111c
(i)(S703).Calculate predicting shape data λ by Shape Prediction model processing modules 111
(i)After, form variations calculating part 112 is calculated the target shape of setting and the predicting shape λ that obtains in target shape configuration part 113
(i)Between form variations (S704).
After calculating form variations by form variations calculating part 112, controlled quentity controlled variable determination section 114 is based on the form variations of calculating, with the S603 of Fig. 6 similarly, determine the controlled quentity controlled variable separately (S705) of working roller bending machine control device 104, middle roll bend machine control device 105 and press control device 106, be set in respectively in working roller bending machine control device 104, middle roll bend machine control device 105 and the press control device 106.
So, the related rolling control device 110 of present embodiment is when the rolling operation of the forward rotation of rolling mill, based on the actual measurement shape data ε of shapometer 107
(i)Carry out shape control, when the counter-rotational rolling operation of rolling mill, based on the predicting shape data λ of Shape Prediction model processing modules
(i)Carry out shape control.Therefore, even the position that shapometer 107 the is set conveyance direction that is rolled materials A in rolling mill one-sided only also can carry out shape control, the cost of rolling device 1 is cut down in the reduction of quantity that can be by shapometer 107.
In addition, in the above-described embodiment, Shape Prediction model processing modules 111 only when the counter-rotational rolling operation of rolling mill, only when being rolled the going out the side place and be provided with the rolling operation of direction of shapometer 107 of materials A, carry out predicting shape data λ
(i)Calculate, be illustrated as an example of this situation example.But so long as enter the thick H of side plate
(i)Data, just be not limited to forward rotation, the backward rotation of rolling mill, can both calculate predicting shape data λ
(i)
The predicting shape data λ that therefore, can calculate by with the rolling operation of the forward rotation of rolling mill the time
(i)With actual measurement shape data ε
(i)Compare, confirm the precision of the Shape Prediction that the Shape Prediction model processing modules is carried out, and can be based on predicting shape data λ
(i)With actual measurement shape data ε
(i)Poor, be the revisal that predicated error is carried out shape control.Such example shown in Figure 8.
Fig. 8 is that above-mentioned predicated error Δ λ is calculated in expression
(i)Situation under Shape Prediction model processing modules 111 in the company of contained function and each function take the figure of form.Shape Prediction model 111c shown in the example of Fig. 8 also calculates predicting shape data λ as described above when the rolling operation of the forward rotation of rolling mill
(i), with itself and actual measurement shape data ε
(i)Difference as predicated error Δ λ
(i)Calculate.
And then the related Shape Prediction model processing modules 111 of the example of Fig. 8 comprises predicated error reflection model 111d.Predicated error reflection model 111d is for the predicated error Δ λ that will be calculated by Shape Prediction model 111c
(i)Be reflected to the computation model in the shape control.At this, the following describes the revisal form that predicated error reflects the shape control that model 111d carries out.
As the roller gap model 111a of the key element that consists of Shape Prediction model processing modules 111, go out among the thick distributed model 111b of side plate, the Shape Prediction model 111c, precision is the most difficult, and that keep is the roller gap S that calculates by the maximum roller gap model 111a of parameter
(i)That is, think the predicated error Δ λ that in Shape Prediction model 111c, calculates
(i)Essential factor be the roller gap S that is calculated by roller gap model 111a
(i)Error larger.
Therefore, as the revisal form that the shape of predicated error reflection model 111d is controlled, for example consider the roller gap S that pair roller gap model 111a carries out
(i)Calculate and process the form carry out revisal.In this case, predicated error reflection model 111d is based on predicated error Δ λ
(i)Calculate the roller gap S that calculates as being used for revisal roller gap model 111a
(i)Compensating value, make predicated error Δ λ
(i)Reduce, preferably become zero compensating value, and be entered into roller gap model 111a.Thus, can be based on predicated error Δ λ
(i)Carry out the revisal of shape control.
In addition, be used for revisal roller gap S
(i)Calculating based on above-mentioned formula (3), formula (2) of compensating value come pair roller gap S
(i)Find the solution, can be by being transformed to λ
(i)Be made as the mathematical expression of parameter and realize.
At this, as above-mentioned formula (1) illustrates, for several times measurement result, the value asked for based on measurement result as parameter, are calculated roller gap S
(i)Therefore, also can not to ask for the S that calculates for revisal
(i)Compensating value, and be based on Δ λ
(i)Ask for for revisal and become S
(i)The measurement result of parameter or the compensating value of the value obtained based on measurement result.Thus, can the parameter of energy high-precision measuring not brought the control of impact ground revisal shape.
