CN1105296A - Rolling mill control method and apparatus - Google Patents

Abstract

The invention relates to a control method and a device of a rolling mill. The invention can restrain a sharp change in the performance scale by inputting the accumulation of the last performance scale with the deviation worked out by using the difference of the state, the predicted value and the last value multiplied by a control parameter to a transmission mechanism and can also improve the rolling precision by executing a control model recalculated on the basis of the control parameter precisely and periodically to amend and overcome interferences and influences from the internal parameter changes in a self-adapting way after an exceptional error is determined to be abnormal or an operation state is determined to be unstable. In the method, when the deviation of the tension measured value of the relative target value comes within the preset range, the priority goes to a control for the board thickness; when the deviation of the tension measured value of the relative target value comes beyond the preset range, the priority goes to a tension control, thereby maintaining steady operation and improving the control precision as well.

Description

Rolling mill control method and apparatus

The present invention relates to the control mode of roller mill, particularly about following the stabilisation of the multivariable control system of controlling parameter modification.

The present invention relates to the rolling control system, particularly the self adaptation correction of relevant controlling model.

The present invention relates to the control of roller mill, particularly about the preferential control of thickness of slab and tension force.

The present invention relates to the roller mill control device, particularly about improving the FEEDFORWARD CONTROL mode of thickness of slab precision.

The present invention is relevant with the roller mill control device and the control method thereof of the multivariable Control that best servo constitutes.

The conventional art aspect, the first, the control of roller mill can divide into set up control and to thus the DDC(direct numerical control handled of the deviation that produces of fixed stable state (operating point)) two kinds.

At non-linear strong and operating point in the roller mill technological process that regular meeting changes; often implement to set up control with the decision operating point; and near its operating point, will control object and make linear approximation (modelling), in order to obtain desirable thickness of slab numerical value the control instruction of transmission mechanism is calculated.About this setting control, for example have in detail among distribution (S59 September) " theory of steel plate rolling and reality (p283-294) " of civic organization Japan iron and steel institute and discuss.

The running (steady running) of adopt setting up under setting values such as control instruction that calculating the obtains maximum speed state more than half with accounting for rolling time is corresponding.But, in the rolling processing of reality, can produce acceleration-deceleration running and interference etc., make between its actual as-rolled condition (instrumentation value) and the setting value and produce deviation.In order to eliminate deviation, can carry out transmission mechanism (screwdown gear and the roller drive set) control of DDC mode from this setting value.

In constituting the multivariable control system of DDC, a kind of STATE FEEDBACK CONTROL system is arranged.This is usually except the steady component of overlapping fixing value, carries out the system of high response control for eliminating the quantity of state deviation.Make up with this STATE FEEDBACK CONTROL system with for eliminating the feedback control system that controlled quentity controlled variable (instrumentation value) and the deviation between the control instruction value control, can form best servo, (the instrumentation autonetics can be compiled: control handbook automatically: the 1st p154) as everyone knows.

In other control system that constitutes DDC, also has the predictive feed forward control system.This be utilize can prediction change in time before carrying out control control instruction and thickness of slab etc. partly disturb, the control that these instructions and interference are considered in advance is so that raising control accuracy and stability.

Second, adopt the DDC Control System Design of multivariable control theory to exist to be difficult to and work out correct rolling model and according to the control model of this model, in case model is out of order, the strong controlled such problem that waits well of classic control mode of 1 input, 1 output will appear.

For this reason, for example the spy opens flat 1-133606 number proposition: exchange cover half type (rolling model) according to the error information of the actual value of roller mill and setting and revise, and by after the simplation examination, revise the method for setting up model when the secondary coiled material of control.

The 3rd, in the roller mill that disposes a plurality of rolling supports of continous way, for obtaining desirable product quality, to controlling of the thickness of slab of each support with tension force.Usually with the constant control of thickness of slab as preferential, for example be 70% when following of setting value, then carry out relative thickness of slab and preferentially control the tape of tension force and control.

On each support, have the roller drive set (motor) of control roll speed and the screwdown gear of control roll gap.When cold rolling, can change the speed of rolls aspect the control of thickness of slab, can change depressing position aspect the control of tension force.When hot rolling, operation in contrast.

But, have the mutual interference that side's variation can influence the opposing party between thickness of slab in the rolling phenomenon and the tension force, become the reason that reduces control accuracy.In addition, in tape tension control, the thickness of slab during this be can sacrifice, product quality and decrease in yield made.

Recently, the using multivariate control theory is controlled simultaneously to thickness of slab and tension force, gets rid of the phase mutual interference, and the rolling control that control accuracy is improved obtains practical application.

In the thickness of slab control of roller mill, each support that detect to form disturbs send into the thick change of side plate, and the timing under this thickness of slab interference reaches roll, apply the control instruction of eliminating this interference to screwdown gear and roller drive set, feedover and depress control and speed control.

But,, therefore in the timing of feedforward instruction, go wrong because the transmission mechanism of screwdown gear and roller drive set has the ineffective time of response.For example, Te Kaiping 3-165914 communique proposes: for the delay of depress control system, the thick deviation of side plate of sending to controlled quentity controlled variable in rolling action is carried out several some samplings, after again it being sent the mean value of the thick deviation of side plate and the average deviation value of last time and making comparisons, change control timing, it is minimum making deviation.

The 4th,, can enumerate and calculate roll No 27(1989 as an example in the past of the roller mill control of adopting best servo) the rolling control of record.This example is the control that the bar steel rider of tandem roller mill rolls, and depressing position, the place ahead tension force, roll rotational speed as quantity of state, as controlled quentity controlled variable, are constituted the control model of multivariable Control with thickness of slab, wide, the rolling load of plate and torque.

This example is considered and is utilized the mode of rolling load and tension force elongation mother metal to carry out rolling, will be used to control support roll self rotating speed of the place ahead tension force as quantity of state.In addition, as the thickness of slab of controlled quentity controlled variable, directly adopt the thickness of slab meter to carry out instrumentation.

First problem that the present invention will solve is: when the control of the thickness of slab of the tandem roller mill that is made of a plurality of rolling supports, roller mill speed changed to 1,000 hundreds of m/ minute scopes at+0m/ minute, and operating point also along with this speed, is made great changes.

Under this occasion, if by setting up control, change the control parameter of above-mentioned feedback control system and feedforward control system, and change control instruction, then the operational ton by the decision of feedback of status and predictive feed forward can sharply change, thereby makes the fast holding-down device of hydraulic of response etc. unstable because of this operational order jumpy produces action.When the worst, can because of tension force rapidly spending cause the sheet material in rolling to rupture.

The purpose that the present invention solves first problem is, a kind of roller mill control mode by STATE FEEDBACK CONTROL system and the response control of predictive feed forward control system is provided in above-mentioned so extremely strong roller mill of non-linearity is controlled.

Second problem that solves is: in above-mentioned conventional art, the parameter class of rolling model of not considering approximate expression is according to the difference of rolling state and inconsistent with truth, can not obtain fixed control accuracy.Therefore, promptly enable to improve the precision of the rolling action of carrying out under the stable states such as maximum speed of secondary coiled material, the as-rolled condition that also is difficult to avoid the variation because of foeign element and inner parameter to cause sharply changes the precise decreasing under the sort of abnormality, the astable operating condition when saying nothing of the deceleration of mill speed etc.

The purpose that the present invention solves second problem is, by the self adaptation correction of the control model in rolling, provides a kind of rolling control method and device thereof that improves rolling accuracy.

The 3rd problem that solves is: when the high accuracy DDC of using multivariate control theory Control System Design, must need the model of the rolling situation dynamic characteristic of correct assurance.But, when for example the part of rolling stock has textural anomaly or shape defect phenomenon, just be difficult to the correct dynamic characteristic of holding.In practice, according to approximate expression of Xi Er (Hill) etc., with the predicted value of adjustment model such as influence coefficient and the error between the measured value.And, because that rolling phenomenon has is very strong non-linear, therefore take around this operating point, to carry out the gimmick of linear approximation according to as-rolled condition decision operating point.

Therefore, under the occasion of in multivariable Control in the past, thickness of slab and tension force being controlled simultaneously, when in case model and influence coefficient are made a world of difference, will produce can not corresponding rolling situation variation get rid of the phase mutual interference control lower problem so that control accuracy occurs than the Greco-Roman Style of 1 input, 1 output.

Moreover, in the past in the multivariable Control, not giving one's full attention to the response time difference that has for roller drive set and screwdown gear, the problem of short-period control instruction can not be fully followed the tracks of in existence.

The 1st purpose that the present invention solves the 3rd problem is, provides a kind of and can control thickness of slab and tension force simultaneously, and the high accuracy that improves together of the control effect that thickness of slab control and tension force are controlled and stable rolling control method and device thereof.

The 2nd purpose that the present invention solves the 3rd problem is, a kind of corresponding speed difference that can effectively utilize between the driving member is provided, and the rolling interference that causes is got rid of in high response, and can improve the rolling control method and the device thereof of control accuracy.

The 3rd purpose that the present invention solves the 3rd problem is, a kind of roll milling technology such as cold rolling, hot rolling that is suitable for is provided, can be regardless of the transmission mechanism difference that adopts, the rolling control system of preferential control when being applicable to the tension force of controlling thickness of slab simultaneously with versatility and non-interference control.

The 4th problem that solves is: in above-mentioned conventional art, owing in rolling action, need often to ask the mean value of sending the thick deviation of side plate, with Correction and Control regularly, therefore arrive regularly before stable during can not obtain to control fully effect, processing expenditure is also big.And, because transmission mechanism to move different separately ineffective time, in screwdown gear and roller drive set, reckons without corresponding different response times, when instruction is sent in change to certain any thickness of slab with same timing, just can not obtain the abundant effect of FEEDFORWARD CONTROL.

The purpose that the present invention solves the 4th problem is, a kind of problem that can solve above-mentioned conventional art is provided, the thickness of slab data of instruction and rolling control method and device thereof that the control effect is improved can feedover to the transmission device change computing that respectively has different response times.

Another purpose that the present invention solves the 4th problem is, provide and make screwdown gear and roller drive set coordination with different response times, change the thickness of slab of generation and the interference of tension force with elimination because of thickness of slab, and improve the rolling control method and the device thereof of thickness of slab control accuracy.

The 5th problem that the present invention will solve is: in above-mentioned example, use the quantity of state of the place ahead tension force as best servo.But, when relatively the place ahead tension force and rear tension force are spent the influence of thickness of slab, exist the place ahead tension force influence to diminish, control the also little problem of effect.

On the other hand, do not notice that for controlled quentity controlled variable the rolling load meeting of adopting dependent variable causes the instability control that causes because of the rapid variation of tension force.

In addition, sending thickness of slab that the thick meter of side plate detects has rolling stock and moves to a large amount of ineffective times (about 500ms) between the thickness of slab meter under the roll.Therefore, the control output that produces according to thickness of slab under the roll will postpone this section ineffective time, the thickness of slab precise decreasing of corresponding mother metal interference etc. and the problem that product quality worsens occur.

The purpose that the present invention solves the 5th problem is, provide a kind of effectively and Min. select the quantity of state and the controlled quentity controlled variable of multivariable Control, high accuracy of forming by optimum servo mechanism and stable rolling control device and method thereof.

In order to realize the above-mentioned purpose of the present invention's first problem, structure of the present invention is as follows:

Promptly, for when parameter and command value (desired value) are controlled in change separately according to setting calculating, for the deviation of eliminating between the controlled quentity controlled variable of measuring in this command value and the institute's fixed cycle determines operational ton, thereby be controlled to the rolling mill control method of desired thickness of slab, it is characterized in that when measuring a plurality of quantity of state of rolling mill practice flow process with above-mentioned institute fixed cycle, to each quantity of state obtain and last sub-value between the state difference score value, multiply each other with this state difference score value with as the quantity of state feedback factor of one of above-mentioned control parameter again, calculate the operational ton deviation of feedback of status system; In each above-mentioned institute fixed cycle, to the instruction ahead value of calculating output according to above-mentioned setting and/or as one of quantity of state measured send into each thick etc. predicted value of side plate, obtain and above-mentioned value between the predicted difference score value and store successively before the time point in control, to control again time point and after (future) a plurality of operations the predicted difference score value and as the predictive feed forward multiplication of one of above-mentioned control parameter, obtain the operational ton deviation of Predictive Control System, then the operational ton deviation of above-mentioned feedback of status system and the operational ton deviation accumulative total of above-mentioned Predictive Control System are added in the operational ton of a last operation, output to the transmission mechanism of roller mill again.

The second problem purpose of the present invention is achieved in that for the deviation between the measured value of obtaining the quantity of state that detects according to the setting of rolling model decision with institute's fixed cycle and controlled quentity controlled variable, use again fixed control parameter this deviation is carried out FEEDBACK CONTROL, rolling mill control method with decision transmission mechanism operational order, anti-setting with above-mentioned rolling model is calculated, make fixed rolling parameter adapt to above-mentioned measured value, again according to make adapt to above-mentioned measured value decide rolling parameter, the institute of judging the rolling mill practice process decides state, and execution is used to determine the self adaptation correction of above-mentioned control parameter control model (equation of state).

Decide under the state above-mentioned, obtain the deviation between each setting corresponding, judge during astable running when the evaluation of estimate of obtaining according to these each deviates is surpassed predetermined threshold and/or during the acceleration and deceleration of mill speed etc. with the measured value of whole key elements of above-mentioned quantity of state and controlled quentity controlled variable or a part of key element.

Above-mentioned the 1st purpose of the present invention's the 3rd problem is achieved in that for the rolling mill control method of controlling thickness of slab and tension force simultaneously, allow thickness of slab control preferential when the deviation of the tension force measured value of desired value is in the predetermined tension range (threshold value) relatively, the scope that is in then allows tension force control preferential when outer.

Above-mentioned the 2nd purpose of the present invention's the 3rd problem is achieved in that for the transmission mechanism that makes screwdown gear and roller drive set moves the rolling mill control method of controlling thickness of slab and tension force simultaneously, and the non-interference of the transmission mechanism by the fast side of response speed is controlled and eliminated because of thickness of slab or the caused interference to tension force or thickness of slab of tension force control.

Above-mentioned the 3rd purpose of the present invention's the 3rd problem is achieved in that for being provided with and is the thickness of slab of eliminating actual measurement and tension force and the feedback control system controlled simultaneously of the deviation between the desired value separately, elimination is because of the non-interference control system of thickness of slab or tension force interference that control causes, the roller drive set of the screwdown gear that moves according to the control instruction of these control systems, and control the roller mill control device of thickness of slab and tension force simultaneously, it is had: according to the cold working or the hot worked difference that are suitable for and/or thickness of slab is preferential or tension force is preferentially controlled, to with the corresponding ride gain of the set thickness deviation of above-mentioned feedback control system, ride gain that the ride gain corresponding with the tension force deviation changes adjust member and according to above-mentioned screwdown gear and above-mentioned roller drive set responsive time constant, to the tension force non-interference ride gain corresponding with the set thickness deviation of above-mentioned non-interference control system, the non-interference ride gain that the non-interference ride gain of the thickness of slab corresponding with the tension force deviation is adjusted is adjusted member.

The above-mentioned purpose of the present invention's the 4th problem is achieved in that for to screwdown gear and roller drive set carry out FEEDFORWARD CONTROL separately, and the multistage support rolling mill control method of the thickness of slab of controlled rolling material and tension force, detect the depressing position of each support with institute's fixed cycle, roll speed, send side plate thick and and a back support between plate speed, send the above-mentioned plate speed that side detects according to last support, to sending the above-mentioned thickness of slab resume serial data that the thick detection position of side plate begins the corresponding storage in position till the back support and be shifted with above-mentioned, the new above-mentioned thickness of slab that detects of storage simultaneously, again from an above-mentioned back support side of above-mentioned resume serial data select with the above-mentioned screwdown gear response time given in advance in the suitable thickness of slab data of rolling stock displacement that move, and according to the thickness of slab data of this selection, obtain the instruction of depressing of delivering to the above-mentioned screwdown gear of depressing feedforward, according to the response time of above-mentioned roller drive set, obtain the speed command of delivering to the above-mentioned roller drive set of doing the speed feedforward according to the thickness of slab data of from above-mentioned resume serial data, selecting equally.

The above-mentioned purpose of the present invention's the 5th problem is achieved in that for being provided with the checkout gear that the actual value of a plurality of quantity of states of the roller mill that is comprised of a plurality of supports and a plurality of controlled quentity controlled variables detected with institute's fixed cycle and in order to eliminate by the roller mill control device of setting up the DDC control device that operating point that control device determines and the error between goal-setting value and the above-mentioned actual value control, above-mentioned DDC control device is by having: depressing position, rear tension force and the speed of rolls are carried out the STATE FEEDBACK CONTROL member of FEEDBACK CONTROL as quantity of state and have being consisted of sending side plate best servo thick and that rear tension force carries out the controlled quentity controlled variable FEEDBACK CONTROL member of FEEDBACK CONTROL as controlled quentity controlled variable.

And, above-mentioned controlled quentity controlled variable send thickness of slab under the roll that the thick employing of side plate infers according to the mass flow law by observation device.

If utilize the present invention who solves first problem, then operational ton in case and last sub-value between quantity of state, predicted value difference appear, then will control parameter and this difference value and multiply each other and can obtain the operational ton deviate, again with this deviate and last time operational ton add up, just can obtain operational ton.Because this is a kind of difference/accumulative total conversion, so the control action aspect of broad perspectives can not produce change, but the change of moment property can produce great difference.That is, multiplying each other by difference value and parameter to reduce the influence that parameter changes and command value changes, and thereafter, owing to being accumulated in operational ton last time, therefore, can limit the rapid variation of operational ton.

Secondly, if utilize the present invention who solves first problem, then partly utilize the command value before the control time point of having understood and send into side plate thick by FEEDFORWARD CONTROL, make decision to arriving the operational order of considering before a plurality of operations, to improve response and stability, therefore as control system integral body, when keeping high response, can realize the stable and high-precision control of nonlinear roller mill.

If utilize the present invention who solves second problem, then when judging the error that causes because of the deviation between quantity of state, controlled quentity controlled variable and its setting above certain value unusual, perhaps roller mill is in after the as-rolled condition of astable running, can carry out the control model adaptation correction of calculating again according to rolling parameter with accurate timing.

Its result, because can be corresponding to just in as-rolled condition jumpy and the as-rolled condition of knowing the astable running that will produce big change in advance, make control parameter online and real-time aspect reach optimization, therefore can avoid the foeign element of control action and the influence of inner parameter variation, and can improve rolling accuracy.

The of the present invention preferential control that solves the 3rd problem is by according to having or not the tension force deviation in deciding scope, relative the opposing party of a side of thickness of slab ride gain or tension force ride gain is improved realize.Particularly the tension range (threshold value) of the preferential control of conversion object divides each support and branch to decide according to the classification retaining of each tension force setting value of operating point change setting.Thus, can set threshold value, instant as-rolled condition is carried out best preferential control, thereby can together improve thickness of slab and tension force precision under the tension force deviation effects corresponding to the precision of operating point.In addition, owing to can monitor tension condition all the time, therefore can realize stable roller mill running to prevent its rapid variation.

If utilize to solve the of the present invention non-interference control of the 3rd problem, then by the fast transmission mechanism of response speed and cooperate under the phase place, the slow gearing of response speed is carried out non-interference control therefore can thoroughly eliminate interference, improve the control effect of thickness of slab and tension force.

If utilize to solve the roller mill control device of the present invention of the 3rd problem, then the preferential control of thickness of slab or tension force can be applicable to roller drive set control thickness of slab, with the cold rolling processing of screwdown gear control tension force and two kinds of technologies of hot rolling processing of control mode in contrast.In addition, since the actuating unit of non-interference control can also be applicable to the screwdown gear response answer speed be fast and in contrast to this roller drive set response speed be arbitrary situation among fast both, the structure of rolling control system is formed and change becomes easy.

