CN103384572B - Rolling control apparatus, rolling control method, and rolling control program - Google Patents
Rolling control apparatus, rolling control method, and rolling control program Download PDFInfo
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- CN103384572B CN103384572B CN201180067985.4A CN201180067985A CN103384572B CN 103384572 B CN103384572 B CN 103384572B CN 201180067985 A CN201180067985 A CN 201180067985A CN 103384572 B CN103384572 B CN 103384572B
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- slab
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/16—Control of thickness, width, diameter or other transverse dimensions
- B21B37/18—Automatic gauge control
- B21B37/20—Automatic gauge control in tandem mills
Abstract
The invention provides an apparatus, method, and program for acquiring data samples under various conditions without compromising product quality during a rolling operation. The present invention comprises: a roll gap control unit (111) which controls a roll gap of a plurality of rolling stands (1) through a feedback control so that a plate thickness of a rolled material rolled by the plurality of rolling stands (1) approaches a preset plate thickness; a setup calculation unit (105) which sets a change in a line speed; a rolling reduction change specification calculation unit (108) which sets a sequential change in the preset plate thickness for controlling the roll gap of the plurality of rolling stands (1) other than the rearmost one based on the sequential change in the line speed; and a friction coefficient calculation unit (102) and a deformation resistance calculation unit (103) which calculate a friction coefficient and a deformation resistance based on an actual measured value of a rolling state of rolling conducted based on the preset plate thickness and the line speed set to be changed sequentially.
Description
Technical field
The present invention relates to rolling control device, control method for rolling and roll control program, particularly relate to the study of the roll control parameter while carrying out for the production of the rolling of actual product.
Background technology
In rolling mill, by using the roller of equipment before and after the interval between upper and lower operation roller and roll gap and above-mentioned rolling mill speed to control the tension force and rolling load that put on material to be rolled, thus be rolled operation.In mill operation, according to the pattern operation control operation amount of rolling mill preset and roll gap and roller speed, implement the FEEDBACK CONTROL for the state of a control amount of rolling mill and the thickness of slab of material to be rolled and tension force, rolling load being maintained setting value.
When generating the pattern for operating roll gap as described above and roller speed, the coefficient of friction of the deformation drag of material to be rolled and the working roll of material to be rolled and rolling mill is used to calculate.Therefore, not making mill operation stop and the ongoing thickness of slab of rolling that changing target thickness of slab changes, the rolling result precision of the acceleration-deceleration of mill speed etc. is higher pattern to generate, needing to obtain above-mentioned deformation drag and coefficient of friction accurately.
But this deformation drag and coefficient of friction are the dynamic parameters changed under the materials behavior of the mode of operation such as friction of working roll, roller cooling agent, non-rolling stock, if condition difference, need again to obtain.Therefore, obtain deformation drag and coefficient of friction according to the value at the Simultaneously test being rolled operation, expect thus to increase sample number.
In the past, the various method (for example, referring to patent document 1 ~ patent document 3) obtaining suitable parameter in mill operation was proposed.But the method disclosed in above-mentioned document is the method for obtaining for the suitable parameter revised parameter, and its purport is different from the present application of the data sample obtained while being rolled operation under various condition.
Prior art document
Patent document
Patent document 1: Japanese Unexamined Patent Publication 6-15318 publication
Patent document 2: Japanese Unexamined Patent Publication 2007-245204 publication
Patent document 3: Japanese Unexamined Patent Publication 2009-208115 publication
The summary of invention
The problem that invention will solve
Coefficientoffrictionμ can carry out computing under the formula model employing mill speed.In low speed portion, it becomes remarkable to usual coefficient of friction.In order to ensure the sample number relative to speed, expect to take on a large scale in the data of velocity band.In addition, deformation drag k can carry out computing under the formula model employing reduction ratio, mill speed.When calculating deformation drag, by purpose operating reduction ratio, the data sample number of deformation drag can be increased, improving the operational precision of deformation drag.
But, if change repeatedly reduction ratio in an about circulation, or make the knots modification of final reduction ratio excessive, then produce uneven thickness, that is, the thickness of slab after rolling does not meet the problem of product quality, while being rolled operation, therefore obtains data sample more difficult.Therefore, need to change reduction ratio in the scope that can make up strip thickness control, i.e. thickness of slab setting value, in order to avoid have an impact to product.
Summary of the invention
The present invention completes in view of above-mentioned actual conditions, its object is to not reduce product quality, obtains the data sample under various condition while being rolled operation.
For solving the method for problem
A mode of the present invention is the rolling control device controlled the tandem roll train by multipair rolling material to be rolled, it is characterized in that, comprise: roll gap control part, to make the thickness of slab of the material to be rolled crossed by described multipair rolling system close to the mode of appointed setting thickness of slab, controlled by the roll gap of FEEDBACK CONTROL to described multipair roller; Transporting velocity configuration part, sets the timing variations of the transporting velocity of described material to be rolled; Setting thickness of slab change configuration part, according to the timing variations of the described transporting velocity be set, sets the timing variations of the setting thickness of slab of the roll gap of the roller beyond the roller for controlling in described multipair roller most rear class; And parameter calculating part, calculate the parameter in the control of described rolling mill according to the measured value of the as-rolled condition in rolling, described rolling is the rolling performed according to the described transporting velocity set in the mode of timing variations and described setting thickness of slab.
In addition, other embodiments of the present invention are the control method for rolling controlled the tandem roll train by multipair rolling material to be rolled, it is characterized in that, to make the thickness of slab of the material to be rolled crossed by described multipair rolling system close to the mode of appointed setting thickness of slab, controlled by the roll gap of FEEDBACK CONTROL to described multipair roller, set the timing variations of the transporting velocity of described material to be rolled, according to the timing variations of the setting thickness of slab that the setting of the timing variations of the described transporting velocity be set controls for the roll gap of the roller beyond the roller to rear class most in described multipair roller, measured value according to the as-rolled condition in rolling calculates the parameter in the control of described rolling mill, described rolling is the rolling performed according to the described transporting velocity set in the mode of timing variations and described setting thickness of slab.