In addition, predicated error Δ λ
(i)What finally have influence on is controlled quentity controlled variable that calculate by form variations calculating part 112 and the form variations of target shape and the working roller bending machine control device 104, middle roll bend machine 105 and the press control device 106 that determine in controlled quentity controlled variable determination section 114.Therefore, also can not be based on Δ λ
(i)Come the module of revisal Shape Prediction model processing modules 111 inside, but the above-mentioned form variations of revisal and controlled quentity controlled variable.Fig. 9 is the figure that the integral body of the rolling device 1 of the such form of expression consists of.
In the rolling device 110 of the form of Fig. 9, Shape Prediction model processing modules 111 for example reflects predicated error the predicated error Δ λ of model 111d
(i)Result as being used for the target shape data are carried out the compensating value of revisal and are input to target shape configuration part 113.In this case, predicated error reflection model 111d is based on predicated error Δ λ
(i)Calculate the compensating value for revisal target shape data.
In addition, Shape Prediction model processing modules 111 also can reflect predicated error the predicated error Δ λ of model 111d
(i)Result be input to controlled quentity controlled variable determination section 114 as the compensating value of the controlled quentity controlled variable separately that is used for revisal working roller bending machine control device 104, middle roll bend machine 105 and press control device 106.In this case, predicated error reflection model 111d is based on predicated error Δ λ
(i)Calculate the compensating value for the revisal controlled quentity controlled variable.
So, even can obtain actual measurement shape data ε by shapometer 107
(i)The rolling operation of forward rotation of rolling mill the time, also can be by in Shape Prediction model processing modules 111, calculating predicting shape data λ
(i), and calculate actual measurement shape data ε
(i)Difference be predicated error Δ λ
(i)Thereby, the precision of the shape control that affirmation rolling control device 110 carries out, in the situation that the control form of the low change of precision shape control, thereby the precision that shape is controlled kept.
In addition, in the above-described embodiment, calculate out the thick h of side plate by above-mentioned formula (2)
(i), and will in passage last time, calculate go out the thick h of side plate
(i)Be transformed into and enter the thick H of side plate in the passage of next time
(i), be illustrated as an example of this situation example.But, the thickness of slab meter also can be set obtain out the thick h of side plate
(i)And enter the thick H of side plate
(i)Measured value.
Claims (9)
1. rolling control device, carry out the rolling mill of repeatedly rolling controls carry out the 1st rolling operation and the 2nd rolling operation by alternate repetition, wherein, in the 1st rolling operation, by tabular being rolled material and making its roller clamping by at least 1 pair carry out reeling by spool after the rolling of conveyance; In the 2nd rolling operation, make described roller backward rotation, and make the described material unwinding that is rolled of coiling, come to the direction conveyance opposite with previous rolling, carry out thus rolling, reel by spool afterwards,
Described rolling control device is characterised in that,
One side of the described roller of described rolling mill on the described conveyance direction that is rolled material has shapometer, described shapometer with the direction of the described conveyance perpendicular direction that is rolled material and for the direction parallel with the described plate face that is rolled material be on a plurality of positions of plate width direction, to being measured by the described shape that is rolled material of conveyance
Described rolling control device comprises:
Shape matching is calculating section as a result, and its comparative result of calculating between the desired value of the described shape that is rolled material and the described shape that is rolled material is the shape matching result;
The controlled quentity controlled variable determination section, it decides be used to the controlled quentity controlled variable of controlling described roller based on the described shape matching result who calculates, thereby revises the described shape of material and the difference between the described desired value of being rolled; With
Shape Prediction section, side plate is thick based on namely being entered by the described thickness of slab that is rolled material before the described roller rolling for it, the described thickness of slab that is rolled material after the rolling goes out namely that side plate is thick, described to be entered the thick mean value of side plate and describedly go out the thick mean value of side plate, calculate the predicted value of a plurality of locational shapes of the described described plate width direction that is rolled material
Described shape matching as a result calculating section in described the 1st rolling operation, by described shape and the described desired value that is rolled material of being measured by described shapometer compared, calculate described shape matching result, in described the 2nd rolling operation, compare by predicted value and described desired value to the described shape calculated by described Shape Prediction section, calculate described shape matching result.
2. rolling control device according to claim 1 is characterized in that,
If describedly enter that side plate is thick to be H with the position " i " of described plate width direction is corresponding
(i), describedly go out that side plate is thick to be h
(i)It is, described that to enter the thick mean value of side plate be H
1It is, described that to go out the thick mean value of side plate be h
1, the described predicted value λ that is rolled the shape of material calculates by following formula in described Shape Prediction section
(i),
3. rolling control device according to claim 1 is characterized in that,
Described Shape Prediction section calculates based on the parameter of measuring that described to go out side plate thick in the control of described roller, and in described the 1st rolling operation and described the 2nd rolling operation of alternate repetition, describedly go out that side plate is thick to carry out conversion to what calculate in the previous rolling operation, obtain in this rolling operation to enter side plate thick.
4. rolling control device according to claim 3 is characterized in that,
Described Shape Prediction section goes out thick the calculating of side plate and goes out the thick mean value of side plate and calculate described according to described.
