CN106964653A - Calender control device, calender control method and program - Google Patents
Calender control device, calender control method and program Download PDFInfo
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- CN106964653A CN106964653A CN201611180234.4A CN201611180234A CN106964653A CN 106964653 A CN106964653 A CN 106964653A CN 201611180234 A CN201611180234 A CN 201611180234A CN 106964653 A CN106964653 A CN 106964653A
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- Prior art keywords
- calender
- phase
- variation
- roller
- calendered
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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
- B21B37/58—Roll-force control; Roll-gap control
- B21B37/66—Roll eccentricity compensation systems
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
- B21B38/04—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product for measuring thickness, width, diameter or other transverse dimensions of the product
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Metal Rolling (AREA)
Abstract
The problem of the present invention is periodic thickness of slab is changed etc. to the periodic variation removing produced by part is calendered with easy structure.Roller eccentricity control device (17) possesses：Filtering part, it is filtered by the outlet side thickness deviation for being calendered part (2) that the frequency suitable with the swing circle of the roller of calender (1) is detected to (5) in terms of by outlet side thickness of slab, and is made its result corresponding with roller angle (phase) and be stored in filtering table (121)；Correction portion, it is integrated or proportional integration to the filtered outlet side thickness deviation, and makes its result corresponding with roller angle and be stored in drift correction table (122)；And operational part, it is based on the outlet side thickness deviation that is calendered part (2) corresponding with roller angle now and is stored respectively in the value of filtering table (121) and drift correction table (122) come to exporting to the roll spacing amount progress computing of roll spacing control device (6).
Description
Technical field
The calender control device that is controlled the present invention relates to the calender to metallic plate, calender control method and
Program.
Background technology
As in efficiently producing the calender of equipment (plant) of thin metal material, because of the direction of rotation of stack
The variation (following brief note make roller eccentric) of radius and produce the variation of outlet side thickness of slab.Thickness of slab caused by this roller is eccentric becomes
The dynamic periodic thickness of slab for turning into the swing circle for depending on stack changes, therefore, with the eccentric frequency component of roller to outlet side
Thickness of slab is filtered, and roll spacing (roll gap) is operated according to roller eccentricity component, is become thus, it is possible to weaken the thickness of slab
Dynamic (with reference to patent document 1 etc.).Also, on the periodic external disturbance beyond the frequency component because of caused by stack,
Also sharp in the same way its can be made to weaken (with reference to patent document 2 etc.).
Citation
Patent document
Patent document 1：Japanese Patent Publication 62-27884
Patent document 2：Japanese Unexamined Patent Publication 2015-166093
It is described in the prior art, to remove for the purpose of the thickness of slab of the eccentric quasi-periodic of roller changes, carried out with periodically
Variation frequency thickness deviation is filtered and is multiplied by control gain and obtains control output, the control of so-called ratio.Cause
This, if causing outlet side thickness of slab to reduce by control, the output of ratio control also reduces, therefore can remain output side plate
Thickness changes.Typically in the case of ratio control, it is only capable of being set to 1/ (proportional control gain+1), therefore, increases even if being set to control
Benefit=1.0, are also only capable of making outlet side thickness deviation be changed into half.
Moreover, as other methods of existing roller eccentricity control, there is following control method：Rotation to stack is set
Turn the detector that the situation of 1 circle is detected, being dallied according to roller, (nothing, which is calendered in the state of part, between operation roller up and down makes roller
Rotation) when load variations roll spacing variation is inferred, it is determined that with the direction of rotation position of stack corresponding correct
Amount, and export in calendering the correction.
In the control method, because the roll spacing variation because caused by roller is eccentric is removed in itself, therefore, it is possible to substantially
100% ground, which changes the thickness of slab of roller eccentricity component, to be removed.However, in the control method, due to needing that stack rotation 1 is enclosed
The detector that is detected of situation, therefore, the increase of workload is maintained in the increase and detector that cause equipment investment volume.And
And, need to make roller dally to obtain roller eccentricity component according to load variations, so as to cause operating efficiency to reduce.Therefore, it is existing
Almost using the control method described in patent document 1,2 etc. in reality.
The content of the invention
Invent problem to be solved
The present invention be in view of above such problem of the prior art and complete, can be with simple its object is to provide
Structure and substantially 100% ground changes the periodic thickness of slab caused by roller bias etc. the calender control device removed, pressure
Prolong machine control method and program.
Scheme for solving problem
Calender control device involved in the present invention is characterised by possessing：Test section, the test section is to because right
It is calendered the physical quantity for being calendered part caused by the periodic external disturbance produced in the calender that part is rolled
Variation detected；Phase auxiliary section, the phase auxiliary section makes the physical quantity detected by the test section
The phase of periodic external disturbance during variation of the variation with detecting the physical quantity is corresponding；Filtering part,
Variation of the filtering part for the physical quantity at corresponding each phase by the phase auxiliary section
Be filtered, and using the filter result as the 1st value and it is corresponding with the phase and be stored in the 1st storage device；Correction portion,
For each phase, come pair corresponding with the phase, acquisition filter result is integrated or compared the correction portion
Example integration, and this is integrated or value that proportional integration is obtained as the 2nd value and it is corresponding with the phase and deposit
It is stored in the 2nd storage device；And operational part, for exporting to the controlled quentity controlled variable of the calender, the operational part is based on and output
The phase during controlled quentity controlled variable is corresponding and is stored respectively in described the of the 1st storage device and the 2nd storage device
1 value and the 2nd value to carry out computing to the controlled quentity controlled variable.