In addition, other embodiments another of the present invention are the roll control programs controlled the tandem roll train by multipair rolling material to be rolled, it is characterized in that, information processor is made to perform following steps: to make the thickness of slab of the material to be rolled crossed by described multipair rolling system close to the mode of appointed setting thickness of slab, the step controlled by the roll gap of FEEDBACK CONTROL to described multipair roller; Set the step of the timing variations of the transporting velocity of described material to be rolled; The step of the timing variations of the setting thickness of slab controlled for the roll gap of the roller beyond the roller to rear class most in described multipair roller according to the setting of the timing variations of the described transporting velocity be set; And according to the step that the measured value of the as-rolled condition in rolling calculates the parameter in the control of described rolling mill, described rolling is the rolling performed according to the described transporting velocity set in the mode of timing variations and described setting thickness of slab.
The effect of invention
According to the present invention, can not product quality be reduced, while being rolled operation, obtaining the data sample under various condition.
Accompanying drawing explanation
Fig. 1 represents the integrally-built figure of rolling mill involved by embodiments of the present invention and rolling control device.
Fig. 2 represents the figure that the hardware of the rolling control device involved by embodiments of the present invention is formed.
Fig. 3 represents the flow chart of the judgement action of the rolling mode involved by embodiments of the present invention.
Fig. 4 is the sequential chart of the roll control involved by embodiments of the present invention.
Fig. 5 is the figure of the account form of the setting thickness of slab knots modification represented involved by embodiments of the present invention.
Fig. 6 is the figure for being described the deciding means of the reduction ratio rate of change involved by embodiments of the present invention.
Fig. 7 is the figure of the application examples of the maximum depression rate knots modification represented involved by embodiments of the present invention.
Fig. 8 is the flow chart of the action of the abnormity detection portion represented involved by embodiments of the present invention.
Fig. 9 is other the sequential chart of the roll control involved by embodiment of the present invention.
Detailed description of the invention
Embodiment 1
In the present embodiment, to in the tandem roll train comprising 4 rolling racks, by being rolled while the rolling condition of the roll gap changing the rolling rack beyond most rear class etc., thus the data sample collected in various condition, example deformation drag, coefficient of friction being calculated to the control learning rolling model is described.
Fig. 1 is the block diagram of the functional structure representing rolling mill 10 involved by present embodiment and rolling control device 100.As shown in Figure 1, the rolling mill 10 involved by present embodiment comprises 4 rolling racks 1, between each rolling rack 1, the rear class of the prime of the rolling rack 1 of most prime and the rolling rack 1 of most rear class is provided with the thickness of slab h to material to be rolled M
0~ h
4carry out the thickness of slab meter 2 measured.In addition, each rolling rack 1 is provided with the rolling load P relative to material to be rolled
1~ P
4carry out the rolling load measuring device 3 measured.
Further, each rolling rack 1 is provided with in fact to the roller of the working roll that material to be rolled is rolled speed RV
1~ RV
4carry out the PLG(Pulse Logic Generater measured) 4, use it as roller speed determinator.In addition, as shown in Figure 1, the working roll of rolling rack 1 is driven by motor M.
In the rolling mill 10 involved by present embodiment, will the material to be rolled M uncoiling supply rolling mill 10 of spiral helicine tabular be wound as, by multiple rolling racks 1 rolling in order shown in Fig. 1.In the rolling control device 100 involved by present embodiment, control is rolled to each coiled material being wound with material to be rolled.In addition, when being rolled continuously the material to be rolled of different coiled materials, by welding etc., the terminal of the material to be rolled contained by the coiled material in rolling is connected with the front end of the material to be rolled of the coiled material be next rolled, thus is rolled continuously.Now, the material to be rolled of the coiled material that rolling finishes, cuts from the material to be rolled of the coiled material of rear class after roller speed is slack-off.The control of roller speed when cutting this material to be rolled is one of purport involved by present embodiment.
On the other hand, as shown in Figure 1, rolling control device 100 comprises as-rolled condition monitoring part 101, calculation of friction coefficient portion 102, deformation drag calculating part 103, rolling load calculating part 104, Adjustable calculation portion 105, speed knots modification calculating part 106, cutting speed changing section 107, reduction ratio change specification calculating part 108, setting thickness of slab changing section 109, integrator reset portion 110, roll gap control part 111, abnormal monitoring portion 112, reduction ratio knots modification correction portion 113 and alarm efferent 114.
As-rolled condition monitoring part 101 obtains above-mentioned h from rolling mill 10
0~ h
4, P
1~ P
4, RV
1~ RV
4information, thus the as-rolled condition of rolling mill 10 to be monitored.Calculation of friction coefficient portion 102 and deformation drag calculating part 103 obtain above-mentioned h from as-rolled condition monitoring part 101
0~ h
4, P
1~ P
4, RV
1~ RV
4information, according to following formula (1), coefficientoffrictionμ, deformation drag k are calculated respectively.
P=b·k·f
1（H，h）·f
2（μ）·Z
p（1）
B: plate width
K: deformation drag
F
1: tension force correction term
F
2: coefficient of friction correction term
Z
p: learning coefficient
In formula (1), P is the rolling load of rolling rack 1, and b is the plate width of material to be rolled, and k is the deformation drag of material to be rolled, f
1for the tension force correction term of material to be rolled, f
2for the coefficient of friction correction term between material to be rolled and working roll.In addition, Z
pfor the known learning coefficient of the calculated value for the rolling load study rolling load according to reality.In addition, as f
1parameter and H be the thickness of slab of the material to be rolled of the input side of rolling rack, h is the thickness of slab of the material to be rolled of the outlet side of rolling rack.Such as, when calculating the as-rolled condition be configured in FIG in the rolling rack 1 of the leftmost side, rolling load P uses P
1, as tension force correction term f
1parameter H use h
0, h uses h
1.
The deformation drag k that the coefficientoffrictionμ that rolling load calculating part 104 calculates according to calculation of friction coefficient portion 102, deformation drag calculating part 103 calculate and the rolling actual result that as-rolled condition monitoring part 101 obtains, decide the rolling load in the rolling of ensuing coiled material.That is, calculation of friction coefficient portion 102, deformation drag calculating part 103 and rolling load calculating part 104, the parameter calculating part calculated as the parameter in the control to rolling mill 10 and playing a role.
Adjustable calculation portion 105 determines the rolling condition of the reduction ratio in the linear velocity that comprises in rolling mill 10 and each rolling rack to each coiled material rolled in rolling mill 10.In the present embodiment, object is, by performing rolling with various condition in rolling mill 10, to obtain various data sample.Adjustable calculation portion 105 controls above-mentioned various conditions.