If utilize to solve the present invention of the 4th problem, consider that then the response time that causes because of ineffective time and retardation coefficient is inconsistent in each transmission mechanism, the thickness of slab data of selecting the computing feedforward to instruct by correspondence and tracking plate speed and response time.As a result, can not rely on the response time and the plate speed of each transmission mechanism, meet the FEEDFORWARD CONTROL of thickness of slab change phase bit timing.

Secondly,,, therefore can realize the coordination control of two kinds of transmission mechanisms, can seek to improve control stability and thickness of slab precision to eliminate the tension change part that thickness variation was comprised because the breaker roll drive unit carries out FEEDFORWARD CONTROL.

If utilize the present invention who solves the 5th problem, then adopt the big undependent variable of rolling mill practice flow process influence degree as the quantity of state in the multivariable Control, when adopting the high response controlled rolling technological process of STATE FEEDBACK CONTROL system, adopt the controlled quentity controlled variable feedback control system to carry out the stable control of thickness of slab.

Particularly will than the big rear tension force of the control of the place ahead tension force in the past effect and for the speed of rolls of the preceding support of this rear tension force of control with depressing position as quantity of state, can improve the thickness of slab precision.In addition, owing in controlled quentity controlled variable, use tension value, can limit the rapid variation of tension force, realize not existing the stable operation of phenomenon such as steel plate fracture.And, owing to adopt presumed value under the roll in thick, therefore can there be the height response control that moves to the ineffective time of sending the thick meter of side plate, and can prevents the thickness of slab precise decreasing that causes because of interference etc. at the side plate of sending of controlled quentity controlled variable, improve the quality of products.

Fig. 1 is the functional structure chart of the rolling control device of the embodiment of the invention of solution first problem;

Fig. 2 is for using the structure chart of roller mill control system of the present invention;

Fig. 3 is the structure chart of rolling support;

Fig. 4 is the structural outline figure of the control system of employing tandem roller mill;

Fig. 5 is the illustraton of model of expression difference body function;

Fig. 6 is the ideograph of expression feedback of status body function;

Fig. 7 is the ideograph of expression integrating means function;

Fig. 8 is the functional structure chart of predict command control system;

Fig. 9 is the functional structure chart of predicted interference control system;

Figure 10 is the key diagram of expression feedback control system action;

Figure 11 is the key diagram of expression predict command control system action;

Figure 12 is the key diagram of expression predicted interference control system action;

Figure 13 is the structure chart of rolling control system that comprises the control model correcting device of the one embodiment of the invention that solves second problem;

Figure 14 is the action specification figure of roller mill;

Figure 15 is the key diagram of roller mill operating point;

The key diagram of operating point when Figure 16 changes for mother metal;

The key diagram of control action when Figure 17 changes for mother metal;

Figure 18 is the ideograph of explanation as the control system structure of the DDC controller of best servo composition;

Figure 19 is the functional-block diagram of event detection mechanism;

Figure 20 is the key diagram of the rolling control action of explanation present embodiment;

Figure 21 is the structure chart of the rolling control device of one embodiment of the invention of solution the 3rd problem;

Figure 22 is a functional-block diagram of representing FEEDBACK CONTROL member and non-interference control member in speed of rolls control instruction system in detail;

Figure 23 is a functional-block diagram of representing FEEDBACK CONTROL member and non-interference control member in depressing position control instruction system in detail;

Figure 24 is for describing the functional-block diagram of preferential control member and ride gain computing member in detail;

Figure 25 is the flow chart of preferential control member of expression and ride gain computing member processing sequence;

Figure 26 is the flow chart of the preferential control member processing sequence of the non-interference of expression;

Rolling system one was dynamically schemed when Figure 27 preferentially controlled for the thickness of slab of present embodiment;

Rolling system one was dynamically schemed when Figure 28 preferentially controlled for the tension force of present embodiment;

Figure 29 is the structure chart of the roller mill control device of one embodiment of the invention of solution the 4th problem;

Figure 30 is the ideograph of explanation thickness of slab tracking portion structure;

Figure 31 depresses the ideograph of revising thickness of slab tracking portion ineffective time for explanation;

Figure 32 revises the ideograph of thickness of slab tracking portion ineffective time for explanation speed;

Figure 33 is the flow chart of explanation present embodiment rolling control device action;

Figure 34 is the operational flowchart of explanation influence coefficient computation sequence;

Figure 35 is the operational flowchart of explanation speed command computation sequence;

Figure 36 depresses the operational flowchart of command calculations order for explanation;

Figure 37 depresses the timing diagram of instruction and screwdown gear response for explanation;

Figure 38 is the timing diagram of explanation speed command and roller drive set response;

Figure 39 depresses the timing diagram of other response of instruction and screwdown gear for explanation;

Figure 40 is the timing diagram of other response of explanation speed command and roller drive set;

Figure 41 is the structure chart of one embodiment of the invention rolling control device of solution the 5th problem;

Figure 42 is one by one the key diagram of formula control.

Figure 43 is the key diagram of control parameter in Fig. 1 structure and input signal relation;

Figure 44 is the key diagram of STATE FEEDBACK CONTROL system;

Figure 45 is the key diagram of controlled quentity controlled variable feedback control system;

Figure 46 produces the key diagram of mechanism for instruction;

Figure 47 is the key diagram of mass flow thickness of slab estimating device;

Figure 48 is for eliminating the key diagram of migration process;

Figure 49 is the key diagram of the rolling control action validity of expression present embodiment.

Below, solve the present invention the 1st embodiment of first problem referring to description of drawings.

Fig. 2 is the general structure chart of roller mill control device.Control object roller mill 1 is accepted to do from the control instruction 9 laggard action of control device 2.The quantity of state that control device 2 adopts by checkout gear 3 measuring roll milling trains 1 operating state produces the instruction to transmission mechanism 8.Roller mill 1 non-linear strong can not be suitable for the Linear Control mode.For this reason, control device 2 its structures comprise: set up control system 4; Accepted to carry out work after the desired value by above-mentioned setting control system 4, making the deviation from desired value is zero DDC control system 5; Be used to set up the rolling model 6 of control system 4 decision operating points; And be used for the output of self-test device 3, infer the necessary but observation device 7 of the quantity of state that can not directly measure of control.

Fig. 3 is the structure chart of expression roller mill.The support of roller mill 1 is made of 1 pair of work roll 10, central roll 11 and the back up roll 12 of subtend.On back up roll 12, be connected with screwdown gear 13,, change the interval of central roll 11 and work roll 10, can change the thickness of slab of rolling stock 14 by the position of control screwdown gear 13.On the axle of work roll 10, connect roller drive set 16 by geared system 15.Transmission mechanism 8 is made of these holding-down device of hydraulic 13 and roller drive set 16.

Fig. 4 is for being the schematic diagram of the rolling control system of object with the tandem roller mill.As modeled quantity of state, available thickness of slab detector 3-1 records sending the thick h of side plate, recording the tension force τ that acts on rolling stock 14, record rolling load P and record speed of rolls V with speed of rolls detector 3-5 with rolling load sensor 3-4 with tension detector 3-3 of rolling stock 14 with the operating state of the roller mill 1 of more piece support _RAnd, also the depressing position S that records with depressing position detector 3-6 can be substituted rolling load P and be used as quantity of state.Detect the plate speed that meter 3-2 measurement is used to follow the tracks of with plate speed.

DDC controller 5 is made up of following parts: feed back, make as-rolled condition keep the stable 5-1 of FEEDBACK CONTROL portion; Instruct and the 5-2 of FEEDFORWARD CONTROL portion of the FEEDFORWARD CONTROL of predicted interference; And will from the depressing position operational ton of this control part 5-1 and 5-2 and and speed of rolls operational ton carry out additional calculation separately, output to then as the screwdown gear 13 of transmission mechanism 8 and the 5-3 of addition portion of roller drive set 16.

Fig. 1 is the structure chart of the rolling control device 2 of 1 embodiment of the present invention of expression solution first problem.Except producing the mechanism 42, be the functional system figure of DDC controller 5 being made detailed expression as the control parameter correction mechanism 41 of setting up control system 4 parts and instruction.

Among Fig. 1, what the 51-1 of difference mechanism, feedback control strategies 52 and the integrating mechanism 53 of quantity of state formed maintenance roller mill 1 stable state is good stabilizer.And what also comprise controlled quentity controlled variable and instruction adds (subtracting) mechanism 54, feedback control strategies 55 and add operation mechanism 56, the 5-1 of FEEDBACK CONTROL portion of composition diagram 4.This also is a kind of best servo.

Secondly, the 5-2 of FEEDFORWARD CONTROL portion that is equivalent to Fig. 4 of follower 59-1,51-2 of difference mechanism that the instruction that produces mechanism 42 from instruction is followed the tracks of and instruction FEEDFORWARD CONTROL mechanism 57.And, also additional by the FEEDFORWARD CONTROL of sending into the predicted interference that the side plate thick 51-3 of difference mechanism, follower 59-2 and predicted interference FEEDFORWARD CONTROL mechanism 57 form by input.

The control model of tandem roller mill is delay and near various known equations local linearization operating point such as small variations formula, instrument measurement and small variations formula thereof, tension force and small variations formula thereof thereof with the delay of the time delay of load type, preceding sliding rate formula, plate speed and small variations formula, mass flow and small variations formula thereof, frame and small variations formula thereof, hydraulic means and small variations formula thereof, speed device, existing with (formula 1) such can show separately that the multimode equation of feature describes with general expression.

In the formula, A: sytem matrix, B: operation matrix, C: observing matrix, E: interference matrix, X: state vector, u: input (operational ton) vector, y: output (controlled quentity controlled variable) vector, d: interference vector, represent each vector with (formula 2) to (formula 5).But add the variable of the rolling support of expression of i letter.In addition, the symbol description of each formula is shown in table 1.

X _i=[X _I1, X _I2, X _I3, X _I4] ^T=[△ h _i, △ p _i, △ V _Ri, △ τ _Fi] ^T(formula 2)

U _i=[U _I1, U _I2] ^T=[△ S _Pi, △ U _Pi-1] ^T(formula 3)

E _i=[E _I1, E _I2, E _I3] ^T=[△ H _i, △ S _R1, d △ S _r/ dt] ^T(formula 4)

Y _i=[Y ₁, Y ₂] ^T=[△ h _i, △ τ _Fi] ^T(formula 5)

Annotate: in (formula 1) in (formula 5), ( ^T) the expression commutant

By above-mentioned formula, the equation of state of roller mill can extend out respectively following 4 kinds of quantity of states and 2 kinds of controlled quentity controlled variables are at quantity of state (x ₁-x ₄) aspect sends the thick deviation △ h of side plate _i, load deviation △ P _i, speed of rolls deviation △ V _RiWith send side tension force deviation △ τ _Fi, at controlled quentity controlled variable (y ₁, y ₂) there are thickness deviation and tension force deviation in the aspect.In addition, operational ton u is divided into depressing position instruction deviation △ S _Pi(U ₁) and speed of rolls instruction deviation △ V _Pi-1(U ₂).Also have, the control model is owing to adopt the design techniques of linear control system, and therefore available deviate system handles.Below, on the deviate difference value, indicate respectively triangle " △ " and inverted triangle "

" label.

Table 2 is the content of representing matrix A, B, C and E, and table 3 is its key element of expression, and table 4 is its key element of expression further.

The control model that above-mentioned equation of state was equal to when changing operating point according to sampled roller mill 1 state at every turn, by the parameter (each coefficient of equation of state) of control parameter correction mechanism 41 s operation control models, can revise the feedback factor F of feedback control strategies 53 and 55 _x, F _eAnd the feed-forward coefficients F of FEEDFORWARD CONTROL mechanism 57 and 58 _r, F _d

Regulate modern control theories such as theoretical and H ∞ control theory according to the best, can calculate the control parameter by fixed Li Kaqi equation with dividing each state.About this point, modern control technology (the 7th chapter 141-158 page or leaf; Soil paddy warrior, Jiang Shangzheng are outstanding altogether; The publication of industry books Co., Ltd., on April 26th, 1991) " and " system's control theory (the 6th chapter 222-256 page or leaf; The positive U.S. work of her rattan; Clear rolling hall society publishes, on May 20th, 1973) " in detailed description is all arranged.

Below, describe the action of the embodiment shown in Fig. 1 in detail.For with the equation of state of (formula 1) and unitized roller mill 1, detect the quantity of state (send side plate thick, depress load, the speed of rolls and send side tension force) of (formula 2) with the fixed cycle T of institute with being located at checkout gear 3 on each support.These quantity of states can be obtained difference value with last sub-value by the 51-1 of difference mechanism.In addition, the quantity of state xi of i support in the deviate system, as (formula 2), is provided by the deviate from setting.By setting system 4 computational rules value in advance.

Fig. 5 is the illustraton of model of key diagram 1 51-1 of difference mechanism structure.And the 51-2 of difference mechanism, 3 is essentially same structure.Difference mechanism 51 is provided with difference engine 120(123 according to input number (this example is 4)).Difference engine 120 by ineffective time mechanism 121 and adder 123 form, by (formula 6), (formula 7) like that to from directly being added in the input on the adder 122, carry out computing through mechanism's input of 121 ineffective time ［ i.e. the input of (k-1) T before 1 cycle ］, export difference value again

X _i( X _I1- X _I4Ineffective time, mechanism was the sampling period T(second of control system at ineffective time of 121).

X _Ij(K)=X _Ij(K)-X _Ij(K-1) (j=1 ,～, 4) ... (formula 6)

X _i(K)=[

X _I1(K),

X _I2(K),

X _I3(K),

X _I4(K)] ... (formula 7)

Fig. 6 is the ideograph of explanation feedback mechanism 52 structures.Difference value from the 51-1 of difference mechanism X _iIn multiplier 130 with (formula 8) shown in feedback factor F _xMultiply each other, can obtain the depressing position instruction composition U shown in (formula 3) by (formula 9) and (formula 10) again ₁With speed of rolls instruction composition U ₂Deviate △ U ¹ ₁With △ U ¹ ₂

$\mathrm{\Δ}{U}_i^l[\mathrm{\Δ}{U}_{\mathrm{il}}^l,\mathrm{\Δ}{U}_{i2}^l]T$

In the formula, DX ₁: send the thick difference value of side plate

H, X ₂: the difference value of sending side tension force

τ _f,

X ₃: the difference value of depressing load

P ₃,

X ₄: the difference value of the speed of rolls

V _R

On the other hand, produce (formula 11) directive command r(of institute thickness deviation value instruction △ h that mechanism 42 provides from instruction _RefWith tension force deviation instruction △ τ _FrefControlled quentity controlled variable y(with the roller mill 1 shown in (formula 5) in adder 54 sends the thick deviation △ h of side plate and sends side tension force deviation △ τ _f) obtain deviation ε by (formula 12).

r _i=[r _I1, r _I2] ^T=[△ h _Iref, △ τ _Firef] ^T(formula 11)

In the formula, ε _I1Be depressing position instruction composition, ε _I2Be speed of rolls instruction composition.This deviation ε is imported into feedback control strategies 55, with the feedback factor F shown in (formula 13) _eMultiply each other, can obtain the operational ton deviate △ U of depressing position instruction composition by (formula 14) and (formula 15) ² ₁Deviate △ U with speed of rolls instruction composition ² ₂

Again with the △ U of 56 fens each compositions of adding mechanism by (formula 16) self feed back in the future controlling organization 52 ¹ ₁With △ U ¹ ₂Carry out add operation.

Fig. 7 is the illustraton of model of explanation integrating means 53 structures.Be provided with and the corresponding integrating instrument 125 of each composition input from adding mechanism 56, in period T to by the input value △ U of discretization ₁Or △ U ₂The laggard line output of accumulative total.After the ineffective time of the input and output addition results before this of integrating instrument 125 usefulness adders 126 self feed back in the future mechanisms 52, addition was carried out in key element 127 output, new addition results is outputed to transmission mechanism 8 as operational ton U.In this example, screwdown gear 13, roller drive set 16 are exported depressing position operational ton U respectively ₁, speed of rolls operational ton U ₂If represent by the computing of the operational ton U of this adding mechanism 53, then be (formula 17) and (formula 18) with integrated form.

Like this, just can determine each operational ton of feedback control system 5-1, that is, and depressing position instruction deviation (the △ S of roller biting 13 outputs _Pi) and speed of rolls instruction deviation (the △ V of roller drive set 16 output _Pi).

Figure 10 adopts the timing diagram of feedback control system 5-1 effect for explanation.Control parameter correction mechanism 41 carries out instrumentation every some cycles to the state of roller mill 1, shown in this figure (a), at time t ₂And t ₄Make the coefficient F of feedback control strategies 52 _xChange.And the thickness deviation △ h that roller mill 1 is detected produces as the change shown in this figure (b).

The operational ton that the △ h that is fed produces was feedback factor F in the past _xForm the waveform of this figure (C) with the △ h back of multiplying each other; At time t ₂And t ₄Become stair-stepping instruction.At this moment, if ride gain F _xGreatly, then can make the rapid variation of instruction and cause the control system instability.

On the other hand, in reponse system of the present invention,, can obtain feedback factor F because the 51-1 of difference mechanism is set _xMultiply by with the difference of last sub-value [△ h(t)-△ h(t-1)] after the deviation command value, dwindle thereby change, and, in integrating means 53, by this deviation command value and command value addition last time are decided operational ton, therefore shown in this figure (d), operational ton can not produce rapid variation.

Below, structure and the action of the 5-2 of FEEDFORWARD CONTROL portion are described.FEEDFORWARD CONTROL can be divided into following predict command control system, predicted interference control system, also has the Predictive Control System that both are combined.

At first, the predict command control system is described.Because instruction produces mechanism 42 and calculates by setting up, can understand than the instruction of DDC control time point instructing of (future) more forward, therefore can shift to an earlier date output order.Below, the example that shifts to an earlier date 4 operation instructions with output describes.

Fig. 8 is a functional system figure of representing the predict command control system in detail, is made up of follower 59-1, the 51-2 of difference mechanism and instruction FEEDFORWARD CONTROL mechanism 57.Instruction r(K+3 before 3 operations of follower 59-1 input), at Z ineffective time that equates with sampling period (control cycle) T of control system ^-1In when keeping, in each control cycle, carry out reciprocal relay instruction and transmit, export r(K+2 then) r(K+1) and r(K).The r(K of final output) the common instruction of conduct is as described above in the input summer 54.

Each predict command can by the 51-2-1 to 51-2-3 of difference mechanism obtain respectively and operation instruction last time between difference.For example, the 51-2-1 of difference mechanism is at first obtaining the r(K+3 of this input) with keep last time operation r(K+3) ' difference of [=r(K+2)] after prediction of output instruction difference value

R(K+3).Equally, can export respectively by other the 51-2-2 of difference mechanism, 1

R(K+2),

R(K+1).

In instruction FEEDFORWARD CONTROL mechanism 57, the predict command difference value separately with the feed-forward coefficients F shown in (formula 19) _RMultiply each other, can obtain the deviate △ U of depressing position instruction composition operational ton by (formula 20) and (formula 21) ³ ₁Departure △ U with speed of rolls instruction composition ³ ₂

Use adding mechanism 56 again, on composition separately, add △ U from the 5-1 of FEEDBACK CONTROL portion by (formula 22) ₁, △ U ₂

Actual instruction r is the thickness deviation △ h shown in (formula 11) _RefWith tension force deviation △ τ _RefAs shown in Figure 8, predict command has tracking means and difference mechanism relatively separately.In addition, as the formula (21), feed-forward coefficients F _RWhen each operating point changes, set up usually and calculate, can consider thickness deviation △ h _RefWith tension force deviation △ τ _RefRevise under preceding separately 3 operations.

Figure 11 is the timing diagram of the predict command control system action of explanation present embodiment.Shown in this figure (a), present tension force instruction △ τ _oTowards beginning to change to (K+1), (K+2) from operation (K) in the future ...And, shown in this figure (b), can also use (K+4) feedforward coefficient F before changing _R

Under this occasion, shown in this figure (c), based on not using the tension force instruction and coefficient F of difference in the past _RThe speed command composition of long-pending operational ton, in (K+), can sharply change working procedure states, make PREDICTIVE CONTROL become interference and cause other control system instability.