Invention effect
According to the present invention there is provided can with easy structure substantially 100% ground will as roller bias wait caused by the cycle
Property thickness of slab change remove calender control device, calender control method and program.
Brief description of the drawings
Fig. 1 is to represent calender control device involved by embodiments of the present invention and control to fill including the calender
The figure of the integrally-built example for the rolling equipment put.
Fig. 2 is the example of the structure for the roller eccentricity control device for representing the calender control device involved by comparative example
Figure.
Fig. 3 is represented as the computing of the software filter progress of the roller eccentricity control device involved by Fig. 2 comparative example
The figure of the example of control module structure.
Fig. 4 (a) is the gain characteristic for the software filter for representing the roller eccentricity control device involved by Fig. 2 comparative example
The figure of example, Fig. 4 (b) is the phase characteristic for the software filter for representing the roller eccentricity control device involved by Fig. 2 comparative example
Example figure.
Fig. 5 is the structure of the filtering table for the software filter for representing the roller eccentricity control device involved by Fig. 2 comparative example
Example figure.
Fig. 6 is the modular structure for representing the roller eccentricity control based on the roller eccentricity control device involved by Fig. 2 comparative example
Example figure.
Fig. 7 is to represent the ratio control roller eccentricity control based on the roller eccentricity control device involved by Fig. 2 comparative example
The figure of the example of analog result.
Fig. 8 is the figure of the example for the structure for representing the roller eccentricity control device involved by embodiments of the present invention.
Fig. 9 is the integration amendment roller eccentricity control for representing the roller eccentricity control device involved by embodiments of the present invention
The figure of the example of modular structure.
Figure 10 is that the roller eccentricity control for representing the modular structure based on the integration amendment roller eccentricity control shown in Fig. 9 simulates knot
The figure of the example of fruit.
Figure 11 is to represent that the proportional integration amendment roller of the roller eccentricity control device involved by embodiments of the present invention is eccentric
The figure of the example of the modular structure of control.
Figure 12 is the roller eccentricity control for representing the modular structure based on the proportional integration amendment roller eccentricity control shown in Figure 11
The figure of the example of analog result.
Figure 13 is represented when integrating Correction and Control so that the phase of the roll spacing external disturbance of roller bias frequency component is with rank
The figure of the example of the analog result for the action that scalariform staggers in the case of 90 degree.
Figure 14 is represented in proportional integration Correction and Control so that the phase of the roll spacing external disturbance of roller bias frequency component
With the figure of the example of the stepped analog result for staggering the action in the case of 90 degree.
Description of reference numerals
1 calender
1a operation rollers
1b intermediate calender rolls
1c spare rolls
2 are calendered part
3a input sides tensioning spool (input side TR)
3b outlet sides tensioning spool (outlet side TR)
4a input side tensometers
4b outlet side tensometers
5 outlet side thickness of slab meters (test section)
6 roll spacing control devices
7 pressure rolling speed control units
8a input side TR control devices
8b outlet side TR control devices
9 outlet side board thickness control apparatus
10 rolling velocity configuration parts
11 input side tension force configuration parts
12 outlet side tension force configuration parts
13 input side tension force portions
14 outlet side tension force portions
15 input side tension force current transfer devices
16 outlet side tension force current transfer devices
17th, 17a rollers eccentricity control device
18 rotation detectors
19 calender drive motors
100 calender control devices
101st, 101a software filters (fixed length wave filter：Filtering part)
110 alignment devices (phase auxiliary section)
111 outlet side thickness deviations-roll spacing scaler
120 output opportunity adjusting meanss
121 filtering tables (the 1st storage device)
Table (filtering table is filtered on 121U：1st storage device)
Table (filtering table is filtered under 121L：1st storage device)
122 drift correction tables (the 2nd storage device)
122U upper deviations correction chart (drift correction table：2nd storage device)
122L lower deviations correction chart (drift correction table：2nd storage device)
Embodiment
Hereinafter, embodiments of the present invention are described in detail referring to the drawings.In addition, in the various figures to general structure
Key element marks identical reference and omits the explanation repeated.
Fig. 1 is to represent calender control device 100 involved by embodiments of the present invention and including the calender control
The figure of the integrally-built example of the rolling equipment of device 100 processed.As shown in figure 1, rolling equipment is configured to include such as lower component
Deng：Calender 1, it rolls to being calendered part 2；Input side is tensioned spool (tension reel) 3a, and it will be wound as spiral shell
The part 2 that is calendered of rotation shape is supplied to calender 1；Outlet side is tensioned spool 3b, and it is batched to the part 2 that is calendered after calendering；
And calender control device 100, it is controlled to the said equipment.