Speed knots modification calculating part 106, according to the rolling condition determined by Adjustable calculation portion 105, decides the speed during working roll of motor M driving rolling rack 1, i.e. mill speed.And speed changing section 107, according to the mill speed determined by speed knots modification calculating part 106, drives rotary speed during working roll to control to motor M.
Reduction ratio changes specification calculating part 108 according to the rolling condition determined by Adjustable calculation portion 105, controls the setting of the reduction ratio of the material to be rolled of the working roll rolling of rolled frame 1.Specifically, reduction ratio changes specification calculating part 108 except the time and end determining to start to change reduction ratio changed except the time of reduction ratio, also determines the knots modification of reduction ratio.
Setting thickness of slab changing section 109 according to changed by reduction ratio the reduction ratio that specification calculating part 108 determines the change time started, change the end time and knots modification decides to set thickness of slab.This setting thickness of slab so-called is the desired value used in the FEEDBACK CONTROL of rolling result.Integrator reset portion 110, according to the change of the setting thickness of slab inputted from setting thickness of slab changing section 109, exports the reset signal resetted between the integration period for making in above-mentioned FEEDBACK CONTROL.
Roll gap control part 111 is according to the h inputted from as-rolled condition monitoring part 101
0~ h
4information with from the setting thickness of slab setting thickness of slab changing section 109 and input, and to adjust according to following formula (2) roll gap to rolling rack 1.
ΔS=∫C·Δh （2）
Δ S: roll gap knots modification
Δ h: outlet side thickness deviation
Δ S is the roll gap knots modification that roll gap control part 111 exports as the controlling value for FEEDBACK CONTROL, Δ h be from as-rolled condition monitoring part 101 input rolling rack 1 outlet side thickness of slab with setting thickness of slab deviation.In addition, C is the constant determined by the character of rolling rack 1 and material to be rolled M.
In the present embodiment, as-rolled condition monitoring part 101 obtains h within the sampling period of regulation
0~ h
4, P
1~ P
4, RV
1~ RV
4information.And roll gap control part 111 according to this sampling period, and to calculate roll gap knots modification according to above-mentioned formula (2) and exports, thus carries out FEEDBACK CONTROL.In addition, the whole period of the information inputting as-rolled condition from as-rolled condition monitoring part 101, before inputting reset signal from integrator reset portion 110, is set between integration period by roll gap control part 111, when after input reset signal, then makes to reset between integration period.
In addition, as shown in Figure 1, rolling mill 10 comprises 4 rolling racks 1.Therefore, the setting thickness of slab changing section 109 involved by present embodiment and roll gap control part 111 carry out setting strip thickness control to each rolling rack 1.And, be set to the product thickness of slab as final target thickness of slab using in the rolling rack of 4 shown in Fig. 11 as the setting thickness of slab of the 4th rolling rack of most rear class, the setting thickness of slab of the 1st rolling rack ~ 3rd rolling rack is set to move closer to product thickness of slab from the raw sheet of material to be rolled is thick.
Final product thickness of slab h is become in the information of the as-rolled condition that abnormal monitoring portion 112 obtains according to as-rolled condition monitoring part 101
4information to whether meet and monitor as the allowed band of the product thickness of slab be determined in advance.At h
4value when departing from the allowed band as product thickness of slab, abnormal monitoring portion 112 exports and represents and detect abnormal anomaly detection signal.In addition, the h that obtains according to as-rolled condition monitoring part 101 of abnormal monitoring portion 112
0~ h
4, P
1~ P
4, RV
1~ RV
4information, the slippage between rolling rack 1 and material to be rolled is detected.That is, abnormal monitoring portion 112 is the abnormity detection portion detected the exception of rolling.
The anomaly detection signal that reduction ratio knots modification correction portion 113 exports according to abnormal monitoring portion 112, changes to reduction ratio the control signal that specification calculating part 108 exports the setting value for revising reduction ratio.The anomaly detection signal that alarm efferent 114 exports according to abnormal monitoring portion 112, notifies the generation of uneven thickness to operating personnel.
Rolling control device 100 shown in Fig. 1 is realized by the combination of software restraint.Here, with reference to Fig. 2, the hardware of each functional block forming rolling control device 100 is described.Fig. 2 is the block diagram that the hardware of each functional block represented for realizing the rolling control device 100 involved by present embodiment is formed.As shown in Figure 2, the rolling control device 100 involved by present embodiment has and common server or PC(Personal Computer) etc. the identical structure of the information processing terminal.
That is, the rolling control device 100 involved by present embodiment is connected with CPU(Central Processing Unit via bus 208) 201, RAM(Random Access Memory) 202, ROM(Read Only Memory) 203, HDD(Hard Disk Drive) 204 and I/F205.In addition, I/F205 is connected with LCD(Liquid Crystal Display) 206 and operating portion 207.
CPU201 is arithmetic element, controls the action of rolling control device 100 entirety.RAM202 is can the storage medium of volatibility of reading writing information at a high speed, uses as operating area during CPU201 process information.ROM203 reads special non-volatile memory medium, stores the program of firmware etc.
HDD204 is can non-volatile storage medium of reading writing information, stores OS(OperatingSystem), various control program, application program etc.Bus 208 carries out being connected thus controlling with various hardware, network etc. by I/F205.In addition, I/F205 also plays a role as exchanging the input and output portion of information for rolling control device 100 between rolling mill 10.
LCD206 is the visual user interface of the state confirming rolling control device 100 for operating personnel.Operating portion 207 is keyboard, mouse etc. input information to rolling control device 100 user interfaces for operating personnel.In above-mentioned hardware is formed, read the program being stored in the recording medium such as ROM203, HDD204 or not shown CD at RAM202, CPU201 carries out computing according to this program, thus forms software control portion.By software control portion as constructed as above and hardware combinations, thus the function of the rolling control device 100 involved by present embodiment can be realized.
In above-mentioned rolling control device 100, the purport involved by present embodiment is to utilize the setting of the rolling condition in Adjustable calculation portion 105, the study of the rolling model of the calculating of the coefficientoffrictionμ utilized in the decision of the setting thickness of slab of reduction ratio change specification calculating part 108 and setting thickness of slab changing section 109 and the mill operation under the rolling condition as above determined, deformation drag k.Below, the action involved by the purport of present embodiment is described.