To this, if utilize present embodiment, then can according to the difference value and the coefficient F of preceding operation _RThe long-pending operational ton that decides, and owing to consider modification of orders before 3 operations of operation (K), shown in this figure (d), the variation of operational order will become steadily, rapid variation as in the past can not occur.And, and only compare with the occasion of feedback control system 5-1, can avoid the operating lag that causes because of the employing difference value, can stablize and high-precision control.

The following describes the predicted interference control system.Shown in (formula 4), the thick deviation △ H of side plate, roll eccentricities deviation △ S are sent in predictable interference _rDeng, to send into the thick deviation △ H of side plate be that example describes but lift here.

When using the tandem roller mill, by preceding support send the thick detection meter of side plate 3-1(the 1st support the time for sending into the thick detection meter of side plate), back level support can know in advance that mother metal disturbs, therefore the measured value to preceding support stores, and follow the tracks of position under whether the rolling stock corresponding with this value arrive back grade support when the n operation the roll, PREDICTIVE CONTROL is carried out in interference to mother metal in the arrival time point.

Fig. 9 is a system diagram of representing the predicted interference control system in detail, is made up of difference engine 51-3, follower 59-2 and predicted interference FEEDFORWARD CONTROL mechanism 58.What record in the sampling period sends into the thick H(k of side plate), under the K operation arrives roll.Equally, next H(K+1) arrive in the K+1 operation.

At first, that obtains that the 51-3 of difference mechanism surveyed sends into the thick H(K+1 of side plate) and last time H(K) difference, then with difference value H(K+1) be stored in the trace memory of follower 59-2.Equally, before this, with the difference value of last time H(K), the difference value of last last time

H(K ₁) ... with the corresponding difference value of rolling stock under the roll

H(0) be stored in the trace memory.Being stored in difference value trace memory, that surpass under the roll can be rejected.

Send into the thick H(K of side plate) sampled after, in the K operation, send into the thick difference value of side plate by trace memory output H(K) and H(K+1), in predicted interference FEEDFORWARD CONTROL mechanism 58, with the feed-forward coefficients F shown in (formula 23) _dMultiply each other, obtain the deviate △ U of the operational ton of depressing position instruction composition by (formula 24) and (formula 25) ⁴ ₁Deviate △ U with speed of rolls instruction composition ⁴ ₂

Use adding mechanism 56 again, divide each composition and carry out additional calculation from the input of above-mentioned FEEDFORWARD CONTROL portion and predict command control section by (formula 26).

If utilize present embodiment, then owing to using difference value, even therefore at feed-forward coefficients F in interference _dWhen becoming very big, also can suppress the rapid variation of operational order.And operational order utilizes the difference value of 2 operations, for example, predicts mother metal when change on the operation in (K+1) operation, just produces the predicted interference instruction of considering the interference of K+1 operation according to previous K operation.

Figure 12 is the timing diagram of expression present embodiment predicted interference control system action.This figure (a) expression feed-forward coefficients F _dValue, K revises in operation.This figure (b) expression mother metal disturbs, and produces the change on the operation in operation (K+1).This figure (C) is disturbed and coefficient F by mother metal _dThe long-pending operational ton of predicted interference in the past that forms, when operation K and K+1, can produce because of the coefficient change and disturb the rapid variation that causes, make the control system action unstable.

In contrast, this figure (d) is the predicted interference operational ton of present embodiment, because operation K adopts difference value, and because operation K+1 considers to have the computing of the difference value of difference value and 2 operations, can limit the rapid variation of operational ton.

Thus, even when the predicted interference of present embodiment control causes the control parameter modification because of operating point changes, owing to import predicted interference with difference value, and take the difference value of a plurality of operations into account, and form the predicted interference instruction, therefore can stablize control to interference.

In above-mentioned predicted interference control system, only the thick H of side plate is sent in input, but also can be with the data that obtain by checkout gear 3 or observation device 7 before the control as input, for example roll eccentricities amount Sr etc.

In addition, in each sampling period, send into side plate thick (preceding support send side plate thick),, then can improve the response of The whole control system, and improve precision if carry out positive PREDICTIVE CONTROL like that according to above-mentioned with it as what quantity of state was obtained.When particularly in above-mentioned feedback of status system, adding the accumulative total member, can compensate response and descend.The present embodiment control device of both combinations when operating point and modification of orders, can carry out stable rolling control keeping high response and high-precision while.

Below, solve the embodiment of the invention of second problem again referring to description of drawings.

It is identical with Fig. 2, Fig. 3 to use roller mill control system structure chart of the present invention.

Figure 14 represents the relation of above-mentioned work roll 13 and rolling stock 14.Rolling stock 14 moves to the right side from the left side of this figure.Set sending into the thick H of side plate, sending the interval S of the thick h of side plate, work roll and the load P that is added on work roll 10 of rolling stock 14.In this tittle, what represent rolling load physical relation is the approximate expression of the Hill shown in (function 1).The physical quantity of subscript i letter representation i support in the multi-stage rolling machine system.In addition, the friction correction term of (function 1) is (function 2).

$P_i=b\·k_i\·k_i\·D_{\mathrm{pi}}\sqrt{R_i^{\′}\·(H_i-h_i)}$

(function 1)

In the formula, b: plate is wide

κ _i: the tension force correction term

k ₁I: average deformation resistance

D _Pi: the friction correction term

R _i: flat roller diameter

H _i: it is thick to send into side plate

h _i: it is thick to send side plate

$D_{\mathrm{pi}}=a_1-a_2\·r_i+a_3\·{\mathrm{\μ}}_i\·r_i\·\sqrt{1-r_i}\·\sqrt{1-r_i}\·\sqrt{\frac{R_i}{h_i}}\mathrm{...(2)}$

In the formula, a ₁: constant

a ₂: constant

a ₃: constant

μ _i: coefficient of friction

r ₁: reduction ratio

On the other hand, the instrument measurement formula can be used following formula (function 3) expression.Above-mentioned rolling model 6 can be represented with these (functions 1) to (function 3).

h _i=Si+(P ₁)/(K) ... (function 3)

In the formula, Si: depressing position (roll gap)

K: roller mill spring constant

Figure 15 is the curve map of expression (function 1) and (function 3) relation, and axis of ordinates is represented rolling load, and axis of abscissas is represented depressing position and thickness of slab.The intersection point of (function 1) and transverse axis is for sending into the thick H of side plate.The intersection point of (function 1) and (function 3) is an operating point, and the position of its transverse axis is as sending the thick h of side plate, and the position of the longitudinal axis is as load P.

As shown in figure 16, the thickness of slab of mother metal is from H _oBe changed to H _iThe time, rolling load type and instrument measurement formula intersection point are that operating point has produced variation, thickness of slab is from h _oBecome h ₁, load is from p _oBecome p ₁As a result, thickness of slab will the value of departing from objectives h.

For this reason, implement thickness of slab control, with the depressing position of mobile roller mill make thickness of slab be controlled to be decided in the precision.The changing unit of the instruction of this moment is △ S, as shown in figure 17, will depress the position of control device from S ₁Control to the S direction.As a result, the instrument measurement formula is the parallel solid line position that moves to from the position of dotted line, with the intersection point of load type from thickness of slab h ₁Move to thickness of slab h, from load P ₁Move to load p.

Like this, setting up control system 4 is exactly under various rolling conditions, and the intersection point of asking for rolling load type and instrument measurement formula is an operating point.As the concrete grammar that set up to calculate, can use the algorithm of asking for formula one root, for example ask for the inferior method of newton-granny rag etc. of the numerical solution of repetition.

Set up control system 4 according to the operating point in 6 pairs of each states of rolling model, offer DDC control system 5 after promptly setting calculates.On the other hand, but move near the scope of the linear approximation of DDC control system 5 operating point,, constitute so-called regulating system so that deviation is zero between setting of its controlled quentity controlled variable and quantity of state (operating point) and their measured value.Therefore, the control model of DDC control system 5 can be recorded and narrated by the following equation of state of obtaining as the deviate system that asks for the deviation that departs from setting.

Represent the instrument measurement formula of (function 3) and near Taylor expansion and represent partly that with minor variations the rolling load type of (function 1) can represent with (function 4) and (function 5) operating point with the deviate system.

△ h _i=△ S _i+ (△ P _i)/(K _i) ... (function 4)

In the formula, △ h _i: it is thick that the i support is sent side plate

△ S _i: i support depressing position

△ P _i: the rolling load of i support

K _i: i support roller mill constant

Can be guided out (function 6) from (function 4) and (function 5).

If when with 1 delay system the response of the screwdown gear 13 of transmission mechanism and roller drive set 16 being done to be similar to respectively, then be (function 7) and (function 8).

(d △ Si)/(dt)=1/ (T _Si) (△ S _Pi-△ S _i) ... (function 7)

△ S _Pi: the i support is depressed instruction

$\frac{\mathrm{d\ΔSi}}{\mathrm{dt}}=\frac{1}{T_{\mathrm{si}}}(\mathrm{\Δ}{S}_{\mathrm{pi}}-\mathrm{\Δ}{S}_i)$ ... (function 7)

△ V _Pi: the instruction of the i support speed of rolls

△ V _Ri: the i support speed of rolls

The rear tension force of roller mill can be with (function 9) expression, if then be (function 10) when asking for its minor variations part according to the quality streaming.

(d △ τ b _i)/(dt)=(E _i)/(L _i) (△ V _{O i}-△ V _Oi-1) ... (function 9)

H _iV _oi=h _iV _oi

△V _oi= 1/(H _i) ｛h _i△V _oi+△h _iV _oi-△H _iV _oi｝

(function 10)

(function 11), (function 12) are represented to send side plate speed and minor variations part thereof respectively, are sent into the minor variations part of side plate speed.

V _oi=(1+f _i)V _Ri

△V _oi=(1+f _i)△V _Ri+V _Ri△f _i

=1/ (H _i) { h _i△ V _Oi+ △ h _iV _Oi... (function 11)

△V _oi= 1/(H _i) ｛h _i(1+f _i)△V _Ri+ h _iV _Ri△f _i

+ (1+f _i) V _Ri△ h _i... (function 12)

With (function 11) and (function 12) substitution (function 9), then can draw (function 13).

(d △τb _i)/(dt) = (E _i)/(L _i) ［ (h _i(1+f _i))/(H _i) △V _Ri+ (h _iV _Ri)/(H _i) △f _i

+ ((1+f _i)V _Ri)/(H _I) △ h _i

+ (E _i)/(L _i) ［ (1+f _I-1) △ V _Ri-1-V _R-1△ f _I-1... (function 13)

The minor variations formula of sliding rate formula before (function 14) expression Taylor expansion.

If with (function 14) substitution (function 13), then can obtain (function 15).

In the formula, the information that equates of (function 16) expression is carried out comprehensively, can obtain (function 17).

△ τ _Fi=△ τ _Bi+1(function 16)

If with (formula formula 11) substitution (numerical expression 17), then be (function 18).

If these functional expressions are comprehensive, when representing, then be the equation of state of (function 19) with matrix form.

If use the symbol shown in (function 20) and (table 1) to represent the every matrix and the parameter vector of (function 19), at control cycle T _sDuring interior discretization, can obtain the equation of state of (function 21).Be somebody's turn to do the control model of (function 21) expression DDC5, carry out linear approximation by the matrix key element of asking on the operating point.

(d)/(dt) x = Ax+Bu

y=Cx

In the formula,

x = ［△S△VR△τb］ ^T

U=［ △ S _p△ V _P ^T(function 20)

Annotate: T _s: the time delay of screwdown gear

T _v: the time delay of speed control input unit

E: young's modulus L: interstand space K: coefficient of elasticity

X (k+1)=A _OX (k)+B _OU (k) ... (function 21)

In the formula,

Figure 18 is the functional-block diagram with the DDC control system 5 of best servo composition.Come the quantity of state X of self-test device 3 or finder 7 to be input to adding mechanism 20, can obtain with respect to quantity of state setting X from setting control system 4 _sThe deviate △ X of (operating point).This routine quantity of state is depressing position S, speed of rolls V _R, rear tension force τ _b

The deviate △ of quantity of state _xAfter being imported into proportion control mechanism 21, with feedback factor (proportional gain) f _xMultiply each other, form and depressing position composition (△ S _p) and speed composition (△ V _RP) each quantity of state control instruction corresponding (operational ton) △ U.

Equally, this routine controlled quentity controlled variable y promptly goes out thick h of side plate and rear tension force τ _b, available adding mechanism 22 is obtained relative setting Y _sThe deviate e(error of (desired value)), use integrating mechanism 23 and feedback factor (proportional gain) f again _eMultiply each other and carry out integration, form and depressing position composition (S _p') and speed composition (V _Rp') the corresponding control instruction U of each controlled quentity controlled variable _e

Instruction produces mechanism 24 will be corresponding to the control instruction △ U of quantity of state, corresponding to the control instruction U of controlled quentity controlled variable _eWith setting U from setting control system 4 _sDivide depressing position composition and the addition separately of speed composition, form the operational order U that exports screwdown gear 13 and roller drive set 16 to.

Wherein, the feedback factor f of control coefrficient _xAnd f _eIf when considering that the expansion matrix of (function 19) is separated well-known Lee's khaki equation, can obtain the feedback matrix f of (function 22) _x, f _eAs for the control calculation of parameter of setting up control system 4, existing argumentation in detail in for example native paddy warrior green grass or young crops " modern control theory ".

Because above-mentioned rolling load type (function 1) and be approximate expression near the equation of state (function 21) that is similar to the operating point with linearisation mechanism, can causing friction in rolling, coefficient (μ) and deformation drag (K) etc. set value and virtual condition is inconsistent.Therefore can not obtain desired control performance, be necessary to do the self adaptation correction according to as-rolled condition.

Figure 13 represents to solve the functional-block diagram of control model adaptation correcting device 10 of one embodiment of the invention of second problem.Correction and Control 10 starts the startup member 29 of self adaptation correction member when comprising according to the actual value of quantity of state x and controlled quentity controlled variable y with the self adaptation correction member 28 of on-line mode Correction and Control model and needs assessment as-rolled condition.

Explanation self adaptation correction member 28 earlier.Rolling parameter calculation mechanism 33 can be asked for by anti-setting account form the rolling parameter class that is difficult to equity with reference to the rolling model 35 of usefulness according to quantity of state x, the controlled quentity controlled variable y etc. of checkout gear input with by setting up control system 4.What this rolling parameter comprised rolling load answers correction factor Z certainly _Pi, depressing position zero point revise △ S _Oi, oil film thickness C _Pi, apportionment ratio compares a _iAnd preceding sliding rate compares f _AiDeng.

The calculating of these rolling parameters can be adopted the rolling load type (function 1) of rolling model and the Return Law of least square approximation.Below, with self adaptation correction factor Z _pBe example, the computational methods of rolling parameter are described.

Self adaptation correction factor Z _pBe a kind of rolling load P of prediction that absorbs actual rolling load P and obtain with rolling model ' between the coefficient of error.This error is because of not produced with the situation that model quantitatively shows.Predict that rolling load P ' being that a kind of plate with thickness of slab is wide waits the value of calculating after the measured value substitution (function 1) and (function 2), and set up the relational expression of (function 23) between the actual loading p of the rolling load detection meter of this time point.

P=Z _pP ' ... (function 23)

Self adaptation correction factor Z _pCan be according to shown in (table 2), with P ', P, Z _pMake n data and collect to calculate, to satisfy evaluation function (function 24).The minimal solution of (function 24) is as long as to variable Z _PCarry out 1 rank differential and get final product,, can obtain Z therefore according to (function 25) that obtain from this 1 rank differential expression _p

$\mathrm{Zp}=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}\frac{\mathrm{Zpj}}{n}\mathrm{...(25)}$

After the rolling parameter of obtaining in this manner was passed to setting control system 4, the setting that promptly can be used for was thereafter calculated.

On the other hand, in a single day linearisation mechanism 34 is transfused to the rolling parameter from rolling parameter calculation mechanism 33, will carry out (function 4) computing to (function 21) with reference to rolling model 35, be the matrix key element of equation of state (function 21) to obtain the control model.The well-known Li Kaji equation of matrix solution of 36 pairs of these state equation modes of control arithmetical organ is obtained the control parameter f _xAnd f _e, with the ratio mechanism 21 of renewal DDC control system 5 and the coefficient of integrating mechanism 23.

Secondly explanation starts member.Figure 19 is the functional-block diagram of event detection mechanism 31.Expanded state amount vector (depressing position S, speed of rolls V by checkout gear 3 input assembled state amounts and controlled quentity controlled variable _R, rear tension force τ _bWith send the thick h of side plate).And, by setting up the control system 4 inputs a reference value vector (S corresponding with expanded state amount vector _S, V _RS, τ _Bs, h _s), press the deviation that (function 26) obtains each key element with difference mechanism 301.

△ Z=Z-Zs=[△ s, △ v _R, △ τ _b, τ h]=[S-S _s, v _R-v _RS, τ _b-τ _Bs, h-h _s] ... (function 26)

Enlarge deviation state vector △ Z and be input to filtering mechanism 302, remove overlapping noise contribution in the vector.This removing is handled by the well-known equalizations such as rolling average of obtaining △ Z and is carried out.

Abnormality detection mechanism 303 obtains the evaluation of estimate that enlarges deviation state vector △ Z, outgoing event signal when this value exceeds certain value (threshold value).As evaluation of estimate, can calculate the mean square error ε of the expanded state deviation that produces by whole quantity of states and controlled quentity controlled variable shown in (function 24).Though also can ask for error ε, in sinuous rolling situation, still adopt the correct reflection state of method ability of present embodiment with regard to partial status amount or controlled quentity controlled variable.

$\mathrm{\&epsiv;}={\&Integral;}_0^T(\mathrm{\&Delta;}{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="941162176\_DRIMG14.png,941162176\_DRIMG2.png"\; state="\{\{state\}\}">S</figure-callout>}}^2+\mathrm{\&Delta;}{\mathrm{<figure-callout\; id="2"\; label="V\; R"\; filenames="941162176\_DRIMG14.png,941162176\_DRIMG2.png"\; state="\{\{state\}\}">V</figure-callout>}}_R^{}+\mathrm{\&Delta;}{\mathrm{\&tau;}}_{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="941162176\_DRIMG14.png,941162176\_DRIMG2.png"\; state="\{\{state\}\}">b</figure-callout>}}^2+\mathrm{\&Delta;}{h}^2)$ ... in (function 27) formula, c: constant

Actuating mechanism 31 starts self adaptation correction member behind the event signal of accepting from event detection mechanism 30, to revise the control parameter of DDC control system 5.In addition, actuating mechanism 31 started earlier and sets up control system 4 before starting self adaptation correction member 28, set up control system 4 according to its desired value of as-rolled condition correction.

Figure 20 represents to adopt the action of the rolling control system of present embodiment.

This figure (a) represents mill speed, this figure (b) and (c) expression with respect to a reference value h of thickness of slab h _sPassing.When mill speed descended, the rolling load P of (function 1) just increased, in the past then as this figure (b) shown in, and the thickness of increase thickness of slab.

In the present embodiment, shown in this figure (c), increase thickness of slab h after, when mean square error ε (oblique line part area 1.) surpasses threshold value in timing 2., outgoing event signal then, start-up control model adaptation correcting device 10.Figure (d) be from the depressing position a reference value (desired value) of setting up control system 4, and the action diagram of calculating corresponding with 2. operating point.This figure (e) expression feedback factor fx11 can realize optimization corresponding to operating point 2..Its result shown in this figure (c), can limit relative datum value h _sThickness deviation.

According to this feature,, the precision that adopts the parameter correction is improved owing to when needs Correction and Control model, can correctly set especially.In addition, can also remove the interference that unnecessary model changes the control system of handling and avoiding causing thus from.

The pad that the operating condition of roller mill has the acceleration mode of the steady running state of plate speed kept stable under the maximum speed state and plate speed and deceleration regime or a change of mother metal thickness of slab by etc. astable operating condition, can predict that as-rolled condition can produce cataclysm when astable.32 pairs of timing mechanisms come the plate speed of self-test device 3 and pad etc. to monitor, when astable operating condition continues, with institute's fixed cycle startup self adaptation correction member 28.