In addition, in this manual, tensioning spool is referred to as into TR below.In addition, in Fig. 1, being calendered part 2 in arrow
Shown direction, side i.e. from left to right move up and are calendered.
In addition, calender 1 is by being calendered part 2 and set from the side of part 2 is calendered towards both direction up and down across calendering object
Operation roller 1a, intermediate calender rolls 1b, the spare roll 1c put is constituted.Moreover, input side be tensioned spool 3a and calender 1 input side it
Between be provided with the input side tensometer 4a measured to the tension force for being calendered part 2 of input side, calender 1 outlet side with
The outlet side tensometer 4b measured to the tension force for being calendered part 2 of outlet side is provided between outlet side tensioning spool 3b.
Also, it is provided between the outlet side and outlet side tensometer 4b of calender 1 and the thickness of slab for being calendered part 2 of outlet side is carried out
The outlet side thickness of slab meter 5 of measurement.
Calender control device 100 is made up of multiple control devices as shown in Figure 1.Hereinafter, these controls are filled in advance
The function of putting carries out simple illustration.
Roll spacing control device 6 controls to be calendered the thickness of slab of part 2 by the roll spacing between 2 operation roller 1a above and below change.
In addition, pressure rolling (mill) speed control unit 7 according to the speed command set by rolling velocity setting device 10 come to being calendered
The rolling velocity (operation roller 1a rotary speed) of part 2 is controlled.In addition, input side TR control devices 8a and outlet side TR
The motor that is driven to input side TR3a and outlet side TR3b of control device 8b controls, thus adjust input side TR3a with
And outlet side TR3b rotary speed.The tension force for being calendered part 2 of input side and outlet side will be put on by the regulation
Appropriate value is remained, it is achieved thereby that the stabilization of calendering and efficient operation.
12 pairs of input side tension force setting device 11 and outlet side tension force setting device are calendered needed for the tension force of part 2
Input side and the tension force setting value of outlet side calculated.Moreover, input side tension force current transfer device 15 and output
16 pairs of side tension force current transfer device is used to realize the input side TR3a needed for the tension force setting value of the input side and outlet side
And outlet side TR3b motor torque value is calculated, and according to the motor torque value come the current settings to motor
Value is calculated.
In addition, when calculating motor torque value, current setting value, input side tension force current transfer device 15 with
And outlet side tension force current transfer device 16 uses the pre-prepd model for TR mechanical systems and TR control systems.Cause
This, motor torque value, the current setting value generation error obtained as its result.Input side tenslator 13 and
Outlet side tenslator 14 performs the processing being modified to the error.
That is, input side tenslator 13 and outlet side tenslator 14 using by input side tensometer 4a with
And outlet side tensometer 4b determines each tension force actual value of gained respectively, to by input side tension force setting device 11 and outlet side
Each tension force setting value that tension force setting device 12 is set respectively applies amendment.Moreover, revised each tension force setting value is divided
Not supplied to input side tension force current transfer device 15 and outlet side tension force current transfer device 16.Input side tension force electric current turns
Changing device 15 and outlet side tension force current transfer device 16 are changed for input side based on the revised tension force setting value
The current value of TR control devices 8a and outlet side TR control devices 8b settings.
In terms of product quality, it is important that ensure that the thickness of slab for being calendered part 2 is uniform.Therefore, outlet side strip thickness control is filled
Put 9 actual values based on the thickness of slab detected by outlet side thickness of slab meter 5 and by roll spacing control device 6 come the roller to calender 1
Thickness of slab is controlled away from being suitably changed.
Generally, the thickness of slab for being calendered part 2 of outlet side changes because of various external interference factors, but roller
Bias is its main variable.Herein, roller bias refers to the operation roller 1a, intermediate calender rolls 1b, spare roll 1c of calender 1 each
Bias, its reason be the grinding precision of each roller, the direction of rotation radius of roller caused by bearing accuracy it is uneven etc..
That is, because roll spacing changes, roller bias turns into the main external disturbance in terms of the outlet side strip thickness control for being calendered part 2.
Generally, because spare roll 1c roller eccentricity component is larger, therefore, the roller bias for spare roll 1c is carried out
The removing control of component.17 pairs of roller eccentricity control device is used for remove the variation of the thickness of slab because caused by roller as above is eccentric
Roll spacing is calculated.That is, roller eccentricity control device 17 can be referred to as to being directed to removing for because caused by roller the is eccentric variation of thickness of slab
The outlet side board thickness control apparatus 9 for the particularization gone.
In addition, the calender control device 100 with constituted above can be handled by possessing central operation (not shown)
Device (CPU), storage device and input/output unit, so-called computer and realize.In this case, calender is constituted
The function of each device of control device 100 performs the regulation stored in storage device by the central operation processing unit of computer
Program and realize.Can be many meters in addition, realizing that the computer of the function of above-mentioned each control device is not limited to 1
Calculation machine.In addition, as input/output unit, in addition to keyboard, mouse, liquid crystal display device, in addition to will be used for electronic
Numeral or simulation of the circuit arrangement, acquisition that the numeral or analog signal that the hardware such as machine are driven are sent out from various measuring appliances
Circuit arrangement of signal etc..In addition, although draw in Fig. 1 in the outer frame of rolling control apparatus 100, but it is also possible to by outlet side
Measuring appliance needed for the control of the grade of thickness of slab meter 5 is considered as input/output unit.