As mentioned above, in the rolling mill involved by present embodiment, control is rolled to each coiled material.And the Adjustable calculation portion 105 involved by present embodiment carries out whether carrying out common mill operation, whether carrying out the judgement of the study rolling learning rolling model.Fig. 3 is the flow chart of the judgement action representing the operator scheme utilizing Adjustable calculation portion 105.
As shown in Figure 2, if start the judgement action of operator scheme, then Adjustable calculation portion 105 judges (S301) whether the material category of the coiled material that next should be rolled is identical with the material category of the coiled material of the material to be rolled in present rolling.In addition, the material category of the coiled material that should be rolled inputs rolling control device 100 by the handwork of operating personnel.
The result that S301 judges is, next when the material category of the coiled material that next should be rolled is identical with the material category of the coiled material of the material to be rolled in present rolling (S301/ is no), Adjustable calculation portion 105 confirms (S302) whether becoming the setting being rolled operation in the mode of learning of each coiled material.S302 judge as a result, if not each coiled material mode of learning (S302/ is no), then Adjustable calculation portion 105 is judged as the pattern (S304) of usual rolling, thus ends process.
On the other hand, the result that S301 judges is, when the material category of the coiled material that next should be rolled is different from the material category of the coiled material of the material to be rolled in present rolling (S301/ is), or the result that S302 judges is, when become in each coiled material mode of learning, to be rolled the setting of operation (S302/ is), Adjustable calculation portion 105 judges the pattern (S303) into learning rolling, thus ends process.
Here, Fig. 4 shows the sequential chart of " linear velocity ", " mode decision time " represented in study rolling mode, " setting thickness of slab changes the time ", " setting thickness of slab knots modification ", " integrator resetting time ", " parameter computing time ", " rolling load module computing time ".
" linear velocity " shown in Fig. 4 is calculated according to the rolling condition determined by Adjustable calculation portion 105 by speed knots modification calculating part 106, and is controlled by speed changing section 107.As shown in Figure 4, " linear velocity " as the transporting velocity of material to be rolled is slowed down termly.It is described above, when carrying out each other connecting thus being rolled continuously by the different coiled material of welding, for the cutting speed that the material to be rolled for terminating rolling is cut, be the minimum speed of minimum speed in the wire velocity control of the rolling mill 10 involved by present embodiment.
In addition, as shown in Figure 4, the linear velocity involved by present embodiment, changes between stationary phase between the accelerated period accelerated from cutting speed, afterwards, from the speed reduction between stationary phase during each between the deceleration period of cutting speed.Wherein, the stable speed between stationary phase is the mill speed of the transporting velocity as the material to be rolled in common mill operation, is usually period between stationary phase.
In addition, " linear velocity " shown in Fig. 4, corresponding with the roller speed of any one roller including 4 rolling racks 1 as shown in Figure 1.Here, because the length of the material to be rolled with the part be elongated by rolling is corresponding, multiple rolling racks 1 that therefore tandem roll train comprises more are configured at rear class, and roller speed sets faster.Therefore, the acceleration of linear velocity as shown in Figure 4, stable, the control of slowing down, what be controlled as from the roller speed of each rolling rack as described above is different corresponding.
" mode decision time " is the time performing the action be described in figure 3, is the time forward compared with the deceleration started for above-mentioned cutting speed.In addition, the mode decision time of present embodiment is controlled to judge according to utilizing the change of the linear velocity of speed changing section 107 by Adjustable calculation portion 105.
" setting thickness of slab changes the time " represents that roll gap control part 111 changes the signal of the time in the direction be used in the setting thickness of slab change that the Δ h used in FEEDBACK CONTROL calculates, and changes specification calculating part 108 control by reduction ratio.As shown in Figure 4, reduction ratio changes specification calculating part 108 by representing with the signal of the time changed from a reference value towards negative direction, the time changed from a reference value towards positive direction represents that setting thickness of slab changes the time.
As shown in Figure 4, this setting thickness of slab changes the time and obtains by carrying out 4 segmentations during each between deceleration period to linear velocity, between accelerated period, between stationary phase.Specifically, by carry out 4 segmentations during each between above-mentioned deceleration period, between accelerated period, between stationary phase and obtain with the mode becoming maximum setting thickness of slab from original setting thickness of slab towards positive direction change the 1st during, with the mode becoming original setting thickness of slab from maximum setting thickness of slab towards negative direction change the 2nd during, with the mode becoming minimum setting thickness of slab from original setting thickness of slab towards negative direction change the 3rd during, to become the mode of original setting thickness of slab from minimum setting thickness of slab towards 4 periods of the 4th period that positive direction changes.
In other words, during each of reduction ratio involved by present embodiment changes specification calculating part 108 between accelerated period, between deceleration period and usually period, to the setting thickness of slab from standard setting thickness of slab is thickened the 1st during, return back to the 2nd of the setting thickness of slab of standard from the setting thickness of slab thicker than standard during, from the setting thickness of slab of standard make setting thickness of slab thinning the 3rd during, return back to from the setting thickness of slab than Standard Thin standard setting thickness of slab the 4th during 4 periods set.
" setting thickness of slab knots modification " is the signal of the knots modification representing the setting thickness of slab corresponding with above-mentioned " set thickness of slab and change the time ", controls by setting thickness of slab changing section 109.As shown in Figure 4, thickness of slab changing section 109 is set by representing that knots modification from original setting thickness of slab towards positive direction sets thickness of slab knots modification with representing from original setting thickness of slab towards the signal of the knots modification of negative direction.Setting thickness of slab changing section 109 changes from reduction ratio the rate of change that specification calculating part 108 obtains " setting thickness of slab changes the time " and reduction ratio, calculates " setting thickness of slab knots modification ".
In addition, as mentioned above, in rolling mill 10, include 4 rolling racks 1, but " the setting thickness of slab knots modification " shown in Fig. 4 is corresponding with " set thickness of slab and change the time " that the change as shown in Figure 4 according to linear velocity sets, can at identical time application in controlling the roll gap of each rolling rack 1.