For example, under the acceleration mode of sampling period T and constant acceleration a, during the each increase of plate speed aT, timing mechanism 32 output triggering signals start rolling parameter correction mechanisms 33 by actuating mechanism 31.

According to this feature, under the cataclysmal astable operating condition of as-rolled condition, need the calculating again of control parameter, not according to above-mentioned event detection or preferentially carry out the simple startup decision of institute's fixed cycle.

Below, describe the embodiment of the invention that solves the 3rd problem in detail referring to accompanying drawing.

The summary structure sketch map of using rolling control system of the present invention is identical with Fig. 2.This control system is the optimal control system in the ride gain of the online DDC of change down controller 5.

Set up control system 4 and have setting value computing member 4-1, this member is according to rolling model 6, to each support desired value, the rolling condition of following rolling process and come the as-rolled condition of self-test device 3 corresponding operating point and influence coefficient to carry out computing.

(function 31) to (function 33) expression rolling mode.

$P_i=b\&CenterDot;k_i\&CenterDot;k_i{\&CenterDot;D}_{\mathrm{pi}}\sqrt{R_i^{\&prime;}\&CenterDot;(H_i-h_i)}$ ... (function 31)

In the formula, b: plate is wide

κ _i: the tension force correction term

k _i: the average deformation resistance

D _Pi: the friction correction term

R _i': flat roller diameter

H _i: it is thick to send into side plate

h _i: it is thick to send side plate

$D_{\mathrm{pi}}=a_1\&CenterDot;a_2\&CenterDot;r_i+a_3{\&CenterDot;\mathrm{\&mu;}}_i\&CenterDot;r_i\&CenterDot;\sqrt{1-r_i}\&CenterDot;\sqrt{\frac{R_i^{\&prime;}}{h_i}}\mathrm{...(32)}$

In the formula, a ₁: constant

a ₂: constant

a ₃: constant

μ _i: coefficient of friction

r _i: reduction ratio

η _i=S _i+ (P _i)/(K) ... (function 33)

In the formula, S: depressing position

K: roll spring constant

(function 31) of representing rolling load physical relation is the approximate expression of Hill, and its friction correction term is represented by (function 2).The intersection point of the instrument measurement formula of the rolling load curve of (function 31) and (function 3) is an operating point.

Set up control system 4 under various rolling conditions, employing Newton method etc. is calculated the operating point of this load type and the setting of instrument measurement formula.

5 pairs of DDC controllers are set up the setting value of control system 4 target value set, operating point etc. and are come the deviation of the measured value of self-test device 3 to carry out computing, and it is zero that the union control instruction makes its deviation.Transmission mechanism 8 makes roller mill 1 produce action according to this control instruction.

Figure 21 is for solving 1 embodiment of the present invention of the 3rd problem, for controlling the rolling control device modular form structure chart of the roller mill of being made up of multistage support.On each rolling support, be provided with thickness of slab as checkout gear 3 and detect meter 3-1, tension force and detect meter 3-2, roll speed and detect meter 3-3, depressing position and detect meter 3-4, depress load detection meter 3-5 and plate speed detects meter 3-6 etc.Send the thick h of side plate from what these detected meter _i, rear tension force τ _Bi, depressing position Si, speed of rolls V _Ri-1, depress load P i etc. and be input to and set up control system 4, according to the setting value of its as-rolled condition change operating point and influence coefficient etc.

The thick h of side plate sent by the rolling stock that thickness of slab detection meter 3-1 detects and tension force detects the rear tension force τ that counts the 3-2 detection _bBe input to the 5-1 of FEEDBACK CONTROL portion.Control part 5-1 obtain these input values with from the thickness of slab desired value h that sets up control system _s, τ _BsBetween deviation, ride gain and these deviations are multiplied each other separately carry out integration, the output control instruction.This control instruction becomes branch to form by depressing the instruction composition with speed command.

The ride gain (setting value) that FEEDBACK CONTROL part 5-1 sets can adopt the control model to calculate.Promptly, according near operating point to the rolling load type of the minor variations of (function 1) Taylor expansion part with ask for the relational expression of quantity of state x and operational ton U and controlled quentity controlled variable y with the instrument measurement formula that (function 31) explained by the deviate system, if represent, then can obtain equation of state as (function 34) of control model with general expression.

(d)/(dt) X _i=A _iX _i+ B _iU _i(function 34)

Y _i＝C _iX _i

In the formula,

A _i, b _i, C _i: the sytem matrix key element

X _i＝[△S _i△V _Ri-1△τ _bi] ^T

U _i＝[△S _Pi△U _pi-1] ^T

Y _i＝[△h _i△τ _bi] ^T

I=support order

By in control cycle, making equation of state (function 34) discretization, each operating point is obtained the matrix key element, can calculate the ride gain F of feedback control system 5-1.This computational methods are to separate the Li Kaqi equation according to the equation of state of discretization, have been understood by everybody in the articles such as " controlling handbook part 1 (154 pages) automatically " that association compiles automatically, so omitted.

Non-interference control section 5-2 input from control section 5-1 by the control instruction of thickness deviation form or the control instruction that forms by the tension force deviation, after non-interference ride gain and these deviations were separately multiplied each other, the non-interference control instruction of instruction composition or speed command composition was depressed in output.

After control output 5-3 divides composition addition separately with the control instruction of FEEDBACK CONTROL part 5-1 with from the non-interference control instruction of non-interference control section 5-2, speed command V _pOutputing to preceding support (i-1) speed control unit is roller drive set 8, depresses instruction S _pThe depressing position control device that outputs to this support (i) is a screwdown gear 9.

In Figure 21,, in practice, all be provided with roller drive set and screwdown gear on each support though preceding support i-1, current support i are illustrated roller drive set 8, screwdown gear 9 respectively.Also can allow above-mentioned speed command V _POutput to the roller drive set of current support (i).In addition, the tension force of control also can be the place ahead tension force τ _f(τ bi=τ f(i-1)).

Among Figure 21, as present embodiment characteristic part, include the preferential decision of the thickness of slab controlled simultaneously and tension force and meanwhile carry out non-interference control decision preferential control determination section 5-4, use from the adjustment coefficient of preferential control part 5-4 can preferentially revising with controlling, and be located at the ride gain operational part 5-5 of 5-1 of FEEDBACK CONTROL portion and non-interference control part 5-2 by setting up (when being generally the coil change) ride gain setting value that control system 4 sets.

Figure 22 is the ideograph that more detailed single expression speed command of 5-1 of FEEDBACK CONTROL portion and non-interference control part 5-2 produces system.Speed control output operational part 5-1-1, according to above-mentioned computing, by ride gain operational part 5-5, set shown in (function 35) with thickness deviation △ h _iThe ride gain Fh that multiplies each other _ViWith shown in (functional expression 36) with tension force deviation △ τ _iThe ride gain F τ that multiplies each other _ViThe former set man-hour in cold rolling adding, and the latter adds the setting in man-hour in hot rolling.

$\mathrm{\&Delta;Vhi}=\&Integral;F{h}_{\mathrm{vi}}\&CenterDot;\mathrm{\&Delta;}{h}_i$ (thickness of slab control speed command) (function 35)

$\mathrm{\&Delta;}{V}_{\mathrm{\&tau;i}}=\&Integral;\mathrm{F\&tau;vi}\&CenterDot;\mathrm{\&Delta;\&tau;i}$ (tension force control speed command) (function 36)

The non-interference control section of speed 5-2-1 includes the non-interference control of thickness of slab output operational part 5-2-11, tension force non-interference control output operational part 5-2-12 and delay circuit 5-2-13.As hereinafter will illustrating, it is that to answer speed be the non-interference control system that constitutes under the fast occasion for a kind of response of roller drive set 8.

Operational part 5-2-11 adds man-hour cold rolling, carries out in the process of the preferential control of tension force at feedback control system 5-1, sets ride gain Fdhvi, forms the non-interference control of thickness of slab output (the △ V of (function 37) _Dhi).Operational part 5-2-12 adds man-hour in hot rolling, carries out in the process of thick preferential control, sets ride gain Fd τ vi, forms the non-interference control output of tension force (△ Vd τ i) of (function 38).

△ Vdhi=Fdhvi △ S τ i ... (function 37)

In the formula, △ S τ i: the tension force deviation forms depresses instruction

△ Vd τ i=Fd τ vi △ Shi ... (function 38)

In the formula, △ Shi: thickness deviation forms depresses instruction

This non-interference control output △ Vdhi or △ Vd τ i by ineffective time circuit 5-2-13 after postponing Tdvi ineffective time, with export to roller drive set, carry out subtraction from the control instruction of feedback control system 5-1.According to roller drive set 8 and screwdown gear 9 responsive time constants and computing ineffective time Tdvi ineffective time, make the timing of non-interference control meet the phase place of disturbing generation.

Figure 23 is the ideograph of depressing instruction generation system of single expression FEEDBACK CONTROL 5-1 of portion and non-interference control part 5-2.Among the depressing position control output operational part 5-1-2, be provided with ride gain Fhsi that multiplies each other with thickness deviation △ hi shown in (function 39) and the ride gain F τ si that multiplies each other with tension force deviation △ τ i shown in (function 40).The former adds setting gain in man-hour in hot rolling, and the latter sets gain man-hour in cold rolling adding.

$\mathrm{\&Delta;Shi}=\&Integral;\mathrm{Fhsi}\&CenterDot;\mathrm{\&Delta;hi}$ (thickness of slab is controlled with depressing instruction) ... (function 39)

$\mathrm{\&Delta;S\&tau;i}=\&Integral;\mathrm{F\&tau;si}\&CenterDot;\mathrm{\&Delta;\&tau;i}$ (tension force is controlled with depressing instruction) ... (function 40)

Depress non-interference control part 5-2-2 include the non-interference of thickness of slab control output operational part 5-2-21, tension force non-interference control output operational part 5-2-22 and ineffective time circuit 5-2-23.As hereinafter will illustrating, it is that a kind of response speed of screwdown gear 9 is the non-interference control system that constitutes under the fast occasion.

Operational part 5-2-21 adds man-hour in hot rolling, carries out in the process of the preferential control of tension force at feedback control system 5-1, sets ride gain Fdhvi, produces the non-interference control output of thickness of slab (△ Sdhi) of (function 41).Operational part 5-2-22 adds man-hour cold rolling, in the process of carrying out the preferential control of thickness of slab, sets ride gain F _{D τ Si}, form the non-interference control output of tension force (△ Sd τ i) of (function 42).

△ Sdhi=Fdhsi △ V τ i ... (function 41)

△ Sd τ i=Fd τ si △ Vhi ... (function 42)

This non-interference control output is by circuit 5-2-23 delay ineffective time Tdsi ineffective time.

Above-mentioned non-each structure of interference control part makes non-interference ride gain change for effective (coefficient 1) or invalid (coefficient 0) by the adjustment coefficient by preferential control part 5-4 output described later.

Figure 24 is the functional-block diagram of the structure of preferential control part 5-4 of expression and ride gain operational part 5-5.Preferential control section 5-4 is made up of preferential control part 5-4-1 of tension force and the preferential control part 5-4-2 of non-interference.

At first, thickness of slab, the preferential control section 5-4-1 of tension force are described.Threshold value setting element 21 references ladder classification chart (table 7) in advance set value τ brefi setting threshold to setting up control system 4 at the rear tension force that each support is set.In classification chart, storage has the upper lower limit value of rear of all categories tension force setting value τ brefi and threshold value (tension range) ± τ bDij of relative this classification measured value τ bi.And threshold value also can be in the 0-τ bDij scope.

In addition, for the ease of grasping characteristic, also can substitute tension force deviation △ τ i with the tension force setting value than (% △ τ i=△ τ i/ τ brefi) with threshold.

Tension force deviate output link 22 will have been removed the tension force deviation △ τ i output of noise contribution with filter type after obtaining setting value τ brefi and the difference from the rear tension force measured value τ bi of tensometer 3-2.Preferential control determination means 23 judges whether deviation △ τ i is in the scope of threshold value (tension range) ± τ bDij, if in scope, then exports the thickness of slab priority signal, if outside scope, then exports the tension force priority signal.

Control is adjusted coefficient computing member 24 in order to carry out the preferential control of thickness of slab or tension force, and the adjustment coefficient G of each ride gain of the decision change FEEDBACK CONTROL 5-1 of portion outputs to ride gain operational part 5-5 then as described below.

This integral coefficient G is made up of 8 coefficient corresponding to (thickness of slab is preferential) and scope in Figure 22 and each ride gain shown in Figure 23 and the scope by each threshold value outer (tension force is preferential) decision.Promptly adjust the Gvhi1,2 of ride gain Fhvi; Adjust the Gv τ i1,2 of F τ vi; Adjust the Gshi1,2 and the Gs τ i1,2 that adjusts F τ si of Fhsi.Be added on the digital tail tag of each coefficient back, in the 1 expression scope, outside the 2 expression scopes.These adjustment coefficients separately depend on the relation of (function 43).

(function 43)

Gs τ i1＜Gs τ i2 ... depress the tension adjustment coefficient relation of control output

Gv τ i1＜Gv τ i2 ... the tension adjustment coefficient relation of speed control output

Gshi2≤Gshi1 ... depress the thickness of slab of control output and adjust the coefficient relation

Gvhi2≤Gvhi1 ... the thickness of slab of speed control output is adjusted the coefficient relation

That is (F τ concerns that vi) to be decided to be scope outer greater than in the scope, to depress tension force gain (the F τ si) relation of control output and the tension force gain of speed control output.Depressing thickness of slab gain (Fhvi) relation that the thickness of slab gain (Fhsi) of controlling output concerns and speed control is exported is decided to be outside the scope less than in the scope.Thus, can carry out thickness of slab in the scope and preferentially control, can carry out tension force outside the scope and preferentially control.Thereby, represent cold rollingly to add man-hour and hot rolling to add the relation of respectively adjusting between the coefficient man-hour as shown in table 8.

In addition, each thickness of slab adjustment coefficient and thickness deviation △ hi depend on the functional relation of (function 44).

(function 44)

Gshi1、2＝fs（△hi） Gvhil1、2＝fv（△hi）

Perhaps

Gshi1、2＝fs（％△hi） Gvhil1、2＝fv（％△hi）

In the formula, % △ hi=△ hi/hrefi (href: setting value)

That is, thickness of slab adjustment coefficient Gshi1 in the scope and Gvhi1 increase its numerical value to improve the gain of thickness of slab control according to thickness deviation.Extraneous occasion too.

Figure 25 is the flow chart that is expressed as the processing sequence of carrying out above-mentioned thickness of slab and the preferential control of tension force.At first, set tension force threshold value ± τ bDij(S101 corresponding to the tension force setting value τ brefi that has set), obtain the deviate △ τ bi(S102 of the rear tension force τ bi of actual measurement).Secondly, judge that deviate △ τ bi is whether in the scope of set threshold value ± τ bDij (S103).

When being in the scope, coefficient G is adjusted in decision, makes thickness of slab control preferential (S104).This is adjusted coefficient G and ride gain sets value and obtains online ride gain (S106) after multiplying each other.For example, can determine to adjust number G, thickness of slab control is become greater than the value of tension force control with ride gain (F τ si) with ride gain (Fhvi).

On the other hand, coefficient is adjusted in decision, when making deviate △ τ bi be in outside threshold value ± τ bDij scope, allows tension force control preferential (F τ si＞Fhvi) (S105).

Secondly, the preferential control part 5-4-2 of non-interference is described.Non-interference control device decision member 24 is made comparisons the responsive time constant TVi and the TSi of roller drive set 8 and screwdown gear 9 earlier, and the device of select time constant little (it is fast that speed is answered in response) is exported its non-interference then and adjusted the coefficient title.And, calculate with (function 45) and to make non-interference control regularly meet Tdi ineffective time that disturbs phase place according to the responsive time constant Tsi of the responsive time constant Tvi of roller drive set 8, ineffective time Td1i and screwdown gear 9, ineffective time Td2i.In addition, the answer speed of device and ineffective time are because therefore decision when the design of system or change can be predetermined the output from member 24.

Tdi=F(TviTsi)+| Td1i-Td2i| ... (function 45)

Non-interference is adjusted coefficient and is comprised: the non-interference ride gain of the thickness of slab Fdhsi of the non-interference ride gain of the thickness of slab of Figure 22 Fdhvi, the Gd1, the Gd2 that adjust the non-interference ride gain of each tension force Fd τ vi, Figure 23, adjust Gd3, the Gd4 of the non-interference ride gain of each tension force Fd τ si.The adjustment coefficient title of non-interference control device decision member 24 outputs can be decided by the relation of (function 46).

(function 46)

Tvi＜Tsi→Gd1，Gd2

Tvi＞Tsi→Gd3，Gd4

Usually, the response speed of screwdown gear 9 is fast when Tvi＞Tsi, therefore can select (the non-interference control output that computing transfers to screwdown gear) the non-interference ride gain of thickness of slab Fdhsi and adjust Gd3, the Gd4 of the non-interference ride gain of tension force Fd τ si.

The non-interference that coefficient decision member 25 is adjusted in non-interference to be provided according to member 24 is adjusted the coefficient title and is controlled priority signal from the thickness of slab control priority signal or the tension force of preferential control determination means 23, determine each non-interference to adjust coefficient by (function 47), output to ride gain operational part 5-5 then.

(function 47)

＜thickness of slab controls when preferential＞

Gd1＝0.0，Gd3＝0.0

Gd2＝1.0（Tvi＜Tsi），Gd4＝1.0（Tvi＞Tsi）

＜tension force controls when preferential＞

Gd2＝0.0，Gd4＝0.0

Gd1＝1.0（Tvi＜Tsi），Gd3＝1.0（Tvi＞Tsi）

By the way, respond fast screwdown gear 9 under the occasion of carrying out non-interference control, owing to change the non-interference control of tension force in cold rolling into, thereby Gd1 to Gd3 is 0.0 all, and having only Gd4 is 1.0 when thickness of slab is preferentially controlled, and is 0.0 when tension force is preferentially controlled.

Thus, preferential control part 5-4-2 decision of non-interference and the adjustment coefficient that non-interference ride gain multiplies each other are carried out non-interference control to utilize the fast transmission mechanism of response speed.

Besides the function of bright ride gain computing member 5-5.Ride gain computing member 30 is set the ride gain setting value (Frefi1,2) of the 5-1 of FEEDBACK CONTROL portion by setting up control system 4.As mentioned above, this ride gain setting value is the value of the equation of state of (function 4) expression being obtained with well-known Lee's khaki equation.Adjustment coefficient and these ride gains setting value of the coefficient of self-adjusting in the future computing member 23 multiply each other, and obtain as Figure 22 and various ride gains shown in Figure 23 with (function 48).

(function 48)

Fhvi＝Fhvrefi1、2·Gvhi1、2

Fτvi＝Fτvrefi1、2·Gvτi1、2

Fhsi＝Fhsrefi1、2·Gshi1、2

Fτsi＝Fτsrefi1、2·Gsτi1、2

Utilization is added on (numerical expression 48) digital tail tag mode of coefficient back separately, when representing that with 1 thickness of slab is preferentially controlled, when representing that with 2 tension force is preferentially controlled.If according to the relation of the adjustment coefficient shown in the table 8, when cold rolling, F τ vi, Fhsi are zero; Thickness of slab is controlled when preferential, Fhvi＞F τ si; Tension force is controlled Fhvi＜T τ si when preferential.In addition, cold rolling to add man-hour be zero, during by decision, from design object removes also harmless even hot rolling is added ride gain and the control system thereof used man-hour at construction systems.

Non-interference ride gain computing member 31 is set the non-interference ride gain setting value (Fdrefi) of non-interference control part 5-2 by setting up control system 4.As an example, (function 49) is illustrated in the non-interference ride gain of tension force when the screwdown gear response is fast in the cold rolling processing.Influence coefficient in the formula can provide by setting up to calculate.To adjust coefficient from the non-interference of non-interference adjustment coefficient settings member 25 by (function 50) and multiply each other, can obtain Figure 22 and various non-interference ride gain shown in Figure 23 with these ride gains setting values.