In this manual, first, prior art is illustrated as comparative example.Fig. 2 is represented involved by comparative example
Calender control device roller eccentricity control device 17a structure example figure.Wherein, the calender involved by comparative example
The structure of control device is roughly the same with the calender control device 100 (reference picture 1) involved by present embodiment, and simply roller is inclined
Heart control device 17 replaces with roller eccentricity control device 17a.
As shown in Fig. 2 roller eccentricity control device 17a is by alignment device 110, outlet side thickness deviation-roll spacing scaler
111st, software filter 101 etc. is constituted.That is, roller eccentricity control device 17a is using 101 pairs of software filter by calender 1
The outlet side thickness deviation that the outlet side thickness of slab meter 5 that outlet side is set is detected is filtered processing, thus extracts and is calendered
The outlet side thickness deviation in the constant length cycle on part 2.Moreover, the output side plate that roll spacing control device 6 is extracted based on this
Thick deviation operates come the roll spacing to calender 1.
Herein, because outlet side thickness of slab meter 5 is arranged at the position separated with calender 1, therefore, until detecting by rolling
Dead time is produced untill the outlet side thickness deviation for being calendered part 2 after the calendering of machine 1.Accordingly, it would be desirable to make by output side plate
Thickness is counted the 5 outlet side thickness deviations detected the phase corresponding with the anglec of rotation (roller angle) of the roller of calender 1 and coordinated.Therefore,
Phase comparison device 110 utilizes the rotation detected from the rotation amount based on calender drive motor 19 come the anglec of rotation to roller
Turn the roller angle of the output of detector 18 and implement phase cooperation.That is, phase adapting device 110 is obtained is examined by outlet side thickness of slab meter 5
The position for being calendered part 2 when measuring outlet side thickness deviation is in the roller angle during underface of roller.As a result, during calendering
(from the underface of roller by when) roller angle it is corresponding with the outlet side thickness deviation detected by outlet side thickness of slab meter 5.
The outlet side thickness deviation corresponding with roller angle is scaled pressure by outlet side thickness deviation-roll spacing scaler 111
Prolong the roll spacing amount of machine 1.Outlet side thickness deviation-roll spacing scaler 111 to outlet side thickness deviation by being multiplied by by M/ (M+
Q (1- α)) constant that provides and obtain roll spacing amount.Herein, M is referred to as pressure rolling constant, represents what roller was bent because rolling load
Amount, Q is referred to as plastometer constant, represents to be calendered the amount that part 2 is deformed because rolling load.In addition, α is referred to as scale factor
(scale factor), is the parameter for making pressure rolling constant M size relatively change.Generally, it is left using α=0~0.9
Right value, if being for example set to α=0.9, pressure rolling constant M is changed into 10 times of size.
Software filter 101 is with length corresponding with roller girth to utilizing outlet side thickness deviation-roll spacing scaler
111 and obtain roll spacing amount carry out fixed length filtering process.Herein, and not according to frequency but implemented according to length at filtering
Reason, calender 1 be used for implement from halted state accelerate to maximal rate so that slow down stop etc change speed behaviour
Make.In the acceleration-deceleration of calender 1, in order to implement roller eccentricity control, it is also desirable to implement filtering process with constant length.
Flatten to be rolled in addition, part 2 will be calendered between operation roller 1a above and below, by the operation roller interval above and below now
The thickness of slab produced by mechanical oscillation changes the purpose that removing is roller eccentricity control, accordingly, it would be desirable to be filtered with constant length
Ripple.In addition, in the case where implementing spare roll 1c roller eccentricity control, using spare roll 1c's as described constant length
Roller girth.
The software filter 101a of as above filtering process is carried out by possessing the filtering operation mechanism of filtering table 121 and defeated
Go out the grade of opportunity adjusting means 120 composition.Herein, due to different above and below the roll neck of calender 1 in most cases, therefore, general feelings
It is different above and below fixed length sample length under condition.Therefore, control gain G is set to distinguish corresponding mode with roller up and down1U、G1L、
G2U、G2L、G3U、G3L.Also, on filtering table 121, be also provided with filtering table 121U, lower filtering table 121L, and be set to can on
Under be separately controlled.
In addition, the detailed construction and function of the software filter 101a on the comparative example, following with Fig. 3~Fig. 6
Illustrate successively in order.
Fig. 3 is the controller chassis for the software filter 101a for representing the roller eccentricity control device 17a involved by Fig. 2 comparative example
The figure of the example of figure.As shown in figure 3, software filter 101a (fixed length wave filter) is by the dead time key element including constant length
e-TSWith the control gain G of wave filter1、G2、G3Multiple module compositions.The control block diagram can also be referred to as representing fixed length wave filter
Arithmetical organ figure.