" integrator resetting time " represents that integrator reset portion 110 makes to utilize the reset signal of the time resetted between the integration period of roll gap control part 111, controlled by integrator reset portion 110." setting thickness of slab knots modification " that integrator reset portion 110 exports with reference to setting thickness of slab changing section 109, in the time of the rate of change change of " setting thickness of slab knots modification ", i.e., in the time of " setting thickness of slab knots modification " change in crank-like, exports reset signal.
" parameter computing time " be represent calculation of friction coefficient portion 102 and deformation drag calculating part 103 pairs of coefficientoffrictionμs and deformation drag k calculate during signal, controlled respectively by calculation of friction coefficient portion 102 and deformation drag calculating part 103.As shown in Figure 4, " parameter computing time " involved by present embodiment will speed up between period, stationary phase and is set as a circulation between deceleration period.
" rolling load module computing time " represents rolling load calculating part 104 according to the parameter calculated by calculation of friction coefficient portion 102 and deformation drag calculating part 103 to the signal of the time that rolling load module calculates, and controlled by rolling load calculating part 104.
As shown in Figure 4, the purport involved by present embodiment is corresponding respectively between the accelerated period with linear velocity, between stationary phase, between deceleration period, is rolled operation, thus obtains the h under various rolling condition while change setting thickness of slab
0~ h
4, P
1~ P
4, RV
1~ RV
4information and parameter is calculated.In addition, in the present embodiment, when manufacturing a product, premised on the study namely in the mill operation of reality.Therefore, as the outlet side thickness of slab of the 4th rolling rack 1 of final level, be rolled in the mode becoming target thickness of slab.Therefore, " setting thickness of slab knots modification " shown in Fig. 4 shall not be applied to 4 rolling racks 1, and the 4th rolling rack 1 applies common setting thickness of slab.
But the input side thickness of slab of 4 rolling racks 1, becomes by the state of the 3rd rolling rack 1 according to " setting thickness of slab knots modification " rolling of Fig. 4.Due to corresponding with the change of above-mentioned thickness of slab, therefore integrator reset portion 110 also exports reset signal relative to the FEEDBACK CONTROL for the 4th rolling rack 1 at official hour.This official hour so-called, to make the thickness of slab of material to be rolled be the time that the part that changes of crank-like arrives the 4th rolling rack 1 by the 3rd rolling rack 1 according to Fig. 4 " setting thickness of slab knots modification " rolling.
Here, after certain part is by the 3rd rolling rack rolling, until can be obtained by calculating during arriving the 4th rolling rack.Therefore, integrator reset portion 110, after exporting integral reset signal relative to the FEEDBACK CONTROL for the 3rd rolling rack 1, is postponed during only making to be obtained by above-mentioned calculating, exports reset signal relative to the FEEDBACK CONTROL for the 4th rolling rack 1.
The calculating of " setting thickness of slab changes the time " shown in Fig. 4 and " setting thickness of slab knots modification " is one of purport involved by present embodiment.With reference to Fig. 5 (a) ~ Fig. 5 (c), the account form of " setting thickness of slab changes the time " and " setting thickness of slab knots modification " is described.Fig. 5 (a) ~ Fig. 5 (c) represents to utilize Adjustable calculation portion 105 and reduction ratio to change the functional block diagram of specification calculating part 108 to the account form that " setting thickness of slab changes the time " and " setting thickness of slab knots modification " calculates.
Fig. 5 (a) be represent linear velocity accelerated period between in the figure of account form of " setting thickness of slab change time " and " setting thickness of slab knots modification ".As shown in Fig. 5 (a), change specification calculating part 108 from Adjustable calculation portion 105 relative to reduction ratio and input acceleration rate, maximum mill speed and maximum depression rate knots modification.In addition, as shown in Figure 1, change the measured value RV of specification calculating part 108 input line speed relative to reduction ratio from as-rolled condition monitoring part 101
1~ RV
4as present linear velocity.
In addition, as illustrated in the diagram, the computing time of the rolling load module of present embodiment is during linear velocity drops to cutting speed.Therefore, change the measured value RV of the linear velocity of specification calculating part 108 as present linear velocity input reduction ratio from as-rolled condition monitoring part 101
1~ RV
4for cutting speed.
Change in specification calculating part 108 at reduction ratio, linear velocity present in information according to above-mentioned input, acceleration rate and maximum mill speed, to the time needed for the acceleration of linear velocity, calculate between the accelerated period be namely described in the diagram, by carrying out 4 segmentations to this time as illustrated in the diagram, thus " setting thickness of slab changes the time " is calculated.That is, the acceleration rate shown in Fig. 5 (a) and maximum mill speed are the information set for the timing variations of the transporting velocity to material to be rolled, and Adjustable calculation portion 105 plays a role as transporting velocity configuration part.
In addition, reduction ratio change specification calculating part 108 calculates " setting thickness of slab knots modification " according to the maximum depression rate knots modification inputted from Adjustable calculation portion 105, the reduction ratio rate of change predetermined and above-mentioned " setting thickness of slab changes the time " calculated.That is, reduction ratio change specification calculating part 108 plays a role as the setting thickness of slab change configuration part set the timing variations of setting thickness of slab.
Here, with reference to Fig. 6, above-mentioned predetermined reduction ratio rate of change is described.As mentioned above, in the 1st rolling rack the 1 ~ 3rd rolling rack 1, carry out study rolling as shown in Figure 4, be namely rolled while change setting thickness of slab, the material to be rolled that the position supplying thickness of slab and throughput direction to the 4th rolling rack 1 thus changes in crank-like accordingly.But the prerequisite of the study rolling involved by present embodiment also can carry out study rolling during fabrication, therefore need to realize product thickness of slab in the 4th rolling rack 1.
Fig. 6 is the figure representing the input side thickness of slab of the situation of carrying out the such FEEDBACK CONTROL of above-mentioned formula (2) and the example of outlet side thickness of slab change.As shown in Figure 6, when input side thickness of slab is crank-like change, for outlet side thickness of slab, the deviation g corresponding with the rate of change of input side thickness of slab is produced at the change point of crank-like.This certainly leads to exceed and carries out the such control utilizing integral operation of formula (2).
If the deviation g shown in Fig. 6 is the degree of the allowed band exceeding product thickness of slab, then become uneven thickness, thus the specification as product cannot be met.Therefore, the rate of change of input side thickness of slab requires that deviation g is no more than the allowed band as product thickness of slab.Therefore, the rate that is depressed changes the reduction ratio rate of change that specification calculating part 108 sets, and is the rate of change not producing the outlet side thickness of slab of the 3rd such rolling rack 1 of uneven thickness at the outlet side thickness of slab of the 4th rolling rack 1.