(function 49)

Fdτsrefi＝（Ki-

Pi/

hi）/Ki

In the formula,

Pi/

Hi: influence coefficient Ki: roll spring constant

(function 50)

Fdhvi＝Fdhvrefi·Gd1

Fdτvi＝Fdτvrefi·Gd2

Fdhsi＝Fdhsrefi·Gd3

Fdτsi＝Fdτsrefi·Gd4

Figure 26 is the flow chart of the non-interference ride gain decision process of the above explanation of expression.One explanation of subsidiary do, the response speed of screwdown gear 9 is under the fast situation in cold rolling processing, (S201), when preferentially controlling (S202) at thickness of slab, Gd4=1.0(S204), therefore can set non-interference ride gain Fd τ si=Fd τ srefi(S206), carry out the non-interference control of tension force with screwdown gear.On the other hand, control when preferential at tension force, Fd τ si=0, thereby can not carry out non-interference control.

Non-interference ride gain computing member 31 is according to the responsive time constant difference value Td from non-interference control device decision member 25, when the breaker roll speed device is fast time delay Td1i and the time delay Td2i of screwdown gear when fast carry out computing, be set in non-interference control member 5-2.Thisly carry out when being set in system's when design or change.In addition, in construction systems determined, also can no non-interference ride gain and control system thereof be got rid of from design object according to different occasions.

Figure 27 and Figure 28 are the dynamic figure of the rolling system of the present embodiment of the above explanation of expression.Figure 27 is the situation when depressing short and thickness of slab of specific rate control part response time control part response time and preferentially controlling.The system architecture of common cold rolling processing adopts dc motor depressing control part employing holding-down device of hydraulic at speed controlling portion, is equivalent to this situation.Among this figure, heavy line is partly represented preferential control, and fine line is partly represented the non-preferential control controlled simultaneously, the inexecutable control of dotted line expression for reference.

Figure 28 is the situation when depressing short and tension force of specific rate control part response time control part response time and preferentially controlling.The structure that is equivalent to common hot rolling system.

If utilize present embodiment, then control at the same time in the rolling control of thickness of slab and tension force, preferentially control if the tension force deviation of actual measurement can improve the thickness of slab ride gain when being in the threshold values scope, preferentially control if can improve the tension force ride gain when surpassing threshold range.And, owing to, therefore can follow the accurate preferential control that operating point changes to each support and to the meticulous setting threshold of each retaining level that tension force sets value.

Thereby, can improve thickness of slab and control precision of tension jointly, improving the quality of products, and can responsively control the tension force deviation by height, realize the roller mill running of rapid stabilisation.

Again owing to utilize the fast transmission mechanism of response, make phase place cooperate the interference phenomenon of the transmission mechanism of low-response, to carrying out non-interference control by the influence that is added on rolling stock tension force (interference) of thickness of slab control instruction generation or to the influence that is added on the rolling stock thickness of slab (interference) that the tension force control instruction produces, therefore interference be can get rid of in real time, thickness of slab or control precision of tension improved.

Moreover the rolling control device of present embodiment is not subjected at aspects such as hot rolling or cold rolling technology and drive mechanism performance that system architecture is inconsistent to be influenced, and can be extensive use of, therefore can be flexibly corresponding to system and arranging and change thereof.

The following describes the another embodiment of the present invention that solves the 3rd problem.The feedback control system 5-1 of Figure 21 only represents the controlled quentity controlled variable FEEDBACK CONTROL, but also can make the best servo of the STATE FEEDBACK CONTROL of adding controlled rolling technological process quantity of state deviation.That is, obtain depressing position and detect depressing position Si, the preceding support speed of rolls VR that roll speed detection meter 3-3 detects that meter 3-4 detects _I-1, the measured value of rear tension force τ b and the deviation between the setting separately, computing makes this deviation be zero rate control instruction, depress control instruction, exports with the rate control instruction of above-mentioned controlled quentity controlled variable feedback control system or after depressing the control instruction addition again.In addition, current support speed of rolls VRi is identical with the situation of preceding embodiment as quantity of state with the place ahead tension force τ f.

According to this feature, by responding fast STATE FEEDBACK CONTROL, can rapider inhibition thickness of slab and the interference of tension force, further improve the effect of the preferential control of the present invention.

As other embodiment, also has the structure that in controlled quentity controlled variable, adopts thickness of slab value under the roll.Adopt thickness of slab meter 3-1 shown in Figure 21 send the thick hi of side plate, send into support before the thick Hi(of side plate to send side plate thick), send into side plate speed Vei and send side plate speed Voi, in finder, carry out computing, calculate thickness of slab hmi under the roll based on (function 51) of mass flow law.

Hmi=VeiHi/Voi ... (function 51)

Obtain thickness deviation △ hi according to this hmi with from the desired value benchmark hrefi that sets up system, control instruction is carried out computing.

If utilize this embodiment,, the effect of the preferential control of the present invention is improved more because the control that rolling stock moves under the roll before the arrival of sending the thick meter of side plate 3-1 does not have delay phenomenon.

As another other embodiment, can form thickness deviation △ hi or tension force deviation △ τ i as the direct non-interference control system of input.Under this occasion, can revise (function 37), (function 38) or (function 41), (function 42) according to (function 52).

(function 52)

△ Vdh _i=Fdhv _i' △ τ _iE ^-Tdis(function 3 ')

△ Vd τ _i=Fd τ v _i' △ h _iE ^-Tdis(function 4 ')

△ Sdh _i=Fdhs _i' △ τ _iE ^-Tdis(function 7 ')

△ Sd τ _i=Fd τ s _i' △ h _iE ^-Tdis(function 8 ')

If utilize this embodiment,, can obtain same effect in case improve non-interference ride gain because therefore the integral operation when not carrying out control instruction can make the rate of change of input signal increase.

Below, solve the embodiments of the invention of the 4th problem with reference to description of drawings.

The general structure chart of roller mill control device is identical with Fig. 2, Fig. 3.

The work roll 13 of roller mill is also identical to situation shown in Figure 6 with Fig. 4 with the relation of rolling stock 14.

Figure 29 solves the rolling control device structure chart of one embodiment of the invention of the 4th problem for expression.

The as-rolled condition amount of representing roller mill 1 operating state of multistage support, available thickness of slab detector 3-1 detect rolling stock 14 thickness of slab, with plate speed detector 3-2 check-out console speed, with tension detector 3-3 detection effect in the tension force of rolling stock 14, detect rolling load, use speed of rolls detector 3-5 detection roll speed and with depressing position detector 3-6 detection depressing position with rolling load sensor 3-4.In addition, be that screwdown gear 13 and roller drive set 16 change the as-rolled condition of the roller mill 1 of multistage support by transmission mechanism 8.

Control device 2 is made up of 2-1 of FEEDFORWARD CONTROL portion and the 2-2 of FEEDBACK CONTROL portion.The 2-2 of FEEDBACK CONTROL portion is according to the as-rolled condition amount s operation control instruction of detections such as tension detector 3-3.As the example of FEEDBACK CONTROL 2-2, Britain steel research association (the Bisra)-AGC that utilizes rolling load and depressing position is arranged.

The 2-1 of FEEDFORWARD CONTROL portion by thickness of slab tracking portion 100, depress the thickness of slab tracking portion 101 of revising ineffective time, speed and revise thickness of slab tracking portion 102 ineffective time, depress feedforward operational part 103 and velocity feed forward operational part 104 is formed.Import the invalid response time of screwdown gear 13 and roller drive set 16 to the 2-1 of this FEEDFORWARD CONTROL portion by the input part 105 ineffective time of response.

Thickness of slab tracking portion 100 allow by preceding support promptly the i-1 support send the thickness of slab detector 3-1(i-1 of side) resume of the thickness of slab data that detect, corresponding to the position between i-1 support to the i support, with plate speed detector 3-2(i-1) storing in advance when controlling of detecting when header board speed moves.

Depress and revise thickness of slab tracking portion 101 ineffective time, invalid response time and plate speed detector 3-2(i-1 according to the screwdown gear 13 of input part 105 input ineffective time of response) detect in header board speed, infer the displacement of rolling stock 14 of the invalid response time of the screwdown gear 13 of flowing through, again from the thickness of slab resume data of thickness of slab tracking portion 100, select with the corresponding thickness of slab data of its displacement arriving under the i support roll distance of position.And, also can 105 be provided at invalid response adds 1 time delay such as delay in the time response time by input part ineffective time.

Equally, speed is revised invalid response time or response time and the plate speed detector 3-2(i-1 of thickness of slab tracking portion 102 according to the roller drive set 16 of input part 105 inputs ineffective time of response ineffective time) detect when header board speed, displacement to the rolling stock 14 of invalid response time of the roller drive set 16 of flowing through is inferred, again from the thickness of slab resume data of thickness of slab tracking portion 100, select to arrive the distance thickness of slab data corresponding under the i support roll with this displacement.

Depress feedforward operational part 103 usefulness and depress thickness of slab data and the predetermined feedforward gain of revising 101 selections of thickness of slab tracking portion ineffective time, calculate the FEEDFORWARD CONTROL instruction that inputs to screwdown gear.At this moment, depress feedforward operational part 103 according to the thickness of slab data of having considered 13 time delays of screwdown gear, deviation between these thickness of slab data and desired value is that thickness of slab change is when arriving under the i support roll, make screwdown gear 13 actions, to eliminate this thickness of slab change part, the output of instruction back is depressed in the union feedforward.

Velocity feed forward operational part 104 is revised thickness of slab data and the predetermined feedforward gain that thickness of slab tracking portion 102 is selected with speed ineffective time, calculates the FEEDFORWARD CONTROL instruction that inputs to roll device.At this moment, velocity feed forward operational part 104 is for the speed command that feedovers according to the thickness of slab data operation of having considered 16 time delays of roller drive set, breaker roll drive unit 16 carries out FEEDFORWARD CONTROL in the time of under the roll of the thickness of slab change arrival i support corresponding with these thickness of slab data, to eliminate the rolling situation change that causes because of this thickness of slab change part.

From each operational ton that transfers to screwdown gear 13 and each operational ton that transfers to roller drive set 16 of feedforward control section 2-1 and FEEDBACK CONTROL part 2-2 output, in addition portion 20, export after the addition separately as depressing instruction and speed command.

Figure 30 is made up of thickness of slab storage table 100-1 and thickness of slab data mobile control division 100-2 for the ideograph of explanation thickness of slab tracking section 100 structures.Thickness of slab storage table 100-1 will send the thickness of slab detector 3-1(i-1 of side from (i-1) support) distance (L) between to the roll of following 1 (i) support carries out n and cuts apart, corresponding with each cut zone to the distance under the roll of (i) support, current location to the sampled point of the rolling stock that is in position between this support is followed the tracks of, and the resume serial data of storage thickness of slab.

The tracking of the sampled point of each thickness of slab data is carried out according to following method.At first, will be from thickness of slab detector 3-1(i-1) should under the thickness of slab data and from being positioned at (i-1) and (i) speed of the plate between support detector 3-2(i-1) the fast value of plate deposit thickness of slab tracking portion 100 in the sampling interval of some cycles.Again its plate speed value is delivered to thickness of slab data mobile control division 100-2.

In thickness of slab data mobile control division 100-2, when taking a sample, the detection of last time lights, and rolling stock 14 is estimated to be the displacement that has moved calculates.And, in cut zone, will and exist the thickness of slab resume serial data among the thickness of slab storage table 100-1 to transmit towards (i) support direction in advance corresponding to each position between support corresponding to this displacement.

For example, imagination is estimated to be the situation that has moved distance 1.At this moment, at first, eliminate and the corresponding thickness of slab data in distance 1 position, position under the i support.Then, will upgrade as the thickness of slab data corresponding from the next one storage thickness of slab data of i support distance 1 with position under the i support.Like this, the data of thickness of slab storage table 100-1 are just upgraded successively.Each thickness of slab of resume serial data finally is moved to each storage zone of thickness of slab storage table 100-1 under the state of the current location of sampled point corresponding to rolling stock.In addition, the thickness of slab data-storing that detects of current point is corresponding to thickness of slab detector 3-1(i-1) in the storage zone of position.

Being stored between the support in the thickness of slab storage table 100-1 thickness of slab data of position and this position is sent to depress and revises thickness of slab tracking portion 101 ineffective time and speed is revised thickness of slab tracking portion 102 ineffective time.

Figure 31 depresses the functional-block diagram of revising thickness of slab tracking portion 101 structures ineffective time for expression, by screwdown gear configuration part ineffective time 101-1, the ineffective time 101-2 of distance operation portion, the selected 101-3 of portion of thickness of slab data and revise the thickness of slab storage 101-4 of portion and form.

At first, be stored in the screwdown gear configuration part ineffective time 101-1 ineffective time of the screwdown gear 13 of input part 105 inputs ineffective time of response.Plate speed detector 3-2(i-1) the plate speed value that detects is depressed ineffective time in the 101-2 of distance operation portion of revising thickness of slab tracking portion 101 ineffective time with being transfused to ineffective time of screwdown gear 13.

Ineffective time, the 101-2 of distance operation portion obtained the displacement of the rolling stock 14 that screwdown gear moves in ineffective time according to above-mentioned screwdown gear ineffective time with when header board speed value, delivered to the thickness of slab data then and selected the 101-3 of portion.

The selected 101-3 of portion of thickness of slab data revises tracking according to the displacement in the ineffective time of the thickness of slab resume data of thickness of slab tracking portion 100 inputs and screwdown gear 13.Promptly, under the i support roll in the thickness of slab resume serial data of upstream side, to be equivalent to the thickness of slab data (△ H(n) displacement, corresponding with the distance under roll of screwdown gear ineffective time etc.) remove, the position, downstream side front that makes remaining serial data is corresponding under the i support roll and move, and is stored in and revises in the thickness of slab storage 101-4 of portion.From then on revise and by in the thickness of slab data of storing with i support roll under corresponding new △ H(n) deliver to and depress the operational part 103 that feedovers.

Depressing feedforward operational part 103 utilizes the relational calculus conduct of (function 64) to (function 66) to depress the change amount of the depressing △ S of instruction.Depress change amount △ S, send into the thick change interference of side plate △ H, can represent by (function 64) as the tension change amount △ τ b of rolling internal state amount and as the relation of sending the thick change of side plate △ h of controlled quentity controlled variable.

In the formula, △ h: support is sent the thick variation of side plate

△ S: depress the change amount

△ τ b: tension change amount

△ H: support is sent into the thick change of side plate and is disturbed

: for the influence coefficient of sending the thick variation of side plate of depressing change

: for the influence coefficient of sending the thick variation of side plate of tension variation

: for the influence coefficient of sending the thick variation of side plate of sending into the thick change of side plate

In (function 64), suppose tension force no change (△ τ b=0), then can obtain (function 65).

Because the target of control is otherwise sends the thick change of side plate (△ h=0), therefore depresses the change amount and can obtain by (function 66).

At the employed △ H of this (function 66) is corresponding to disturbing △ H(n with the thick change of side plate of sending under the roll of depressing after revising thickness of slab tracking portion 101 correction parts ineffective time ineffective time).

Figure 32 revises the functional-block diagram of thickness of slab tracking portion 102 structures ineffective time for expression speed, by speed device configuration part ineffective time 102-1, the ineffective time 102-2 of distance operation portion, the selected 102-3 of portion of thickness of slab data and revise the thickness of slab storage 102-4 of portion and form.

At first, be stored in speed device configuration part ineffective time 102-1 the ineffective time of the roller drive set 16 of input part 105 inputs ineffective time of response.Plate speed detector 3-2(i-1) the plate speed value that detects is with being imported into ineffective time of roller drive set the 102-2 of distance operation portion.

In the ineffective time 102-2 of distance operation portion, the displacement according to obtaining the rolling stock 14 that moves in ineffective time at roller drive set in above-mentioned speed device ineffective time and the current plate speed value is sent to the thickness of slab data then and selectes the 102-3 of portion.

The selected 102-3 of portion of thickness of slab data according to from the thickness of slab resume data of thickness of slab tracking portion 100 and from ineffective time the 102-2 of distance operation portion displacement revise tracking.Promptly, under the i support roll from the thickness of slab resume serial data of upstream side, to and be equivalent to the corresponding thickness of slab data of the roller drive set distance displacement between ineffective time, under roll (△ H(n) etc.) remove, the position, front that makes its remaining serial data downstream side is corresponding under the i support roll and move, and is stored in and revises in the thickness of slab storage 102-4 of portion.from then on revise and by in the thickness of slab data of storing with i support roll under corresponding new △ H(n) deliver to velocity feed forward operational part 104.

Velocity feed forward operational part 104 adopts the speed change amount △ V of the relational calculus of (function 67) to (function 69) as speed command _RSpeed change amount △ V _R, depress change amount △ S, send into that △ H is disturbed in the thick change of side plate and as relation available (function 67) expression of the tension change amount △ τ b of rolling internal state amount.

In the formula, △ V _R: speed change amount

△ S: depress the change amount

△ τ b: tension change amount

△ H: support is sent into the thick change of side plate and is disturbed

: for the influence coefficient of the tension variation of depressing change

: for the influence coefficient of the tension variation of velocity variations

: for the influence coefficient of the tension variation of sending into the thick change of side plate

In the relation of (function 67), depress the instruction of depressing that change amount △ S becomes feedforward.Therefore, with erection rate revise that thickness of slab tracking portion sends here ineffective time ineffective time part send into the thick change of side plate (△ H), infer depressing to specify to make according to (function 66).If this is inferred substitution as a result (function 67), then form (function 68).

State in the use when depressing instruction, suppose no tension change, then can obtain (function 65).Therefore, feedforward speed command purpose is to suppress to disturb the rolling phenomenon change that produces because of sending into the thick change of side plate.That is, in (function 68),, make △ τ b=0 with the instruction of (function 69) arithmetic speed.

In (function 69), △ H is revised for the ineffective time of speed being revised thickness of slab tracking portion 102 ineffective time and being sent here, with the i support under the corresponding thick change interference of the side plate △ H(n that sends into).

Figure 33 is the flow chart of rolling control device (Figure 29) action of the above-mentioned present embodiment of explanation.

Operation S1, measure in fixed sampling period each support to send into side plate thick, go back check-out console speed simultaneously, be stored in plate speed tables of data D1 then.Corresponding to the thickness of slab instrumentation meter 3-1(i-1 that sends side from the i-1 support) the thickness of slab data of rolling stock rolling till to the i support roll are as the resume serial data.Be stored in the thickness of slab Track Table according to measuring sequence.

The thickness of slab data of this new survey are followed the tracks of by the thickness of slab of operation S2, the serial data that is stored in before this in the table is moved towards downflow direction, and be stored in the storage zone of blank.This move is plate speed data according to this measurement, and be corresponding with the distance of mobile rolling stock between the sampling interval from last time to this, and each regional data of table are shifted over successively.And, under roll, begin to become dirty data and from table, be eliminated.

Operation S3 for revising the ineffective time of screwdown gear 13, according to screwdown gear time delay (D2) of being stored in advance and current plate speed data (D1), selects the necessary thickness of slab data of FEEDFORWARD CONTROL from the thickness of slab tracking data.That adopts then that this selects sends into the thick data of side plate, obtains in operation S5 and depresses instruction.Depress the influence coefficient (D4) that instruction can be calculated when setting up, calculate according to (function 66).

Equally, operation S4 for revising the ineffective time of roller drive set 16, according to the time delay (D3) of the roller drive set that is stored in advance and current plate speed data (D1), selects the necessary thickness of slab data of FEEDFORWARD CONTROL from the thickness of slab tracking data.

Operation S6 infers because of depressing the influence to tension force that operation produces.This is to depress instruction and speed command in order to have a competition, owing to change with depressing as the tension force of as-rolled condition, can disturb thickness of slab, be with its influence of speed command correction.Because of depress that operation produces to the influence of tension force by (function 66) according to influence coefficient (D4) with send into the thick data of side plate, infer the depressing position change, and according to inferring in the 1st the model on the right of (function 67).Use by this depressing position to change the influence coefficient (D4) that calculates when the presumed value, the operation S4 that impact are selected to send into thick data of side plate and setting, can obtain speed command by (function 69).