That is, as shown in Fig. 3 lower half, the input x and output y of the fixed length wave filter relation are by formula (1) or calculation
Formula (2) is represented.Moreover, the overall gain of fixed length wave filter can be obtained by formula (3), in addition, phaseIt can pass through
Formula (4) and obtain.
Fig. 4 (a) is the software filter 101a (fixed length for representing the roller eccentricity control device 17a involved by Fig. 2 comparative example
Wave filter) gain characteristic example figure, Fig. 4 (b) is to represent the roller eccentricity control device 17a involved by Fig. 2 comparative example
Software filter 101a (fixed length wave filter) phase characteristic example figure.The standardization frequency of transverse axis in these curve maps
Rate is that dead time T inverse is set to the frequency in the case of 1.When normalized frequency is integer, gain is 1, software filter
Ripple device 101a also extracts the frequency component of the integral multiple for the frequency worked as with dead time T-phase.
In the control of prior art involved by comparative example in Fig. 2, due to being so that by spare roll 1c, (following brief note is made
BUR for the purpose of the removing of outlet side thickness deviation caused by roller) is eccentric, therefore, with by BUR diameter DBURWith rolling velocity V
The BUR speeds f of determinationBURAnd implement filtering process.In addition, when surface sustains damage, be ground processing and
Use BUR.(in this case, thickness of slab changes is changed into BUR to a uneven reason eccentric as roller for the milled processed mostly
1 times of frequency of diameter).In addition, for the BUR generated heat by calendering processing, also being produced even if being cooled unevenly
Roller is eccentric (in this case, thickness of slab changes 2 times of frequency for being changed into BUR diameters mostly).Therefore, by software filter 101
In the case of the wave filter for constituting frequency component corresponding with BUR diameters, the frequency to its integral multiple is also extracted, therefore,
Also it is controlled for more than 2 times of frequency components.
Fig. 5 is the filtering table for the software filter 101a for representing the roller eccentricity control device 17a involved by Fig. 2 comparative example
The figure of the example of 121 structure.In the present embodiment, the function of being set to software filter 101 is realized by computer.And
And, on the storage device of the computer, as shown in figure 5, when 1 circle rotated to roller (such as BUR) carries out n segmentations, preparing
The filtering table 121 being made up of n memory corresponding with each cut-point, i.e. each anglec of rotation (roller angle).
According to Fig. 2 and Fig. 3, in software filter 101a, implement to from outlet side thickness deviation-roll spacing scaler
The computing of the data of 111 outputs and the data read from filtering table 121.Now, being pressed during outlet side thickness deviation is detected
Prolong part 2 immediately below the roller by when roller angle it is relative with the data from outlet side thickness deviation-output of roll spacing scaler 111
Should.Therefore, the number that software filter 101a will be stored from filtering table 121 in the memory at the position corresponding with its roller angle
According to reading.Moreover, the data exported using the data of the reading and from outlet side thickness deviation-roll spacing scaler 111
The computing of the formula (2) shown in Fig. 3 is carried out, and its result is written back to the memory of same position.
In addition, for defined roller angle correspondingly from filtering table 121 read data, i.e. filtering data (with outlet side
The suitable roll spacing amount of thickness deviation), carry out opportunity regulation by exporting opportunity adjusting means 120, and by the data after regulation to roller
Distance control apparatus 6 is exported.Herein, defined roller angle be will output to the data of roll spacing control device 6 as roll spacing amount and it is sharp
The roller angle of roller during for controlling.
Fig. 6 is the module knot for representing the roller eccentricity control based on the roller eccentricity control device 17a involved by Fig. 2 comparative example
The figure of the example of structure.In Fig. 6 modular structure, make filtering table 121 with it is multiple on the roller direction of rotation on the roller shown in Fig. 5
Point correspondence.One of point corresponds to relative with the data exported from outlet side thickness deviation-roll spacing scaler 111
The point at the roller angle answered.In addition, other points are with output is used in into control to the data of roll spacing control device 6 as roll spacing amount
When roller the corresponding point in roller angle.
As shown in Fig. 6 the latter half, software filter 101a can be approximate as a delay system.In the situation
Under, with inclined using the data of filtering table 121 corresponding with multiple points on the roller direction of rotation on roller, i.e. using outlet side thickness of slab
The mode of the once delayed data of difference and implement the eccentric ratio control of roller.
Now, once delayed time constant T by the sample cycle ts and parameter G of filtering process1G3It is determined that.Moreover,
Its sample cycle ts turns into the cycle that roller rotates 1 circle.In addition, being used as the parameter G of filtering process1G3, according to the filtering as purpose
Characteristic and set 0.03~0.3 or so value, therefore, 3~30 or so of the swing circle of roller turns into outlet side thickness of slab amendment
Time constant.
Fig. 7 is to represent that the ratio based on the roller eccentricity control device 17a involved by comparative example controls the mould of roller eccentricity control
Intend the figure of the example of result.In Fig. 7 curve map, transverse axis represents the time, and left end represents the current time, on the right side of tending to
And represent to trace back to over.In addition, representing to proceed by roller eccentricity control at the time of shown in chain-dotted line.