In addition, the maximum depression rate knots modification inputted from Adjustable calculation portion 105 is the threshold value set by Adjustable calculation portion 105 in order to avoid producing slippage.In the rolling of each rolling rack 1, no matter reduction ratio is too high or too low, all between working roll and material to be rolled, produce slippage, significant impact is produced to product quality.In order to avoid above-mentioned situation, threshold value is set in the knots modification of reduction ratio as maximum depression rate knots modification by Adjustable calculation portion 105, thus prevents the generation of slippage.
Fig. 7 is the figure representing the mode obtaining " setting thickness of slab knots modification " according to reduction ratio rate of change, setting thickness of slab change time and maximum depression rate knots modification.As shown in Figure 7, " setting thickness of slab knots modification " can typically be obtained according to reduction ratio rate of change and setting thickness of slab change time " result of calculation " as shown in Figure 7 like that.On the other hand, if reduction ratio changes specification calculating part 108 apply the maximum depression rate knots modification inputted from Adjustable calculation portion 105, " setting thickness of slab knots modification " the upper part that there is the maximum depression rate knots modification exceeded as threshold value obtained as " result of calculation ", then calculate the result revised as " setting thickness of slab knots modification " as " reality " of Fig. 7.
Fig. 5 (b) be represent linear velocity stationary phase between in the figure of account form of " setting thickness of slab change time " and " setting thickness of slab knots modification ".As shown in Fig. 5 (b), change specification calculating part 108 from Adjustable calculation portion 105 relative to reduction ratio and input web length and maximum mill speed.Thus, change in specification calculating part 108 at reduction ratio, according to web length and maximum mill speed in the information of above-mentioned input, to the time needed for usual rolling, namely the usual period illustrated in the diagram calculates, identical with the situation of Fig. 5 (a), " setting thickness of slab changes the time " and " setting thickness of slab knots modification " is calculated.
Fig. 5 (c) be represent linear velocity deceleration period between in the figure of account form of " setting thickness of slab change time " and " setting thickness of slab knots modification ".As shown in Fig. 5 (c), change specification calculating part 108 from Adjustable calculation portion 105 relative to reduction ratio and input deceleration ratio, maximum mill speed and maximum depression rate knots modification.In addition, as shown in Figure 1, change the measured value RV of specification calculating part 108 input line speed relative to reduction ratio from as-rolled condition monitoring part 101
1~ RV
4as present linear velocity.Thus, change in specification calculating part 108 at reduction ratio, linear velocity present in information according to above-mentioned input, deceleration ratio and cutting speed, to the time needed for the deceleration of linear velocity, calculate between the deceleration period namely illustrated in the diagram, identical with the situation of Fig. 5 (a), " setting thickness of slab changes the time " and " setting thickness of slab knots modification " is calculated.
In addition, as mentioned above, the computing time of rolling load module is during linear velocity drops to cutting speed, therefore changes the measured value RV of the linear velocity of specification calculating part 108 as present linear velocity input reduction ratio from as-rolled condition monitoring part 101
1~ RV
4for cutting speed.But, also can change specification calculating part 108 from Adjustable calculation portion 105 relative to reduction ratio and input cutting speed.
Like this, in the rolling control device 10 involved by present embodiment, in rolling rack beyond the rolling rack of the most rear class of tandem roll train, between the accelerated period of each linear velocity, between stationary phase, between deceleration period, setting thickness of slab is alternatively rolled chronologically, the data sample under various condition can be obtained thus, can not product quality be reduced, while being rolled operation, obtaining the data sample under various condition.In addition, by the control of the rate of change of reduction ratio that illustrates in figure 6, the control of reduction ratio knots modification that illustrates in the figure 7, thus in the manufacture of actual product, product specification can be met more accurately, be rolled the study of model simultaneously.
Next, be described utilizing the above supervisory control action of abnormal monitoring portion 112 and reduction ratio knots modification correction portion with reference to Fig. 8.As shown in Figure 8, start mill operation, change reduction ratio by the rolling model that set by Adjustable calculation portion 105.If abnormal monitoring portion 112 is according to the h inputted from as-rolled condition monitoring part 101
0~ h
4, P
1~ P
4, RV
1~ RV
4detect (S802/ is) etc. the measured value of as-rolled condition to uneven thickness, then the as-rolled condition when generation of uneven thickness and uneven thickness being produced informs to reduction ratio knots modification correction portion 113.Thus, reduction ratio knots modification correction portion 113 is revised (S803) the reduction ratio rate of change being stored in reduction ratio change specification calculating part 108 in the mode eliminating uneven thickness.
On the other hand, detecting it is not uneven thickness (S802/ is no), but when slippage (S803/ is), the as-rolled condition when generation of slippage and slippage produce by abnormal monitoring portion 112 informs to reduction ratio knots modification correction portion 113.Thus, the maximum depression rate knots modification input reduction ratio revised is changed specification calculating part 108(S805 in the mode eliminating slippage by reduction ratio knots modification correction portion 113).If any one process of S803 or S805 terminates, then abnormity detection portion 112 pairs of alarm efferents 114 control, and export alarm (S806).Abnormity detection portion 112 repeatedly carries out the process from S802 until the change of reduction ratio terminates (S807/ is no), if the change of reduction ratio finishes (S807/ is), then ends process.
In addition, in the above-described embodiment, with in the tandem roll train comprising 4 rolling racks, the reduction ratio of the 1st rolling rack ~ 3rd rolling rack is changed chronologically, thus the parameter of collecting under various rolling condition is example is illustrated.But above-mentioned is an example, if control in the mode of the target thickness of slab becoming product at least last rolling rack, then the control in other rolling rack is any.
Embodiment 2
In embodiment 1, as being described in figure 6, the situation not becoming the mode determination reduction ratio rate of change of uneven thickness for the deviation g produced in the outlet side thickness of slab of the 4th rolling rack is illustrated.If enough samples can be collected by this reduction ratio rate of change, do not have problems, if but after the decision setting thickness of slab change time, determine reduction ratio rate of change as shown in Figure 4, then cause the scope determining to change reduction ratio.When this scope is insufficient, enough samples cannot be collected.