Instruction is depressed in the feedforward that S5 obtains, and the control of moment corresponding under by S3 time corrected thickness of slab change value and roll (have only ineffective time faster than reality) is output to screwdown gear regularly the time.Equally, the control of the speed command that S7 obtains moment corresponding (have only ineffective time faster than reality) under by S3 time corrected thickness of slab change value and roll is output to roller drive set regularly the time.

The output of screwdown gear and each control instruction of roller drive set is regularly synchronous with the sampling period, obtains at synchronization.But,, regularly can change by ineffective time separately as described above with the corresponding control of depressing instruction and speed command of rolling stock same point according to present embodiment.Thus, thickness of slab change and the tension change that causes thereof find expression under the roll, can make screwdown gear and roller drive set produce action simultaneously, can reliably eliminate its influence.

Figure 34 flow chart is that explanation is with setting up that control system 4 defines (function 64), (function 67) and being located at the flow process that the influence coefficient among Figure 33 tables of data D4 calculates.

Set up control system 4 when each change product size and material, to the speed of rolls of the roll gap initial set value in each support of roller mill, steady component setting value, send tension force between the thick setting value of side plate, load set value and support etc. and calculate (SS1).

Secondly, be calculating influence coefficient, in calculated setting decision send into that side plate is thick, the minor variations amplitude (SS2) of depressing position, the speed of rolls.To this, for example can consider small change setting in setting ± 5% scope etc.The negative direction of each small variations amplitude of the SS2 decision of extending out from each setting (send into that side plate is thick, depressing position, the speed of rolls) is set up the change amount calculate (SC1-1).

Equally, each the small variations amplitude with SS2 decision being added in positive direction on each setting (send into that side plate is thick, depressing position, the speed of rolls) sets up the change amount and calculates (SC1-2).According to the change amount of respectively setting up that in SC1-1 and SC1-2, adds small variations (send into that side plate is thick, depressing position, the speed of rolls) with set up the rolling therory formula of using in the control and calculate and send the thick and rear tension force (SC2) of side plate as the as-rolled condition amount.

Secondly, calculate relatively the as-rolled condition amount calculated according to the change amount of respectively setting up that does not add small variations (send into that side plate is thick, depressing position, the speed of rolls) send that side plate is thick, the as-rolled condition amount of rear tension force and the change amount of respectively setting up that is added with small variations calculated by SC2 (send into that side plate is thick, depressing position, the speed of rolls) send that side plate is thick, rear tension force poor, calculate again relative SS2 decision send into that side plate is thick, the ratio (SC3) of sending the thick and rear tension variation of side plate of each as-rolled condition amount of depressing position, speed of rolls small variations amplitude.The variation ratio that this SC3 calculates is an influence coefficient.

The relevant speed command of Figure 35 calculates, i.e. the S6 of relevant Figure 33, the detail flowchart of S7.Can be according to the order computation influence coefficient (SV1) that illustrates among Figure 32.In addition, revised thickness of slab tracking data ineffective time that speed control unit 16 is had is worked out (SV2).Secondly, the influence coefficient that calculates according to SV1 and carry out infer (SV3) of tension change △ τ b in the thickness of slab data of erection rate control part ineffective time.

This tension change presumed value △ τ b ' is included as and eliminates send into that the thick interference of side plate △ H carries out depressed the tension change △ τ b ' that instruction produces and sent into the thick change of side plate by feedforward and award the tension change △ τ b that rolling phenomenon influence causes ", can be according to the linearizing relational expression of rolling therory formula (function 67) is inferred.Secondly, using the tension change △ τ b computing of being inferred is the speed command V that eliminates this tension change _P(SV4).

Figure 36 is for representing to depress the flow chart of command calculations (S5) in detail.At first, can calculating influence coefficient (SP1).In addition, work out (SP2) to depressing revised thickness of slab tracking data ineffective time that control device 13 has.Then, the influence coefficient that calculates according to SP1 and revised the thickness of slab data that speed controlling portion divides ineffective time is calculated as to eliminate and sends into the thick change of side plate and disturb that △ H's depress instruction △ Sp(SP3).The command calculations of depressing of this moment is according to rolling therory formula linearizing (function 65).

Figure 37 depresses the timing diagram of caused screwdown gear 13 responses of instruction for the feedforward of explanation present embodiment.Shown in this figure (a), under roll and constantly during t2, send into the thick step-like △ H that is of side plate and change.The side of sending of mmi machine seat is measured this and is sent into the thick change of side plate △ H, when the tracking corresponding with plate speed, though under the moment, t2 was corresponding to roll, but Td part ineffective time of screwdown gear 13 is sent earlier, revised like that under when moment t1, arriving roll just according to whether.

Therefore, shown in this figure (b), corresponding moment t under the roll that begins to see thickness of slab change △ H ₁, the time select this △ H, carry out computing to depress instruction △ SP according to the feedforward of (function 66), and output to screwdown gear 13.Its result, shown in this figure (c), screwdown gear 13 moves for eliminating this change under thickness of slab change △ H has arrived roll in fact the time.Under this occasion, be Ve(m/sec if establish plate speed), then at moment t ₁The time select to be equivalent to the thickness of slab change of point of the rolling stock of 1=Ve * Td distance under the roll to upstream side.

The timing diagram that the roller drive set 16 that Figure 38 adopts the feedforward speed command of present embodiment to produce for explanation responds.Shown in this figure (a), the thick change of the side plate △ H that sends into of step-like arrives when moment t2 under the occasion such under the roll, as this figure (b) with (c), depress instruction and only when the fast moment t1 of Td1 ineffective time of response, send instruction, screwdown gear moves when moment t2, eliminates and sends into the thick change of side plate.

When generation is moved to depressing of thickness of slab change, shown in this figure (d), can produce the tension variation △ τ b that follows depressing position to change and send into the thick change of side plate.To send side plate thick because this tension variation △ τ b has influence on, in order to eliminate this influence, and amount of inferring that depressing position is changed with (function 69) and send into the feedforward speed command △ V that the thick change of side plate is set _RCarry out computing.

But, therefore identical because roller drive set 16 has Td2 ineffective time of response with the situation of depressing instruction, when moment t2, send into when side plate is thick to be the step-like variation, shown in this figure (e), from moment t ₂To the fast moment t of Td2 ₃Computing and output speed instruction △ V _PIts result, shown in this figure (f), roller drive set 16 is at moment t ₂In time, move to eliminate tension variation △ τ b.Be used for speed command △ V _PThe thickness of slab of computing change △ H, support is sent in the serial data of thickness of slab resume data that side is measured and that follow the tracks of according to plate speed, the before Td2 of sending and is estimated as constantly before selecting ₂With corresponding thickness of slab data under the roll.

Figure 39 for respect to step-like send into the thick change of side plate, the another kind of timing diagram that moves of present embodiment screwdown gear be described.In this example, screwdown gear 13 has ineffective time and is added with the response time TL of delay.Shown in this figure (a), t under roll and constantly ₃The time send into that side plate is thick to be under the situation that step-like △ H changes, shown in this figure (b), depress instruction △ SP, response time TL is fast, at moment t ₁The time send instruction, shown in this figure (c), screwdown gear 13 moves sends into the thick change of side plate with elimination.

Example when Figure 40 has response time TL2 equally for roller drive set 16 is the timing diagram with respect to the time relationship of sending into thick change explanation speed command of side plate and speed of rolls response of step-like.

The screwdown gear in the multivariable Control and the control of roller drive set regularly (are instructed and are exported) though can obtain in synchronization synchronously with the sampling period, but according to present embodiment, corresponding to the rolling stock same point depress instruction and the output of the control instruction of speed command regularly as described above basis separately transmission mechanism change ineffective time.Therefore, when thickness of slab change and the tension change that causes thereof come across under the roll, can make these screwdown gears and roller drive set produce action, and can reliably eliminate the influence of sending into thick change of side plate and tension change.

In addition, roller drive set move be for eliminate simultaneously the tension change send into the rolling situation of the thick influence of change of side plate and to cause, for eliminate send into that the thick interference of side plate carries out depress the tension change that action causes of depressing of screwdown gear that instruction produces by feedforward, therefore can stablize and coordinate to control the action of two transmission mechanisms.

Below, solve the embodiments of the invention of the 5th problem with reference to description of drawings.

It is identical to use rolling control system of the present invention and Fig. 2 and structure shown in Figure 3.

The expression work roll 10 of roller mill and the relation of rolling stock 14, identical with Fig. 4 to Fig. 7.

Figure 41 is a roller mill control device structure chart of forming the optimum servo control system for solving 1 embodiment of the present invention of the 5th problem.The roller mill system 1 that is made of a plurality of supports accepts the operational order (operational ton) that instruction produces mechanism 24, with desired precision action.

Difference mechanism 25 and ratio mechanism 20 form the STATE FEEDBACK CONTROL system.That is, obtain the quantity of state that checkout gear 3 detects and set up deviation between the setting of the operating point that control system 4 provides, proportional gain and this deviate are multiplied each other, form state deviation and instruct composition with ratio mechanism 20 by difference engine 25.In the present embodiment, quantity of state uses the rolling speed VR of depressing position S, rear tension force τ b and preceding support.

Difference mechanism 26 and integrating mechanism 21 constitute the controlled quentity controlled variable feedback control system.Promptly, obtain the deviation between the setting of representing the controlled quentity controlled variable target that the controlled quentity controlled variable that detects with checkout gear 3 or observation device 7 and setting control system 4 provide by difference mechanism 26, by integrating mechanism 21 storage gain and this deviate are multiplied each other again and carry out integration, form controlled quentity controlled variable instruction composition.The controlled quentity controlled variable of present embodiment (y) is with sending thick h of side plate and rear tension force τ b.

Instruction produces mechanism 24 will carry out addition from the state deviation instruction composition of ratio mechanism 20 with from the target instruction target word value that the controlled quentity controlled variable of integrating mechanism 21 instructs composition and setting control system 4 to provide, and form the operational order (operational ton) that exports transmission mechanism 8 to.

Have, there are the screwdown gear 13 of change depressing position and the roller drive set 16 of change speed in the operating side of transmission mechanism 8 again, and above-mentioned operational order divides depressing position composition separately and the speed composition forms and output.

According to the structure of present embodiment, the STATE FEEDBACK CONTROL system controls, and making its error corresponding to the quantity of state measured value of operating point is zero.As shown in table 9, owing to aspect quantity of state, adopted the degree of influence of thickness of slab, therefore can realize making the quantity of state control of the height response that the thickness of slab precision improves more in the past than the rear tension force τ b that the place ahead tension force τ f is big.

Table 9

	The place ahead tension force	Rear tension force
			To sending the thick degree of influence of side plate (μ m/kg/mm 2)	20	45

In addition, to send side plate thick because of controlled quentity controlled variable feedback control system control, so when the product thickness of slab is kept institute's precision prescribed, can prevent its rapid variation by control tension force, realizes stablizing operation.

Below, the control model when designing with regard to best servo (control parameter) is done an explanation to DDC controller shown in Figure 41 5.

In DDC controller 5, set up operating point that control system 4 provides the desired value of controlled quentity controlled variable and quantity of state as setting.Under this occasion, DDC controller 5 is that to make the deviation of operating point and virtual value be the zero so-called stabiliser system that moves.Therefore, equation of state can describe with the deviate system that obtains from the setting deviation.

Rolling phenomenon can be represented with the instrument measurement formula of the deviate system shown in (function 84) and near the minor variations rolling load type partly of the Taylor expansion of the operating point shown in (function 85).

△ h _i=△ S _i+ (△ P _i)/(K _i) ... (function 84)

In the formula, △ h _i: it is thick that the i support is sent side plate

△ S _i: i support depressing position

△ P _i: the rolling load of i support

K _i: i support roller mill constant

With (function 84) and (function 85) arrangement gather after, can derive (function 86).

Secondly, if with 1 delayed mode the action of the screwdown gear 13 of transmission mechanism operating side and roller drive set 16 is made when approximate respectively, then form (function 87) and (function 88).

(d △ S _i)/(dt)=1/ (T _Si) (△ S _Pi-△ S _i) ... (function 87)

△ S _Pi: the i support is depressed instruction

(d △ V _Ri)/(dt)=1/ (T _Vi) (△ V _Pi-△ V _Ri) ... (function 88)

△ V _Pi: the instruction of the i support speed of rolls

△ V _Ri: the i support speed of rolls

The rear tension force τ b of roller mill can if ask for this minor variations part according to mass flow equation, then become (function 90) with (function 89) expression.

(d △ τ b _i)/(dt)=(E _i)/(L _I) (△ V _Ei-△ V _Oi-1) ... (function 89)

H _iV _ei＝h _iV _ai

△ V _Ei=1/ (H _i) (h _i△ V _Oi+ △ h _iV _Oi-△ HiV _Ei) ... (function 90)

Side plate speed V is sent in (function 91) expression _oAnd the minor variations formula, (function 92) expression will be after (function 91) substitution sends into the fast V of side plate _eThe minor variations formula.

V _oi=(1+f _i)V _RI

△V _oi=(1+f _i)△V _Ri+ V _Ri△ f _i

=1/ (Hi) { h _i△ V _Oi+ △ h _iV _Oi... (function 91)

△V _oi= 1/(H _i) ｛h _i(1+f _i)△V _Ri+ h _iV _Ri△ f _i

+ (1+f _i) V _Ri△ h _i(function 92)

With (function 91) and (function 92) substitution (function 89), then can derive (function 93).

(d △τb _i)/(dt) = (E _i)/(L _i) ［ (h _i(1+f _i))/(H _i) △V _Ri+ (h _iV _Ri)/(H _i) △ f _i

+ (E _I)/(L _i) ［-(1+f _{i - 1})△V _{Ri - 1}-V _{R -1}△f _{i - 1}］

+ ((1+f _i) V _Ri)/(H _i) △ h _i... (function 93)

The minor variations formula of sliding rate Taylor expansion before (function 94) expression.

If with (function 94) substitution (function 93), then can obtain (function 95).

According to the relation of the place ahead tension force τ f shown in (function 96) in the formula and rear tension force τ b, (function 95) and rear tension force can be obtained (function 97) after comprehensive.

△ τ f _i=△ τ b _I+1(function 96)

If with (function 91) substitution (function 97), then become (function 98).

If by above will be as depressing position S, the speed of rolls V of quantity of state _R, rear tension force τ b relational expression when making matrix notation after gathering, then can obtain the equation of state of (function 99).

In (function 99), the speed of rolls VR of support before use the operating side _I-1Be according to following reason.Figure 42 is the ideograph of control one by one of explanation roller mill.During the speed of rolls of change roller mill, change is reached: it is constant to want the speed of rolls of the rolling support upstream side that changes to become mass flow.For example, the speed of rolls with the i support changes to V ₀→ V ₁The time, obtain i-1 support, i-2 support by (function 100) and (function 101) ... the speed of rolls after change.

V _i ^' _-1=(V _ih _i)/(h _I-1) ... (function 100)

V _i ^' _-2=(V _i ^' _-1h _I-1)/(h _I-2) ... (function 101)

By following formula as can be known, during the rear tension force of change i support, few 1 support in speed of rolls side of change i-1 support just.Thus, the operating side of depressing the selected together DDC controller 4 as present embodiment of control device 13 of the roller drive set 16 of preceding support (i-1) and current support (i).Certainly, even the roller drive set of current support (i) also can be controlled as the operating side, under this occasion, in quantity of state, use the speed of rolls of current support more satisfactory.

Secondly, according to (function 102) each vector of every matrix A, B, C and quantity of state X, operational ton u and the controlled quentity controlled variable y of mark (function 99) like that, carry out discretization with control cycle Ts after, obtain the equation of state of (function 103).

About this equation of state (function 103),, can realize near the linear approximation that operating point is by in the state separately of operating point, obtaining matrix key element as shown in table 10.

(dx _i)/(dt)=A _{I, i}x _i+ B _{I, i}u _i(function 102)

y _i= C _i,ix _i

In the formula, x=[△ S △ VR △ τ b] ^T

u＝[△S _P△V _P] ^T

y＝[△h △τ _b] ^T

(function 103)

In the formula, Ts: the time delay of screwdown gear

Tv: the time delay of speed control input unit

E: young's modulus L: interstand space K: coefficient of elasticity

If ask the equation of state of (function 103), then provide control parameter F x, the Fe of STATE FEEDBACK CONTROL system and the controlled quentity controlled variable feedback control system of Figure 41 by (function 104).The control CALCULATION OF PARAMETERS can obtain by separating the Li Kaqi equation according to equation of state, and this can compile in " controlling handbook part 1 (154 pages) automatically " etc. open in autonetics, known to everybody.

Below, the detailed structure and the action of the DDC controller 5 of optimum servo Control System Design are described with Figure 43 to Figure 47.

Figure 43 represents the signal in the servo-drive system and the relation of computing, is the key diagram that the relational expression of control coefrficient and quantity of state, controlled quentity controlled variable or operational ton is applied to Figure 41 structure.Depressing position composition △ Sx and speed of rolls composition △ VR by the output state deviation instruction △ Ux of feedback of status system _xDepressing position composition Se and speed of rolls composition VR by controlled quentity controlled variable reponse system output controlled quentity controlled variable instruction Ue _eIn addition, also by setting up control system 4 output functions instruction desired value U _sDepressing position composition S _sWith speed of rolls composition VR _SThese instructions produce in the mechanism 24 by composition separately in instruction carries out addition, then output function instruction U(=Sp, VRp).

Figure 44 represents the detailed structure of STATE FEEDBACK CONTROL system.Difference mechanism 25 obtains i support depressing position Si, the speed of rolls VR of preceding support that checkout gear 3 detects with institute's fixed cycle according to (function 105) _I-1Same with rear tension force τ bi from the operating point Ssi, the VR that set up control system _Si-1, the difference between the τ bsi, the deviate △ Si of output state amount, △ VR then _I-1, △ τ bi.

X _i= ［△S _i△V _Ri-1△τ _bi］ ^T

=［ S _i-S _3iV _Ri-1-V _R3i-1τ _Bi-τ _Bsi ^T(function 105)

Proportion control mechanism 20 with proportional gain fx11, fx12, fx13 respectively and the deviate △ Si of each quantity of state, △ VR _I-1, △ τ bi carries out addition after multiplying each other, and can obtain the position deviation instruction composition △ Sxi of i support screwdown gear.Equally, with proportional gain fx21, fx22, fx23 respectively and each deviate carry out addition after multiplying each other, the velocity deviation of the roller drive set of (i-1) support instruction composition △ VR before can obtaining _Xi-1

Figure 45 represents the detailed structure of controlled quentity controlled variable feedback control system.Difference mechanism 26 is according to (function 106), rear tension force τ bi that the input tensometer detects and the thickness of slab hxi that sends the thick meter detection of side plate, obtain thickness of slab hMFi under the roll that observation device 7 infers with the difference between thick desired value hsi of side plate and the rear tension force desired value τ bsi sent of setting up that control system 4 provides, export the deviate △ hit and the △ τ bi of controlled quentity controlled variable then.To be described in the back about thickness of slab hMF under the roll.

y _i=(△ h _i△ τ _Bi) ^T=(h _Si-h _MFiτ _Bsi-τ _Bi) ^T(function 106)

Integrating mechanism 21 multiplies each other deviate △ hi, the △ τ bi of storage gain fe11, fe12 and each controlled quentity controlled variable, get again and after carry out integration, can obtain the position command composition Sei of i support depressing position.Equally, storage gain fe21, fe22 and each deviate are multiplied each other, get and after carry out integration, can obtain the speed command composition VR of i-1 support roller drive set _Ei

Figure 46 presentation directives produces the detailed structure of mechanism 24.Instruction produce mechanism 24 obtain set up control system 4 depress instruction desired value Ssi, from ratio mechanism 20 depress instruction △ Sxi and from integrating mechanism 21 depress instruction Sei sum after, what form the depressing position control device 13 that exports the i support to depresses instruction Spi.Equally, obtaining the speed command VR that sets up control system 4 _Si-1, ratio mechanism 20 speed command △ VR _Xi-1, integrating mechanism 21 speed command VR _Ei-1After the sum, form speed command VR to roller drive set 16 outputs of i-1 support _Pi-1

Figure 47 represents to infer the mass flow thickness of slab estimating device 70 of thickness of slab hMF under the roll.It is a kind of observation device 7 of inferring the amount that can not directly measure.Will be as the measured value of the thickness of slab meter 31 that is in position, i support upper reaches of tandem roller mill send into the thick Hi of side plate, sending into side plate speed Vei and sending side plate speed Voi input arithmetic unit 71 as the measured value of plate speed meter 32 as the instrumentation value of the plate speed meter 34 that is in the dirty position of i support, carry out the computing of (function 107) again, obtain the locational thick hMFi of side plate that sends under the i support roll.

h ^MFi=(Vei)/(Voi) Hi+Offset ... (function 107)

Comprise (the offset: skew) e that can not directly detect in thickness of slab hMF under the calculating roll (function 107).Therefore, by as following, obtaining side-play amount, can carry out inferring of thickness of slab hMFi under the roll.