In the comparative example, roller eccentricity control device 17a is filtered using filtering table 121 to outlet side thickness deviation,
Therefore, roller eccentricity control start after soon in a period of, outlet side thickness deviation is decreased to 1/3 before slightly below starting
Degree.However, if outlet side thickness deviation obtains balance with the output of roller eccentricity control, outlet side thickness deviation can be before start
1/3 at it is stable.As a result, with being set to roller eccentricity control gain C in Fig. 2RECThe control effect of=2.0 ratio control
1/3 is consistent.
As above, in the roller eccentricity control device 17a of comparative example, it is eccentric that generation only makes outlet side thickness deviation be reduced to roller
The problem of controlling 1/3 before starting.Therefore, on the basis of ratio control, integration control or proportional integration have also been added
Debugging functions.
Fig. 8 is the figure for the configuration example for representing the roller eccentricity control device 17 involved by embodiments of the present invention.Such as Fig. 8 institutes
Show, it is in the present embodiment, new in the roller eccentricity control device 17a of Fig. 2 comparative example structure that drift correction table 122 is set
(upper deviation correction chart 122U and lower deviation correction chart 122L), thus, it is possible to carry out utilizing the filter result under the eccentric frequency of roller
Integration control.That is, if being set to gain G4≠0、G5=0, then it can carry out adding the control of integration amendment, if in addition, being set to increase
Beneficial G4≠0、G5≠ 0, then it can carry out adding the control of proportional integration amendment.Herein, G4Represent the G in Fig. 84U、G4L, G5Represent
G5U、G5L。
Fig. 9 is the integration amendment roller eccentricity control for representing the roller eccentricity control device 17 involved by embodiments of the present invention
Modular structure example figure.In this case, as storage gain G4, proportional gain G5If being for example set to G4=1/ (α
T)、G5=0, then it can implement stable integration amendment.Herein, α is to determine the parameter of phase margin, takes 3~10 or so
Value.
Figure 10 is that the roller eccentricity control for representing the modular structure based on the integration amendment roller eccentricity control shown in Fig. 9 simulates knot
The figure of the example of fruit.As shown in Figure 10, in the integration amendment roller eccentricity control, by using the integration of drift correction table 122
Processing, can substantially suppress outlet side thickness deviation to 0.
Figure 11 is to represent that the proportional integration amendment roller of the roller eccentricity control device 17 involved by embodiments of the present invention is inclined
The figure of the example of the modular structure of heart control.In this case, as integration time constant T1, it is necessary to set more normal than filtering time
Value big number T.In addition, G can be determined using the parameter alpha for determining phase margin5(the calculation that the latter half of reference picture 9 is recorded
Formula).
Figure 12 is the roller eccentricity control for representing the modular structure based on the proportional integration amendment roller eccentricity control shown in Figure 11
The figure of the example of analog result.Herein, in this simulation, it is set to G5=0.5, T1=2T.Moreover, according to its analog result, with product
Point amendment roller eccentricity control in the case of result (reference picture 10) compare, can make outlet side thickness deviation big in a short time
Mutagens are 0.Because integration time constant can be reduced compared with the situation of integration amendment.
But, as the advantage of the roller eccentricity control (reference picture 6) of the comparative example, cause even in because of certain reason
In the case of the phase offset of roller bias external disturbance, the advantage that can be modified to control output can be also enumerated.Asking
The roller offset of each point gone out on roller direction of rotation and the situation of prior art being controlled based on the offset to roll spacing
Under, it is impossible to pair should be dallied to such as roller and the roller cooling after thermal expansion and the roller that produces eccentric frequency component is related repaiies
Just.On the other hand, in the roller eccentricity control of the comparative example, even in the situation of the phase offset of the eccentric frequency component of roller
Under, processing also is filtered to outlet side thickness deviation and roll spacing is controlled, therefore, it is possible to tackle its phase offset.
In the integration amendment roller eccentricity control (reference picture 9) involved by present embodiment, the bias control of proportional integration amendment roller
In the case of making (reference picture 11), even if the phase offset of roller bias frequency component, the content of drift correction table 122 is also corrected
To cause outlet side thickness deviation to be changed into 0.In order to confirm the situation, inventor is implemented such as Imitating：When outlet side thickness of slab is inclined
When difference is controlled as 0, the phase of the roll spacing external disturbance of the eccentric frequency component of roller is set to stagger 90 degree with stepped.
Figure 13 is to represent the phase for making the roll spacing external disturbance of the eccentric frequency component of roller when integrating Correction and Control with stepped
The figure of the example of the analog result for the action staggered in the case of 90 degree.In addition, Figure 14 is when representing proportional integration Correction and Control
Make the phase of roll spacing external disturbance of the eccentric frequency component of roller with the stepped analog result for staggering the action in the case of 90 degree
Example figure.As shown in FIG. 13 and 14, it is no matter when integrating Correction and Control and any during proportional integration Correction and Control
In the case of, all it is modified according to the filter result of the actual value of outlet side thickness of slab come the content to drift correction table 122.Cause
This, also can gradually be changed to the phase that roller eccentricity control is exported, so as to make the phase change of roll spacing external disturbance
Shi Zeng great outlet side thickness deviation is substantially changed into 0.