On the other hand, not formula by the integration shown in above-mentioned formula (2) but be rolled the FEEDBACK CONTROL of frame 1 by the formula of dual-integration, thus deviation g as shown in Figure 6 can be absorbed.Therefore, when roll gap control part 111 carries out the FEEDBACK CONTROL based on dual-integration, reduction ratio is changed specification calculating part 108 and can obtain " setting thickness of slab knots modification " in the mode being changed reduction ratio by the ratio higher than predetermined reduction ratio rate of change, and also can omit predetermined reduction ratio rate of change.
In addition, the situation that so-called scope is insufficient, such as, consider that the knots modification changing the maximum reduction ratio that time and reduction ratio rate of change are determined by setting thickness of slab is the situation of the not enough maximum depression rate knots modification inputted from Adjustable calculation portion 105 or is the situation etc. below the ratio of the regulation such as 70%, 80% of maximum depression rate knots modification.In addition, the concrete mode for dual-integration can use known various method, omits detailed description.
Embodiment 3
The problem of the deviation g illustrated in figure 6, produces because of corresponding with the change of input side thickness of slab by feedback.On the other hand, the input side thickness of slab in the 4th rolling rack 1 is the outlet side thickness of slab in the 3rd rolling rack 1, and therefore the change of the input side thickness of slab of the 4th rolling rack 1 can detect in advance, thus can carry out feedforward control.
That is, roll gap control part 111 controls for the roll gap of the 4th rolling rack 1, except carrying out FEEDBACK CONTROL, also carries out feedforward control accordingly with the outlet side thickness of slab of the 3rd rolling rack 1, thus can eliminate the deviation g shown in Fig. 6.Thus, in order to corresponding with deviation g as shown in Figure 6 and do not need to carry out control reduction ratio to the rate of change of the outlet side thickness of slab of the 3rd rolling rack 1 to change specification calculating part 108 identical with embodiment 2, can calculate " setting thickness of slab knots modification " in the mode being changed reduction ratio by desired ratio.
In addition, the concrete mode for feedforward can use known various method, omits detailed description.
Embodiment 4
In embodiment 1, to by between the accelerated period from cutting speed, between stationary phase, to premised between the deceleration period that cutting speed is slowed down, during each, setting thickness of slab is made be that crank-like changes thus the mode of collecting various data sample is illustrated.In this case, the sample after just the starting when sample collected during the low speed of on-line velocity is only closing to an end between deceleration period and between accelerated period.Therefore, in order to the sample number during increasing low speed, may not be and be defined as between the accelerated period from cutting speed and during beyond between the deceleration period that cutting speed is slowed down between stationary phase, but change linear velocity to collect data sample.Above-mentioned example as shown in Figure 9.
Fig. 9 is the sequential chart in study rolling mode, corresponding with Fig. 4.For Fig. 9, in the diagram as T during between stationary phase, linear velocity also changes.In the example of figure 9, rate of change and the setting thickness of slab knots modification of linear velocity be the time consistency that changes of crank-like change.By above-mentioned mode, the data sample under more rolling condition can be collected.
Symbol description
1-frame of rolling mill; 2-thickness of slab meter; 3-rolling load measuring device; 4-PLG; 10-rolling mill; 100-rolling control device; 101-as-rolled condition monitoring part; 102-calculation of friction coefficient portion; 103-deformation drag calculating part; 104-rolling load calculating part; 105-Adjustable calculation portion; 106-speed knots modification calculating part; 107-speed changing section; 108-reduction ratio changes specification calculating part; 109-sets thickness of slab changing section; 110-integrator reset portion; 111-roll gap control part; 112-abnormal monitoring portion; 113-reduction ratio knots modification correction portion; 114-alarm efferent; 201-CPU; 202-RAM; 203-ROM; 204-HDD; 205-I/F; 206-LCD; 207-operating portion.
Claims (9)
1. a rolling control device, is the rolling control device controlled the tandem roll train by multipair rolling material to be rolled, it is characterized in that, comprising:
Roll gap control part, to make the thickness of slab of the material to be rolled crossed by described multipair rolling system close to the mode of appointed setting thickness of slab, is controlled by the roll gap of FEEDBACK CONTROL to described multipair roller;
Transporting velocity configuration part, sets the timing variations of the transporting velocity of described material to be rolled;
Setting thickness of slab change configuration part, according to the timing variations of the described transporting velocity be set, sets the timing variations of the setting thickness of slab of the roll gap of the roller beyond the roller for controlling in described multipair roller most rear class; And
Parameter calculating part, calculates the parameter in the control of described rolling mill according to the measured value of the as-rolled condition in rolling, described rolling is the rolling performed according to the described transporting velocity set in the mode of timing variations and described setting thickness of slab,
Exist at least for the usual speed that is rolled and mill speed and minimum speed and minimum speed in the described transporting velocity of timing variations,
Described transporting velocity configuration part, between the accelerated period accelerating to described mill speed from described minimum speed, between the deceleration period that described mill speed is decelerated to minimum speed and described mill speed namely 3 periods of period set usually,
Described setting thickness of slab change configuration part, in during each of between the described accelerated period be set, between deceleration period and usual period, set from the setting thickness of slab of standard setting thickness of slab is thickened the 1st during, return back to the 2nd of the setting thickness of slab of standard from the setting thickness of slab thicker than standard during, from the setting thickness of slab of standard make setting thickness of slab thinning the 3rd during, return back to from the setting thickness of slab than Standard Thin standard setting thickness of slab the 4th during 4 periods.
2. rolling control device according to claim 1, is characterized in that,
Described setting thickness of slab change configuration part, the timing variations of rate of change to described setting thickness of slab according to setting thickness of slab sets, and the allowed band that the rate of change of described setting thickness of slab makes the thickness of slab of the material to be rolled be rolled by the rolling of the roller of described most rear class meet predetermined product thickness of slab is determined.
3. rolling control device according to claim 1, is characterized in that,
Described roll gap control part, in the control of the roll gap of the roller of described most rear class, is controlled described roll gap with the dual-integration of the deviation of setting thickness of slab by the measured value of the thickness of slab of the material to be rolled of rolling.