As shown in figure 48, send on the position under roll (b) after the thick generation actual change of side plate, there is Td ineffective time in (c) before thickness of slab meter 33 is measured.The distance L that is under the roll this ineffective time and sends 33 of the thick meters of side plate is removed the merchant send behind the side plate speed Voi.And, send the thick variation of side plate and comprise because of gap and tension force rolling effect that produces and the influence that is offset generation.Skew e is illustrating have step to change with this figure (a), but becomes mild variation because of influences such as roller temperature and roll wears in the reality.

For example, make earlier the output h of arithmetic unit 71 by the device of forming by shift register etc. 72 ineffective time _MFi(establishing initial offset is 0) postpones, and obtains to merge the output of thickness of slab meter 33 and the tracking thickness of slab (d) after the phase place.Obtain the difference ε that follows the tracks of between thickness of slab and 33 outputs of thickness of slab meter with adder 73,, can obtain skew e if remove denoising by wave filter 74 again.

If with this offset feedback to arithmetic unit 71(f), then can carry out thickness of slab h _MFiCalculate.Shown in this figure (e), during eliminating, skew produces Td ineffective time from the skew generation.Though skew e during this period is a kind of error (g), because actual offset variation is extremely slow, therefore

Thickness of slab hMFi under the roll of obtaining like this can be offered difference mechanism 26 as the undelayed thick hi of side plate that sends.Do an explanation in passing, ineffective time Td be about 500ms, when control cycle is 20ms, thickness of slab under the roll of current point, relatively in sending the thick meter of side plate, control instruction by the 25th time is fed, can carry out feedback real-time and the elimination bias effect in the present embodiment, therefore can obviously improve, can improve the quality of products sending the thick response of side plate.

Figure 49 represents the control action of present embodiment rolling control device.Shown in this figure (a), on mother metal, produce when disturbing, the such variation of this figure (b) can appear in the place ahead tension force τ f.When using the place ahead tension force τ f as in the past as quantity of state, little to the influence degree of thickness of slab, therefore must the big control instruction of output.But, for the control instruction more than the certain value, can make the amplifier of transmission mechanism saturated, control is output as this figure (c) state.As a result, the large deviation staying in sending the thick h of side plate shown in this figure (d) can not obtain enough control effects.

To this, because rear tension force τ b is big to the degree of influence of thickness of slab, therefore, shown in this figure (f), in the control output of the unsaturated range of linearity, can bring into play the control effect, shown in this figure (g), and can reduce interference component and improve the thickness of slab precision.Point out that in passing present embodiment is applicable to that the mother metal thickness of slab is that 2.3mm, product thickness of slab are the rolling shedule of 0.233mm, can make product thickness of slab precision (thickness deviation of production board thickness portion) bring up to 0.32%, be doubled from 0.64% of AGC mode in the past.

According to above-mentioned explanation, it is to control the preceding support speed of rolls of rear tension force as quantity of state that the rolling control device of present embodiment depressing position, the rear tension force that the control effect is big reach, with thickness of slab under the roll that does not have ineffective time and rear tension force as controlled quentity controlled variable, by will the mass flow thickness of slab estimating device of thickness of slab makes up under the roll that be provided with ineffective time to the optimum servo control system of the roller drive set output function instruction of the screwdown gear of current support and preceding support (or current support) and for asking for, have realized high-precision thickness of slab control.

If utilize the present invention who solves first problem, then in operating point variation roller mill control greatly, by in control input, using the difference value with last time to suppress sharply to change because of the control instruction that the control parameter modification causes, meanwhile by controlling with predictive feed forward and using, can guarantee the response of The whole control system, have and to stablize the effect of implementing high accuracy control.

If utilize the present invention who solves second problem, then in the as-rolled condition of rolling unusual and astable running, owing to make the control parameter realize online and real-time aspect optimization, therefore make the action of control system can avoid the influence that external factor and inner parameter change, have the effect that can improve rolling accuracy.

If utilize the present invention who solves the 3rd problem, then owing to control thickness of slab and tension force on one side simultaneously, when being in institute and decide in the scope, tension force preferentially controls on one side thickness of slab again, preferential control tension force in the time of outside deciding scope, therefore can suppress the rapid variation of rolling middle tension force rapidly, and when keeping steady running, improve thickness of slab and tension force both sides' control accuracy, have the effect that can improve the quality of products.

In addition, then corresponding if utilize the present invention with above-mentioned preferential control, utilize the fast side's of response speed transmission mechanism to carry out non-interference control, therefore can suppress the interference that slow transmission mechanism causes in real time, have the effect that can improve thickness of slab and tension force control accuracy.

Have again, if utilize the present invention,, also can provide constructing and change easily and the general purpose control system of system even when the combination of the rolling mill practice of then cold rolling, hot rolling and transmission mechanism is inequality.

If utilize the present invention who solves the 4th problem, then owing to the resume data that arrive the rolling stock thickness of slab change before of following 1 support are followed the tracks of according to plate response time fast and transmission mechanism separately, and instruct and control according to depress feedforward instruction and the velocity feed forward of the phase bit timing that accords with thickness of slab change, therefore can reliably eliminate and send into the influence that side is disturbed, improve the control accuracy of thickness of slab.

In addition, in order to eliminate simultaneously, therefore can improve the control effect of thickness of slab and tension coordinating control because of plate changes the tension change that causes most and carries out velocity feed forward because of depressing the tension change that feedforward causes.

If utilize the present invention who solves the 5th problem, then since realized with depressing position, rear tension force and before the speed of rolls of support send the thick and rear tension force of side plate as the rolling control of the best servo of controlled quentity controlled variable as quantity of state, usefulness, can increase substantially the thickness of slab precision.And, owing to adopt the thickness of slab of inferring under the roll be provided with ineffective time in thick, therefore can realize real-time response for interference etc. at the side plate of sending of controlled quentity controlled variable, keep desired thickness of slab precision, improve the quality of products.

Claims (67)

1, a kind of rolling mill control method, be when calculating the command value (desired value) that changes the control parameter separately according to setting, for the deviation of the controlled quentity controlled variable eliminating this command value and measure with the institute fixed cycle determines operational ton, thereby be controlled to the rolling mill control method of desired thickness of slab, when it is characterized in that measuring a plurality of quantity of state of rolling mill practice flow process with above-mentioned institute fixed cycle at every turn, to each quantity of state obtain and last sub-value between the state difference score value, multiply each other with this state difference score value with as the quantity of state feedback factor of one of above-mentioned control parameter again, calculate the operational ton deviation of feedback of status system; In each above-mentioned institute fixed cycle, to according to the instruction ahead value of above-mentioned setting account form output and/or as one of disturb measure send into each thick etc. predicted value of side plate, obtain and last sub-value between the predicted difference score value and store successively before the time point in control, to control again time point and after (future) a plurality of operations the predicted difference score value and as the predictive feed forward multiplication of one of above-mentioned control parameter, calculate the operational ton deviation of Predictive Control System; Then the operational ton deviation of above-mentioned feedback of status system and the operational ton deviation accumulative total of above-mentioned Predictive Control System are added on the operational ton of a last operation, output to the transmission mechanism of roller mill again.

2, a kind of rolling mill control method, be when parameter and command value (desired value) are controlled in change separately according to setting calculating, for the deviation of the controlled quentity controlled variable eliminating this command value and measure with the institute fixed cycle determines operational ton, thereby be controlled to the rolling mill control method of desired thickness of slab, it is characterized in that when measuring a plurality of quantity of state of rolling mill practice flow process with above-mentioned institute fixed cycle at every turn, to each quantity of state obtain and last sub-value between the state difference score value, multiply each other with these state difference score values with as the quantity of state feedback factor of one of above-mentioned control parameter again, obtain the operational ton deviation U of feedback of status system ₁In above-mentioned each fixed cycle to give earlier decide the following command value of operation and the control time point that stored after each operation command value in (future), obtain and last sub-value separately between the instruction difference value, again with these instruction difference values with as the instruction feed-forward coefficients F of one of above-mentioned control parameter _RMultiply each other, obtain the operational ton deviation U of instruction feedforward system ₂With aforesaid operations amount deviation U ₁And U ₂Accumulative total is added on the operational ton in the operation, outputs to the transmission mechanism of roller mill then.

3, a kind of rolling mill control method, be when parameter and command value (desired value) are controlled in change separately according to setting calculating, for the deviation of eliminating the controlled quentity controlled variable of measuring by this command value with institute's fixed cycle determines operational ton, thereby be controlled to the rolling mill control method of desired thickness of slab, it is characterized in that when measuring a plurality of quantity of state of rolling mill practice flow process with above-mentioned institute fixed cycle at every turn, to each quantity of state obtain and above-mentioned value between the state difference score value, again with these state difference score values with as the quantity of state feedback factor F of one of above-mentioned control parameter _xMultiply each other, obtain the operational ton deviation U of feedback of status system ₁With measure in above-mentioned each institute fixed cycle, at least include the predicted interference value of sending into the thick deviation of side plate and on it sub-value carry out Difference Calculation, follow the tracks of the above-mentioned position of sending into the thick deviation of side plate portion when obtaining the predicted interference value, inferring this one when arriving under roll, with above-mentioned predicted interference difference value and afterwards the predicted interference difference value in (future) respectively with as the predicted interference feed-forward coefficients F of one of above-mentioned control parameter _dMultiply each other, obtain the operational ton deviation U of predicted interference feedforward system ₃Again with aforesaid operations amount deviation U ₁And U ₃Accumulative total is added on the operational ton in the operation, outputs to the transmission mechanism of roller mill then.

4, a kind of rolling mill control method, be when parameter and command value (desired value) are controlled in change separately according to setting calculating, for the deviation of eliminating the controlled quentity controlled variable of measuring by this command value with institute's fixed cycle determines operational ton, thereby be controlled to the rolling mill control method of desired thickness of slab, it is characterized in that when measuring a plurality of quantity of state of rolling mill practice flow process with above-mentioned institute fixed cycle at every turn, to each quantity of state obtain and last sub-value between the state difference score value, again with this state difference score value with as the quantity of state feedback factor F of one of above-mentioned control parameter _xMultiply each other, obtain the operational ton deviation U of feedback of status system ₁In above-mentioned each institute's fixed cycle, to give earlier decide the following command value of operation and the control time point that stored after each operation command value in (future), obtain and go up separately the instruction difference value between the sub-value, again with these instruction difference values with as the instruction feed-forward coefficients F of one of above-mentioned control parameter _RMultiply each other, obtain the operational ton deviation U of instruction feedforward system ₂With the predicted interference value of including at least of measuring in above-mentioned each institute's fixed cycle sending into the thick deviation of side plate and on it sub-value carry out Difference Calculation, follow the tracks of the above-mentioned position of sending into the thick deviation of side plate portion when obtaining the predicted interference value, inferring this one when arriving under roll, with above-mentioned predicted interference difference value and afterwards the predicted interference difference value in (future) respectively with as the predicted interference feed-forward coefficients F of one of above-mentioned control parameter _dMultiply each other, obtain the operational ton deviation U of predicted interference feedforward system ₃Again with aforesaid operations amount deviation U ₁, U ₂And U ₃Accumulative total is added on the operational ton in the operation, outputs to the transmission mechanism of roller mill then.

5, rolling mill control method according to claim 4 is characterized in that the aforesaid operations amount is for sending the thick deviation of side plate, load deviation, roller roller velocity deviation and sending side tension force deviation △ τ _f, above-mentioned command value is thickness of slab instruction deviation and tension force instruction deviation, these deviations be respectively with according to setting up the poor of the setting that calculates.

6,, it is characterized in that aforesaid operations amount and aforesaid operations amount deviation thereof become branch to be made up of roll depressing position composition with the speed of rolls, can divide each composition to obtain according to claim 4 or 5 described rolling mill control methods.

7,, it is characterized in that above-mentioned load deviation can be substituted by the depressing position deviation of measuring space between the roll according to claim 5 or 6 described rolling mill control methods.

8, a kind of roller mill control device, be with the checkout gear of a plurality of quantity of states of institute fixed cycle measuring roll milling train and the quantity of state after detecting produces the roller mill control device of operational ton to transmission device, it is characterized in that being provided with the setting control device of the control parameter of each control system being revised along with the change of the calculating of roller mill instruction (desired value) and operating point; The above-mentioned quantity of state that will record with checkout gear and go up that sub-value carries out that Difference Calculation is obtained the 1st difference member of state difference score value and with multiply each other the 1st feedback control system of the STATE FEEDBACK CONTROL member of obtaining the 1st operational ton deviation of the 1st control parameter that this quantity of state difference value and above-mentioned setting control device are set; Have in order to eliminate and give deviation between instructing, obtain the 2nd feedback control system of the controlled quentity controlled variable FEEDBACK CONTROL member of the 2nd operational ton deviation as the controlled quentity controlled variable of above-mentioned partial status amount and above-mentioned setting control device; Has displacement successively in each operation, simultaneously above-mentioned setting control device is given earlier in above-mentioned each institute's fixed cycle decide the stored position of the following command value of operation, the tracking means of storing, each later operation command value of control time point of being stored is obtained and is gone up separately the 2nd difference member of the instruction difference value between the sub-value and controls multiply each other the 1st feedforward control system of the instruction FEEDFORWARD CONTROL member of obtaining the 3rd operational ton deviation of parameters by the 2nd of these instruction difference values and the setting of above-mentioned setting control device; And have above-mentioned the 1st operational ton deviation, the 2nd operational ton deviation and the 3rd operational ton deviation accumulative total are added in the output device that accumulative total member in operational ton last time and decision export the operational ton of above-mentioned transmission mechanism to.

9, roller mill control device according to claim 8 is characterized in that above-mentioned detection device has the thick detection meter of the side plate of sending, tension force detects meter, depresses load detection meter and speed of rolls detection meter.

10, according to Claim 8 or 9 described roller mill control device, it is characterized in that being provided with the 2nd feedforward control system, this system has in above-mentioned each institute's fixed cycle to measure and sends into the thick detection means of side plate, carry out Difference Calculation with sub-value on it and obtain the 3rd difference member that disturbs difference value, in the interference difference value of each operation of storage to arrive the tracking means that infer the position under this roll and will control time point and 1 operation after the 3rd control parameter set with above-mentioned setting control device respectively of each the self-interference difference value predicted interference FEEDFORWARD CONTROL member that multiplies each other and obtain the 4th operational ton deviation, and above-mentioned the 4th operational ton deviation is carried out the spiral shell meter by above-mentioned totally member.

11, according to Claim 8 or 9 or 10 described roller mill control device, it is characterized in that above-mentioned transmission mechanism is roller biting and roller drive set, the aforesaid operations amount divides each roll depressing position composition and speed of rolls composition to obtain, the former outputs to roller biting, and the latter outputs to roller drive set.

12, a kind of rolling mill control method, be according to the setting of rolling model decision and the quantity of state that detects with institute's fixed cycle, obtain deviation between the measured value of controlled quentity controlled variable, use again fixed control parameter this deviation is carried out FEEDBACK CONTROL, to determine the rolling mill control method of transmission mechanism operational order, it is characterized in that utilizing the anti-setting of the rolling model to calculate, make fixed rolling parameter adapt to above-mentioned measured value, again according to allow the institute that adapts to above-mentioned measured value decide rolling parameter judgement rolling mill practice decide state, execution is used to determine the self adaptation correction of above-mentioned control parameter control model.

13, rolling mill control method according to claim 12 is characterized in that the above-mentioned self adaptation correction factor that rolling parameter comprises rolling load of deciding.

14, rolling mill control method according to claim 13, the self adaptation correction factor that it is characterized in that the rolling load are according to the predicted value and the measured value of the rolling load of above-mentioned rolling model, obtain with the Return Law.

15, according to claim 12 or 13 or 14 described rolling mill control methods, it is characterized in that obtaining above-mentioned a plurality of quantity of state with corresponding to the deviation between each setting of the measured value of whole key elements of controlled quentity controlled variable or a part of key element, when the evaluation of estimate of obtaining according to these each deviates surpasses predetermined threshold, be judged to be the rolling technological process decide state.

16, rolling mill control method according to claim 15 is characterized in that above-mentioned evaluation of estimate is depressing position deviation, speed of rolls deviation, rear tension force deviation and the mean square error of sending the thick deviation of side plate.

17, according to claim 12,13 or 14 described rolling mill control methods, astable operating condition when it is characterized in that the acceleration to mill speed or when slowing down etc. detects the back and judges that the institute of the rolling technological process decides state, this astable operating condition the duration in the self adaptation correction of the above-mentioned control model of execution in fixed triggering cycle.

18,, it is characterized in that making adapt to above-mentioned measured value above-mentioned decide in the setting calculating that rolling parameter is reflected in employing the rolling model according to each described rolling mill control method in the claim 12 to 17.

19, a kind of roller mill control device, be provided with checkout gear with the actual value of the quantity of state of institute fixed cycle measuring roll milling train and controlled quentity controlled variable, have rolling model and determine the setting control device of operating point, decision transmission device operational order, the above-mentioned actual value deviation corresponding with target value set (setting) was adjusted into zero DDC control device when each operating point was changed, and it is characterized in that being provided with: calculate the institutes such as self adaptation correction factor that make rolling load by the anti-setting of the rolling model and decide the rolling parameter calculating member that rolling parameter is adapted to above-mentioned measured value, decide the equational linearisation member of control model state that rolling parameter is asked analog D DC control device according to this institute; Has the control model adaptation correcting device that calculates, upgrades the control parameter control calculation of parameter member of DDC control device according to this equation of state; And the institute of judging the rolling mill practice flow process decide to export behind the state starting drive of the output enabling signal that makes above-mentioned control model adaptation correcting device execution.

20, roller mill control device according to claim 19, it is characterized in that above-mentioned starting drive is provided with: for the whole key elements of above-mentioned quantity of state and controlled quentity controlled variable or the measured value of a part of key element, obtaining deviation separately and between the corresponding setting, and when the evaluation of estimate of asking for according to this deviation surpasses predetermined threshold value, be judged to be the above-mentioned state of deciding, export the event detection device of above-mentioned enabling signal then; During astable operating condition in the acceleration that detects mill speed or when slowing down etc., be judged to be the rolling technological process decide state, this astable operating condition the duration have precedence over above-mentioned event detection device, with fixed start-up period export the astable running checkout gear of above-mentioned enabling signal.

21, a kind of control method of roller mill, it is the control method of controlling the roller mill of thickness of slab and tension force simultaneously, it is preferential with thickness of slab control when interior to it is characterized in that deviation for the tension force measured value of desired value is in predetermined tension range (threshold value), is in above-mentionedly then to control preferentially with tension force when decide outside the tension range.

22, rolling mill control method according to claim 21 is characterized in that the above-mentioned numerical value of deciding tension range (threshold value) according to the above-mentioned desired value of tension force, can carry out the setting of a plurality of classification at every turn.