As above, the calender control device according to involved by embodiment of above, can make to control (existing skill based on ratio
Art) roller eccentricity control in the outlet side thickness deviation of the eccentric frequency component of the roller that can not remove substantially be changed into 0.In addition, passing through
Suitably control gain is set, can be stably controlled.
In addition, in embodiment of above, being set to accumulate using the result for being integrated the eccentric frequency content of roller
Sub-control system or proportional plus integral control, but can also be controlled with same thinking composition integral differential.
In addition, in embodiment of above, to based on being detected by the outlet side thickness of slab meter 5 (reference picture 1) of calender 1
The roller eccentricity control of outlet side thickness deviation is illustrated, but also can be based on the calendering load by same calender 1
Meter is measured in the roller eccentricity control of the calendering load of gained and applied.
In addition, in embodiment of above, being said to the control for removing the spare roll 1c of calender 1 roller bias
It is bright, but also can be in same control by the eccentric frequency component removing of intermediate calender rolls 1b or operation roller 1a roller.
In addition, in embodiment of above, to the outlet side of the periodic external disturbance for the eccentric frequency component of roller
Strip thickness control is illustrated, but can also be applied equally for the periodic external disturbance beyond the eccentric frequency component of roller
Control.
In addition, even in the part 2 that is calendered of the input side and inflow calender 1 that are arranged at calender 1 is wound
Input side TR3a, be calendered the outlet side TR3b that part 2 is batched to what is discharged from calender 1, also produce spool rotation
The variation of radius on direction, but can also apply the control same with embodiments described above for these variations.This
Outside, in this case, output to the controlled quentity controlled variable of calender is not limited to roll spacing amount or is tensioned spool to input side
Current instruction value, the speed value for the motor supply that 3a or outlet side tensioning spool 3b are driven.
Also, as other embodiments, below to apply the present invention to because calender 1 the hardness for being calendered part 2 not
The situation of the control periodically changed caused by is illustrated.
The part 2 that is calendered rolled by calender 1 is to roll to be calendered part using calender between heat for 1 time.Calender between heat
Also it is made up of various rollers, therefore, to be pressed because rotating the corresponding processing of 1 circle uneven (mainly temperature is uneven) with roller sometimes
The hardness for prolonging part remains periodic variation.If rolling using as cold calender of lower procedure to it, because
Periodic hardness changes (deformation drag variation) and produces periodic outlet side thickness deviation.
For this outlet side thickness deviation, such as shown in patent document 2, as long as replacing the eccentric frequency of roller with based on hard
The outlet side thickness deviation frequency of variation is spent to implement the bandpass filtering in roller eccentricity control.Moreover, with roller eccentricity control
Situation it is identical, can be by uneven by the hardness for being calendered part by the control that illustrates in application embodiments of the present invention
Caused periodic outlet side thickness of slab, which changes, to be removed.Moreover, controlled quentity controlled variable in this case is the roll spacing of calender, roller speed
Deng, and or input side is tensioned spool 3a or outlet side is tensioned spool 3b roller speed etc..
The present invention is not limited to embodiments described above and variation, in addition to various variations.
For example, described embodiment and variation is in order to which the present invention will be described in easily understandable manner and describes in detail
, but to be not necessarily defined in all structures illustrated by possessing.In addition, can be by certain embodiment, the structure of variation
A part be replaced into other embodiment, the structure of variation, in addition it is possible to for the knot of certain embodiment, variation
Structure and add other embodiment, the structure of variation.In addition, for each embodiment, a part for the structure of variation, also
It can add, delete, replacing the structure included in other embodiment, variation.
Claims (6)
1. a kind of calender control device, it is characterised in that the calender control device possesses：
Test section, the test section is to because to being calendered the periodic external disturbance produced in the calender that part is rolled
Caused by the variation of the physical quantity for being calendered part detected；
Phase auxiliary section, the phase auxiliary section makes the variation of the physical quantity detected by the test section with detecting
The phase of the periodic external disturbance during variation of the physical quantity is corresponding；
Filtering part, the filtering part is directed to by the phase auxiliary section physics at corresponding each phase
The variation of amount is filtered, and using the filter result as the 1st value and it is corresponding with the phase and be stored in the 1st storage dress
Put；
Correction portion, the filter result progress that the correction portion is obtained for each phase come pair corresponding with the phase
Integration or proportional integration, and this is integrated or value that proportional integration is obtained as the 2nd value with the phase
It is corresponding and be stored in the 2nd storage device；And
Operational part, for exporting to the controlled quentity controlled variable of the calender, described in when the operational part is based on the output controlled quentity controlled variable
Phase is corresponding and is stored respectively in the 1st storage device and the 1st value of the 2nd storage device and the 2nd value
To carry out computing to the controlled quentity controlled variable.