4. rolling control device according to claim 1, is characterized in that,
Described roll gap control part increases feedforward control, controls the roll gap of the roller of described most rear class, and described feedforward control is the feedforward control of the measured value of the thickness of slab of the material to be rolled of rolling according to the prime by described most rear class.
5. the rolling control device according to any one of Claims 1 to 4, is characterized in that,
Described setting thickness of slab change configuration part, according to the scope of the setting thickness of slab that the mode not producing slippage with described roller and described material to be rolled is determined, sets the timing variations of described setting thickness of slab.
6. the rolling control device according to any one of Claims 1 to 4, is characterized in that,
Described setting thickness of slab change configuration part, by between the described accelerated period be set, between deceleration period and usual period each during carry out 4 segmentations, thus to set during the described 1st, during the 2nd, during the 3rd and during the 4th.
7. rolling control device according to claim 6, is characterized in that,
Described transporting velocity configuration part, sets the acceleration rate between described accelerated period, deceleration ratio between described deceleration period and the delivered length of material to be rolled that should be rolled in described usual period,
Described setting thickness of slab change configuration part makes the following judgment:
According to scope and the described acceleration rate of speed accelerated between described accelerated period, judge between described accelerated period;
According to scope and the described deceleration ratio of the speed be decelerated between described deceleration period, judge between described deceleration period;
According to the delivered length of carrying the speed of described material to be rolled and described material to be rolled in described usual period, described usual period is judged.
8. rolling control device according to claim 7, is characterized in that,
Comprise abnormity detection portion, described abnormity detection portion produces abnormal situation according to the measured value of described as-rolled condition to rolling and detects.
9. a control method for rolling, is the control method for rolling controlled the tandem roll train by multipair rolling material to be rolled, it is characterized in that,
To make the thickness of slab of the material to be rolled crossed by described multipair rolling system close to the mode of appointed setting thickness of slab, controlled by the roll gap of FEEDBACK CONTROL to described multipair roller,
By the timing variations of the transporting velocity of described material to be rolled, at least between the common speed that is rolled and mill speed and minimum speed and minimum speed, set between the accelerated period that described minimum speed accelerates to described mill speed, between the deceleration period that described mill speed is decelerated to minimum speed and 3 periods of usual period of described mill speed control
By the timing variations of the setting thickness of slab that the roll gap of the roller be used for beyond to the roller of rear class most in described multipair roller controls, in during each of between the described accelerated period be set, between deceleration period and usual period, be set as from the setting thickness of slab of standard setting thickness of slab is thickened the 1st during, return back to the 2nd of the setting thickness of slab of standard from the setting thickness of slab thicker than standard during, from the setting thickness of slab of standard make setting thickness of slab thinning the 3rd during, return back to from the setting thickness of slab than Standard Thin standard setting thickness of slab the 4th during 4 periods
Measured value according to the as-rolled condition in rolling calculates the parameter in the control of described rolling mill, and described rolling is the rolling performed according to the described transporting velocity set in the mode of timing variations and described setting thickness of slab.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2011/056590 WO2012127571A1 (en) | 2011-03-18 | 2011-03-18 | Rolling control apparatus, rolling control method, and rolling control program |
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| CN103384572B true CN103384572B (en) | 2015-05-27 |
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| JP5811077B2 (en) * | 2012-12-04 | 2015-11-11 | Ｊｆｅスチール株式会社 | Method and apparatus for supporting maximum rolling speed during line acceleration of tandem rolling mill |
| CN104908145B (en) * | 2014-03-12 | 2017-07-25 | 佛山市恒力泰机械有限公司 | A kind of drawing method by storing and call parameters are combined |
| JP6438753B2 (en) * | 2014-12-05 | 2018-12-19 | 株式会社日立製作所 | Tandem rolling mill control device and tandem rolling mill control method |
| JP2016157313A (en) * | 2015-02-25 | 2016-09-01 | 東芝三菱電機産業システム株式会社 | Trend monitoring system of steel plant |
| JP6404195B2 (en) * | 2015-09-16 | 2018-10-10 | 株式会社日立製作所 | PLANT CONTROL DEVICE, ROLLING CONTROL DEVICE, PLANT CONTROL METHOD, AND PLANT CONTROL PROGRAM |
| JP6672094B2 (en) * | 2016-07-01 | 2020-03-25 | 株式会社日立製作所 | Plant control device, rolling control device, plant control method, and plant control program |
| JP6674349B2 (en) * | 2016-07-21 | 2020-04-01 | 株式会社日立製作所 | Rolling control device, rolling control method and program |
| JP7034046B2 (en) * | 2018-10-05 | 2022-03-11 | 株式会社日立製作所 | Control device and control method |
| JP7044175B2 (en) * | 2019-03-26 | 2022-03-30 | 東芝三菱電機産業システム株式会社 | Abnormality judgment support device |
| JP7375947B2 (en) * | 2020-09-04 | 2023-11-08 | 東芝三菱電機産業システム株式会社 | Tandem cold rolling mill control system |
| CN113210438B (en) * | 2021-05-20 | 2023-03-24 | 广西北港不锈钢有限公司 | High-speed rolling method of stainless steel cold-rolled sheet |
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| JP4208509B2 (en) * | 2002-07-18 | 2009-01-14 | 東芝三菱電機産業システム株式会社 | Model learning device for rolling process |
| JP4227497B2 (en) * | 2003-10-15 | 2009-02-18 | 株式会社日立製作所 | Feed forward thickness control apparatus and control method for rolling mill |
| CN100369683C (en) * | 2006-01-24 | 2008-02-20 | 东北大学 | Method for automatic controlling thickness in fast high precision plate strip rolling process |
| JP2007245204A (en) * | 2006-03-16 | 2007-09-27 | Jfe Steel Kk | Learning method for rolling-load model and device therefor |
| JP2009208115A (en) * | 2008-03-04 | 2009-09-17 | Kobe Steel Ltd | Method and device for calculating parameter of rolling control, and rolling simulation device |
| EP2145703B1 (en) * | 2008-03-14 | 2015-01-07 | Nippon Steel & Sumitomo Metal Corporation | Rolling load prediction learning method for hot plate rolling |
| JP5234759B2 (en) * | 2008-08-05 | 2013-07-10 | 株式会社神戸製鋼所 | Rolling condition calculation apparatus, method and rolling system |
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| WO2012127571A1 (en) | 2012-09-27 |
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