5. rolling control device according to claim 1 is characterized in that,
Described Shape Prediction section is in described the 1st rolling operation, comparative result between the predicted value of the described shape of calculating the described shape that is rolled material measured by described shapometer and being calculated by described Shape Prediction section is predicated error, calculate compensating value for the described desired value of revisal based on the described predicated error of calculating, and with its output.
6. rolling control device according to claim 1 is characterized in that,
Described Shape Prediction section is in described the 1st rolling operation, comparative result between the predicted value of the described shape of calculating the described shape that is rolled material measured by described shapometer and being calculated by described Shape Prediction section is predicated error, calculate the compensating value of carrying out revisal for to the parameter of using in the process of calculating of the predicted value of described shape based on the described predicated error of calculating, thereby described parameter is carried out revisal.
7. rolling control device according to claim 1 is characterized in that,
Described Shape Prediction section is in described the 1st rolling operation, comparative result between the predicted value of the described shape of calculating the described shape that is rolled material measured by described shapometer and being calculated by described Shape Prediction section is predicated error, calculate compensating value for the described controlled quentity controlled variable of revisal based on the described predicated error of calculating, and with its output.
8. rolling control method, carry out the rolling mill of repeatedly rolling controls carry out the 1st rolling operation and the 2nd rolling operation by alternate repetition, wherein, in the 1st rolling operation, by tabular being rolled material and making its roller clamping by at least 1 pair carry out reeling by spool after the rolling of conveyance; In the 2nd rolling operation, make described roller backward rotation, and make the described material unwinding that is rolled of coiling, come to the direction conveyance opposite with previous rolling, carry out thus rolling, reel by spool afterwards,
Described rolling control method is characterised in that,
One side of the described roller of described rolling mill on the described conveyance direction that is rolled material has shapometer, described shapometer with the direction of the described conveyance perpendicular direction that is rolled material and for the direction parallel with the described plate face that is rolled material be on a plurality of positions of plate width direction, to being measured by the described shape that is rolled material of conveyance
Side plate is thick based on namely being entered by the described thickness of slab that is rolled material before the described roller rolling, the described thickness of slab that is rolled material after the rolling goes out namely that side plate is thick, described to be entered the thick mean value of side plate and describedly go out the thick mean value of side plate, calculate the predicted value of a plurality of locational shapes of the described described plate width direction that is rolled material
In described the 1st rolling operation, by described shape and the described desired value that is rolled material of being measured by described shapometer compared, calculate the described shape that is rolled material and desired value between comparative result be the shape matching result,
In described the 2nd rolling operation, compare by predicted value and described desired value to the described shape calculated, calculate described shape matching result,
Decide be used to the controlled quentity controlled variable of controlling described roller based on the described shape matching result who calculates, thereby revise the described shape of material and the difference between the described desired value of being rolled.
9. rolling control program, carry out the rolling mill of repeatedly rolling controls carry out the 1st rolling operation and the 2nd rolling operation by alternate repetition, wherein, in the 1st rolling operation, by tabular being rolled material and making its roller clamping by at least 1 pair carry out reeling by spool after the rolling of conveyance; In the 2nd rolling operation, make described roller backward rotation, and make the described material unwinding that is rolled of coiling, come to the direction conveyance opposite with previous rolling, carry out thus rolling, reel by spool afterwards,
Described rolling control program is characterised in that,
One side of the described roller of described rolling mill on the described conveyance direction that is rolled material has shapometer, described shapometer with the direction of the described conveyance perpendicular direction that is rolled material and for the direction parallel with the described plate face that is rolled material be on a plurality of positions of plate width direction, to being measured by the described shape that is rolled material of conveyance
Described rolling control program makes information processor carry out following steps:
Side plate is thick based on namely being entered by the described thickness of slab that is rolled material before the described roller rolling, the described thickness of slab that is rolled material after the rolling goes out namely that side plate is thick, described to be entered the thick mean value of side plate and describedly go out the thick mean value of side plate, calculates the step of predicted value of a plurality of locational shapes of the described described plate width direction that is rolled material;
In described the 1st rolling operation, by described shape and the described desired value that is rolled material of being measured by described shapometer compared, calculate the described shape that is rolled material and desired value between comparative result be shape matching result's step;
In described the 2nd rolling operation, compare by predicted value and described desired value to the described shape calculated, calculate described shape matching result's step; With
Decide be used to the controlled quentity controlled variable of controlling described roller based on the described shape matching result who calculates, thereby revise the described shape of material and the step of the difference between the described desired value of being rolled.
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| TWI701089B (en) * | 2018-03-27 | 2020-08-11 | 日商鋼鐵普藍特克股份有限公司 | Rolling mill and its control method |
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| JP5469143B2 (en) | 2014-04-09 |
| JP2013075301A (en) | 2013-04-25 |
| CN103028610B (en) | 2015-01-07 |
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