2. calender control device according to claim 1, it is characterised in that the periodic external disturbance is by institute
The variation of roll neck caused by the roller bias of calender is stated, the variation of the physical quantity detected by the test section is the quilt
The outlet side thickness deviation of drawpiece or the variation for putting on the calendering load for being calendered part, output to the calendering
The controlled quentity controlled variable of machine is the roll spacing amount of the calender.
3. calender control device according to claim 1, it is characterised in that the periodic external disturbance is described
The hardness for being calendered part changes, and the variation of the physical quantity detected by the test section is the output side plate for being calendered part
Thick deviation, the controlled quentity controlled variable of output to the calender is the roll spacing amount of the calender, the roller speed of the calender or divided
The roller speed of the input side of the calender and the tensioning spool of outlet side is not arranged at.
4. calender control device according to claim 1, it is characterised in that the periodic external disturbance is by dividing
The variation of reel diameter caused by the bias of the input side of the calender and the tensioning spool of outlet side is not arranged at, by
The variation for the physical quantity that the test section is detected is the outlet side thickness deviation for being calendered part, output to the calendering
The controlled quentity controlled variable of machine is the roll spacing amount of the calender or driven to the tensioning spool to the input side or the outlet side
The current instruction value or speed value of dynamic motor supply.
5. a kind of calender control method carried out in calender control device, the calender control device possesses：Detection
Portion, the test section is to because caused by being calendered the periodic external disturbance produced in the calender that part is rolled
The variation of the physical quantity for being calendered part is detected；And computer, the computer be based on examined by the test section
The variation for the physical quantity for being calendered part measured is come to the variation for suppressing the physical quantity for being calendered part
The controlled quentity controlled variable of the calender carries out computing, and the calender control method is characterised by,
The computer performs following steps：
The institute when variation for making the physical quantity detected by the test section and the variation for detecting the physical quantity
State the corresponding phase matching step of the phase of periodic external disturbance；
Variation for the physical quantity at corresponding each phase by the phase matching step is carried out
Filtering, and it regard the filter result as the 1st value and filter step that is corresponding with the phase and being stored in the 1st storage device；
The filter result obtained for each phase come pair corresponding with the phase is integrated or proportional integration,
And this is integrated or value that proportional integration is obtained as the 2nd value and it is corresponding with the phase and be stored in the 2nd and deposit
The step of storage device；And
For exporting to the controlled quentity controlled variable of the calender, based on the corresponding and difference with phase when exporting the controlled quentity controlled variable
The 1st value and the 2nd value of the 1st storage device and the 2nd storage device is stored in enter the controlled quentity controlled variable
The step of row computing.
6. a kind of computer of calender control device, the calender control device possesses：Test section, the test section to because
To being calendered the thing for being calendered part caused by the periodic external disturbance produced in the calender that part is rolled
The variation of reason amount is detected；And computer, the computer is based on being calendered described in being detected as the test section
The variation of the physical quantity of part is come the control of the calender to the variation for suppressing the physical quantity for being calendered part
Amount carries out computing, and the computer is characterised by,
The computer is set to perform following steps：
The institute when variation for making the physical quantity detected by the test section and the variation for detecting the physical quantity
State the corresponding phase matching step of the phase of periodic external disturbance；
Variation for the physical quantity at corresponding each phase by the phase matching step is carried out
Filtering, and it regard the filter result as the 1st value and filter step that is corresponding with the phase and being stored in the 1st storage device；
The filter result obtained for each phase come pair corresponding with the phase is integrated or proportional integration,
This is integrated or value that proportional integration is obtained as the 2nd value and it is corresponding with the phase and be stored in the 2nd storage
The step of device；And
For exporting to the controlled quentity controlled variable of the calender, based on the corresponding and difference with phase when exporting the controlled quentity controlled variable
The 1st value and the 2nd value of the 1st storage device and the 2nd storage device is stored in enter the controlled quentity controlled variable
The step of row computing.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016005509A JP6579964B2 (en) | 2016-01-14 | 2016-01-14 | Rolling mill control device, rolling mill control method and program |
| JP2016-005509 | 2016-01-14 |
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| CN106964653A true CN106964653A (en) | 2017-07-21 |
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| CN201611180234.4A Active CN106964653B (en) | 2016-01-14 | 2016-12-20 | Calender control device, calender control method, and computer |
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| JP (1) | JP6579964B2 (en) |
| CN (1) | CN106964653B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110614277A (en) * | 2018-06-19 | 2019-12-27 | 株式会社日立制作所 | Machine control device, machine control method, and program |
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| EP3936248B1 (en) | 2020-07-07 | 2023-10-25 | Primetals Technologies Germany GmbH | Rolling taking into account frequency behaviour |
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| CN110614277A (en) * | 2018-06-19 | 2019-12-27 | 株式会社日立制作所 | Machine control device, machine control method, and program |
| CN110614277B (en) * | 2018-06-19 | 2020-12-18 | 株式会社日立制作所 | Machine control device, machine control method, and program |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6579964B2 (en) | 2019-09-25 |
| JP2017124428A (en) | 2017-07-20 |
| CN106964653B (en) | 2020-01-17 |
| DE102016224665A1 (en) | 2017-07-20 |
| DE102016224665B4 (en) | 2022-12-29 |
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