23,, it is characterized in that above-mentioned thickness of slab control preferentially makes thickness of slab control improve with the tension force ride gain with the control of thickness of slab ride gain relative tension according to claim 21 or 22 described rolling mill control methods.

24, rolling mill control method according to claim 23 is characterized in that above-mentioned thickness of slab ride gain is set at the function with respect to the thickness of slab measured value deviation of thickness of slab desired value.

25,, it is characterized in that mentioned strain control preferentially makes the control of tension force thickness of slab improve with the thickness of slab ride gain with the relative thickness of slab control of tension force ride gain according to claim 21 or 22 described rolling mill control methods.

26, rolling mill control method according to claim 25 is characterized in that the mentioned strain ride gain makes mentioned strain control value when preferential and is higher than value when preferential.

27, according to each described rolling mill control method in the claim 21 to 26, the measured value that it is characterized in that thickness of slab uses the presumed value under the roll, and the measured value of tension force uses rear tension force presumed value.

28, a kind of control method of roller mill, it makes the transmission mechanism action of screwdown gear and roller drive set, and control thickness of slab and tension force simultaneously, it is characterized in that adopting the non-interference of the fast side's of response speed transmission mechanism to control eliminating the interference that produces because of thickness of slab or tension force control to tension force or thickness of slab.

29, rolling mill control method according to claim 28, it is characterized in that response speed one side that above-mentioned non-interference is controlled at above-mentioned screwdown gear when fast, the non-interference after will multiplying each other with respect to the measured value thickness deviation of thickness of slab desired value or according to the control instruction of delivering to above-mentioned roller drive set of this thickness deviation and the non-interference ride gain of tension force is depressed instruction and is outputed to above-mentioned screwdown gear.

30, rolling mill control method according to claim 28, response speed one side who it is characterized in that above-mentioned screwdown gear is when fast, and the non-interference after multiplying each other with the measured value tension force deviation of relative tension desired value or according to the control instruction of delivering to above-mentioned roller drive set of this tension force deviation and the non-interference ride gain of thickness of slab is depressed instruction and outputed to above-mentioned screwdown gear.

31,, it is characterized in that carrying out above-mentioned non-interference control in the interference phase place that cooperates the slow transmission mechanism of response speed according to claim 28,29 or 30 described rolling mill control methods.

32, a kind of rolling mill control method, it makes the transmission mechanism action of screwdown gear and roller drive set, and control thickness of slab and tension force simultaneously, it is characterized in that carrying out following preferential control, the measured value tension force deviation with respect to the tension force desired value promptly is in predetermined tension range (threshold value) and is controlled to be preferentially with thickness of slab when interior, be in above-mentioned when deciding outside the tension range with open be controlled to be preferential; And control by the non-interference of the fast transmission mechanism of response speed and to eliminate the interference that above-mentioned preferential control produced that the slow transmission mechanism of response speed carries out.

33, rolling mill control method according to claim 32, it is characterized in that carrying out above-mentioned thickness of slab control with above-mentioned roller drive set and carrying out with above-mentioned screwdown gear under the cold rolling processing situation of mentioned strain control, above-mentioned thickness of slab is controlled when preferential, make the control instruction value of delivering to above-mentioned roller drive set greater than the control instruction value of delivering to above-mentioned screwdown gear, will output to the fast above-mentioned screwdown gear of response speed according to the non-interference control instruction of the tension force value of the control instruction value of delivering to above-mentioned roller drive set simultaneously.

34, rolling mill control method according to claim 32, it is characterized in that carrying out above-mentioned thickness of slab control with above-mentioned screwdown gear and carrying out with above-mentioned roller drive set under the hot rolling processing situation of mentioned strain control, mentioned strain is controlled when preferential, make the control instruction value of delivering to above-mentioned roller drive set greater than the control instruction value of delivering to above-mentioned screwdown gear, will output to the fast above-mentioned screwdown gear of response speed according to the non-interference control instruction of the thickness of slab value of the control instruction value of delivering to above-mentioned roller drive set simultaneously.

35,, it is characterized in that above-mentioned roller drive set is the device of preceding support according to each described rolling mill control method in the claim 32 to 34.

36, a kind of control method of roller mill, it is to calculate in the desired value of thickness of slab that sets on each support and rear tension force and the deviation between its measured value or the presumed value for eliminating by setting up, make the action of roller drive set and screwdown gear, and the thickness of slab and the tension force of the material of controlled rolling simultaneously, it is characterized in that the big above-mentioned roller drive set of responsive time constant is controlled to be the master to carry out thickness of slab, the above-mentioned screwdown gear that responsive time constant is little is controlled to be under the main cold rolling processing situation to carry out tension force, preferentially control, promptly press each tension range (threshold value) of classifying and being scheduled to of the above-mentioned rear of its size discrimination tension force desired value relatively, the desired value of above-mentioned rear tension force and the tension force deviation between the measured value be in respectively above-mentioned decide tension range in, the corresponding thickness of slab control instruction value that makes respectively when outer, tension force control instruction value relative the opposing party improve, when the preferential control of thickness of slab, non-interference control instruction value after the non-interference ride gain of above-mentioned thickness of slab control instruction value and tension force is multiplied each other postpones non-interference instruction ignore time of obtaining according to above-mentioned roller drive set and above-mentioned screwdown gear responsive time constant, and it is deducted from the mentioned strain control instruction value of carrying out the non-preferential control of tension force.

37, a kind of control device of roller mill, comprise checkout gear, calculate the setting control member that carries out settings such as desired value by setting up, control FEEDBACK CONTROL member with the deviation of the desired value of eliminating thickness of slab and tension force and measured value, according to the screwdown gear and the roller drive set that come the control instruction of control member since then to move, and control thickness of slab and tension force simultaneously, it is characterized in that having the preferential control member of the ride gain that determines above-mentioned FEEDBACK CONTROL member, so that relative tension range (threshold value) predetermined in every kind of classification distinguishing the tension force desired value, preferential when allowing the tension force deviation be in this scope with thickness of slab control, preferential when the tension force deviation is in outside this scope with tension force control.

38, according to the control device of the described roller mill of claim 37, it is characterized in that above-mentioned preferential control member has thickness of slab ride gain and tension force ride gain that above-mentioned setting control member is set and adjusts, make it corresponding to preferential control, reach the ride gain adjustment coefficient computing member that a side is higher than the opposing party.

39,, it is characterized in that also comprising to have the non-interference control member of tension force that tension force is disturbed that elimination produces by the control of the thickness of slab of above-mentioned feedback control system and/or eliminate the non-interference control member that produces by tension force control to the non-interference control member of thickness of slab of the interference of thickness of slab according to claim 37 or 38 described roller mill control device.

40, according to the described roller mill control device of claim 39, it is characterized in that the magnitude relationship that has with above-mentioned screwdown gear and roller drive set responsive time constant is corresponding, making above-mentioned setting control member is that effective or invalid non-interference ride gain is adjusted member to the non-interference ride gain of tension force and the non-interference ride gain of thickness of slab of non-interference control member of mentioned strain and the non-interference control member setting of above-mentioned thickness of slab respectively.

41, according to the control device of the described roller mill of claim 40, it is characterized in that above-mentioned non-interference ride gain adjusts member and be provided in the little and above-mentioned FEEDBACK CONTROL member of above-mentioned screwdown gear responsive time constant preferential when carrying out the thickness of slab control of above-mentioned roller drive set, make the non-interference ride gain of above-mentioned thickness of slab for effective, the non-interference control member of mentioned strain is carried out.

42,, it is characterized in that above-mentioned non-interference control member has the delay member that makes its output delay according to the difference of above-mentioned screwdown gear and above-mentioned roller drive set responsive time constant according to the control device of claim 39,40 or 41 described roller mills.

43, according to the control device of each the described roller mill in the claim 37 to 42, it is characterized in that having according to above-mentioned detection device measure send into side plate thick, send into side speed and send side speed, infer the thickness of slab of the thickness of slab under the roll and infer member, and obtain above-mentioned thickness deviation according to the difference of thickness of slab under the desired value of thickness of slab and the above-mentioned roll.

44, according to each the described roller mill control device in the claim 37 to 43, it is characterized in that having and control eliminating, and form best servo with above-mentioned FEEDBACK CONTROL member as depressing position, tension force and the speed of rolls of quantity of state quantity of state feedback means separately from the deviation of the setting value of above-mentioned setting control member and measured value.

45, a kind of control device of roller mill, comprise and controlling simultaneously with the thickness of slab of elimination actual measurement and the FEEDBACK CONTROL member of the deviation between tension force and its desired value, control with eliminate because of thickness of slab or tension force control cause to the non-interference control member of the interference of tension force or thickness of slab and according to screwdown gear that moves from the control of these control members and roller drive set, and control thickness of slab and tension force simultaneously, it is characterized in that having make that above-mentioned feedback control system sets respectively with thickness deviation, the non-interference ride gain of tension force of the corresponding thickness deviation that the corresponding ride gain of tension force deviation sets above-mentioned non-interference control system according to the difference of cold-rolling process process that is suitable for or hot rolling technology process and/or thickness of slab is preferential or the preferential control of tension force change ride gain adjustment member with according to the responsive time constant of above-mentioned screwdown gear and above-mentioned roller drive set, the non-interference ride gain that the non-interference ride gain of thickness of slab of corresponding tension force deviation is adjusted is adjusted member.

46, a kind of rolling mill control method, it is that each screwdown gear and roller drive set are being carried out FEEDFORWARD CONTROL, the control method of the multistage support roller mill of controlled rolling material thickness of slab and tension force, it is characterized in that with institute's fixed cycle detect each support depressing position, roll speed, send side thickness of slab and and next support between plate speed; Send the above-mentioned plate speed that side detects according to above-mentioned support, will send the above-mentioned thickness of slab hysteresis serial data that the thick detection position of side plate begins to store to the position of next support and be shifted the new above-mentioned thickness of slab that detects of storage simultaneously corresponding to above-mentioned; Thickness of slab data that rolling stock moves in the above-mentioned screwdown gear response time that begins to select to be equivalent to give in advance from the above-mentioned next support side of above-mentioned resume serial data again, and according to the thickness of slab data of this selection, obtain the instruction of depressing of delivering to the above-mentioned screwdown gear of depressing feedforward, in like manner, according to the thickness of slab data of from above-mentioned resume serial data, selecting based on the response time of above-mentioned roller drive set, obtain the speed command of delivering to the above-mentioned roller drive set that carries out velocity feed forward.

47, a kind of rolling mill control method, it is that each screwdown gear and roller drive set are being carried out FEEDBACK CONTROL and FEEDFORWARD CONTROL, the control method of the multistage support roller mill of controlled rolling material thickness of slab and tension force, it is characterized in that with institute's fixed cycle detect each support depressing position, roll speed, send side thickness of slab and and next support between tension force and plate speed; Above-mentioned depressing position, roll speed and tension force are fed back, and instruction and the 1st speed command are depressed in each support computing the 1st; Convey the above-mentioned resume serial data that the thick detection position of side plate begins the above-mentioned thickness of slab of the corresponding a plurality of storage region memories storages cut apart in position to the roll of next support of sending, to detect last time that above-mentioned plate speed that side detects infers the rolling stock displacement that time point begins corresponding with sending according to above-mentioned support, be shifted to next support direction, and the above-mentioned thickness of slab of this detection is stored in the storage zone that displacement was vacated because of last time; From above-mentioned resume serial data, select again rolling stock displacement in the above-mentioned screwdown gear be equivalent to provide in advance and each response time of above-mentioned roller drive set, with from above-mentioned next support side apart from corresponding thickness of slab; According to obtaining and depress the 2nd of feedforward and depress instruction based on depressing thickness of slab that response time selects, and according to the 2nd speed command of obtaining velocity feed forward based on the thickness of slab of speed responsive selection time delay, depress instruction and the above-mentioned the 2nd with the above-mentioned the 1st and depress the instruction addition, to control above-mentioned screwdown gear, with above-mentioned the 1st speed command and the 2nd speed command addition, to control above-mentioned roller drive set.

48, according to the described rolling mill control method of claim 47, it is characterized in that above-mentioned the 2nd speed command suppress above-mentioned before support send the change that thickness of slab that side detects changes caused rolling situation.

49, according to claim 47 or 48 described rolling mill control methods, it is characterized in that above-mentioned depressing the ineffective time that response time comprises above-mentioned screwdown gear, above-mentioned speed responsive comprises the ineffective time of above-mentioned roller drive set time delay.

50, a kind of rolling mill control method, it is in institute's fixed cycle each screwdown gear and roller drive set are carried out FEEDBACK CONTROL and FEEDFORWARD CONTROL, and the control method of the multistage support roller mill of the thickness of slab of controlled rolling material and tension force, it is characterized in that with institute's fixed cycle detect each support depressing position, roll speed, send side thickness of slab and and next support between tension force and plate speed; Convey the above-mentioned thick detection position of side plate begins the above-mentioned thickness of slab of the corresponding a plurality of storage region memories storages in a plurality of positions of cutting apart to the roll of next support the resume serial data of sending, the rolling stock displacement that begins when detecting with the last time that the above-mentioned plate speed of sending the side detection according to above-mentioned support is inferred is corresponding, be shifted to next support direction, and the above-mentioned thickness of slab of this detection is stored in the storage zone of vacating because of above-mentioned displacement; From above-mentioned resume data, select respectively again rolling stock in the above-mentioned screwdown gear be equivalent to give in advance and each response time of above-mentioned roller drive set displacement, take leave of the corresponding thickness of slab of above-mentioned next support lateral extent with branch; According to the instruction of depressing of obtaining feedforward based on the 1st thickness of slab of depressing the response time selection, according to the speed command of obtaining velocity feed forward based on the 2nd thickness of slab of speed responsive selection time delay, instruct and above-mentioned speed command with above-mentioned the depressing of the different mutually thickness of slab change of same timing output inhibition again.

51, a kind of roller mill control device, it is by FEEDBACK CONTROL member and FEEDFORWARD CONTROL member each screwdown gear and roller drive set to be controlled, and the control device of the multistage support roller mill of the thickness of slab of controlled rolling material and tension force, it is characterized in that having following member:

Detect on each support rolling stock send the thick thickness of slab detection means of side plate, detect the roll depressing position the depressing position detection means, detect roll speed the roll speed detection means, with next support between detect the plate speed detection means of rolled stock flitch speed and the tension force detection means of detection tension force;

According to from the depressing position of above-mentioned depressing position detection means, from the roll speed of above-mentioned roll speed detection means and from the tension force of mentioned strain detection means, the 1st of the above-mentioned screwdown gear of each support arithmetic operation is depressed instruction and operated the FEEDBACK CONTROL member of the 1st speed command of above-mentioned roller drive set;

Have according to the thickness of slab data of the above-mentioned thickness of slab detection means of sending side from preceding support with from the plate speed of above-mentioned plate speed detection means, storage and following the tracks of arrives the thickness of slab tracking means of the thickness of slab resume data of each the tested fixed point of rolling stock before the next support, set the input link of the ineffective time of each response of above-mentioned screwdown gear and above-mentioned roller drive set, according to screwdown gear ineffective time from above-mentioned input link, roller drive set ineffective time and above-mentioned plate speed is revised from depressing of the resume data-storing position of above-mentioned thickness of slab tracking means and is revised the thickness of slab tracking means ineffective time and speed is revised the thickness of slab tracking means ineffective time, according to from above-mentioned depress the resume data operation the 2nd of revising the thickness of slab tracking means ineffective time depress instruction depress feedforward computing member and according to FEEDFORWARD CONTROL member from the velocity feed forward computing member of resume data operation the 2nd speed command of revising the thickness of slab tracking means above-mentioned ineffective time;

Depress instruction and the above-mentioned the 2nd with the above-mentioned the 1st and depress to instruct and output to above-mentioned screwdown gear after the addition, will output to the output link of above-mentioned roller drive set after above-mentioned the 1st speed command and above-mentioned the 2nd speed command addition;

52, according to the described rolling control device of claim 51, it is characterized in that depressing and revise the thickness of slab tracking means ineffective time and decide the above-mentioned screwdown gear distance that rolling stock moves between dynamic stage by the plate speed that above-mentioned plate speed detection means detects, and the stored position of above-mentioned resume data is shifted, be in foremost so that arrive the distance thickness of slab data suitable of next support in its above-mentioned resume data with above-mentioned displacement; Speed is revised the thickness of slab tracking means ineffective time and is then decided the above-mentioned screwdown gear displacement that rolling stock moves between dynamic stage by the plate speed that above-mentioned plate speed detection means detects, and the stored position of above-mentioned resume data is shifted, be in foremost so that arrive the distance thickness of slab data suitable of next support in its above-mentioned resume data with above-mentioned displacement.

53, according to the described rolling control device of claim 51, it is characterized in that depressing that to revise the thickness of slab tracking means ineffective time be to decide the above-mentioned screwdown gear distance that rolling stock moves between dynamic stage by the plate speed that above-mentioned plate speed detection means detects, and from above-mentioned resume data, select to arrive the distance thickness of slab data suitable of next support with above-mentioned displacement; Speed is revised the thickness of slab tracking means ineffective time and is then decided the above-mentioned screwdown gear distance that rolling stock moves between dynamic stage by the plate speed that above-mentioned plate speed detection means detects, and selects to arrive the distance thickness of slab data suitable with above-mentioned displacement of next support from above-mentioned resume data; The above-mentioned feedforward computing member of depressing is according to above-mentionedly depressing the thickness of slab revising the thickness of slab tracking means ineffective time and select, depressing instruction to the above-mentioned the 2nd and carry out computing; Velocity feed forward computing member is revised the thickness of slab that the thickness of slab tracking means is selected according to above-mentioned speed ineffective time, and above-mentioned the 2nd speed command is carried out computing.

54, a kind of rolling mill control method, detect a plurality of quantity of states of the roller mill of forming by a plurality of supports and the actual value of controlled quentity controlled variable with institute's fixed cycle, carry out multivariable Control with eliminate this actual value and set up operating point that control device sets and setting value such as target between error, it is characterized in that depressing position, rear tension force and the speed of rolls as quantity of state, carry out FEEDBACK CONTROL when eliminating the error of each actual value and setting value (operating point), carry out FEEDBACK CONTROL, with the actual value of eliminating above-mentioned controlled quentity controlled variable and the error of setting value (desired value).

55, a kind of rolling mill control method, detect the quantity of state of the roller mill of forming by a plurality of supports and the actual value of a plurality of controlled quentity controlled variables with institute's fixed cycle, multivariable Control, with eliminate this actual value and set up operating point that control device sets and setting value such as target between error, it is characterized in that carrying out FEEDBACK CONTROL, with the actual value of eliminating above-mentioned quantity of state and the error of setting value (operating point), to send the thick and tension force of side plate simultaneously as controlled quentity controlled variable, carry out FEEDBACK CONTROL, to eliminate the error of each actual value and setting value (desired value).

56, a kind of rolling mill control method, detect a plurality of quantity of states of the roller mill of forming by a plurality of supports and the actual value of a plurality of controlled quentity controlled variables with institute's fixed cycle, carry out multivariable Control, with eliminate this actual value and set up operating point that control device sets and the setting value of target between error, it is characterized in that depressing position, the speed of rolls of rear tension force and preceding support is as quantity of state, carry out FEEDBACK CONTROL, to eliminate the error of each actual value and setting value (operating point), to send the thick and rear tension force of side plate simultaneously as controlled quentity controlled variable, carry out FEEDBACK CONTROL, with eliminate separately actual value and the error of setting value (desired value).

57, according to the described rolling mill control method of claim 56, the FEEDBACK CONTROL that it is characterized in that above-mentioned quantity of state is the deviation of obtaining earlier between above-mentioned quantity of state and each the self-corresponding above-mentioned setting value (operating point), again proportional gain and these deviations are multiplied each other, form the 1st operational order value corresponding with the quantity of state deviation; The FEEDBACK CONTROL of above-mentioned controlled quentity controlled variable is the deviation of obtaining between above-mentioned controlled quentity controlled variable and the corresponding separately above-mentioned setting value (desired value), carries out integration after storage gain and these deviations being multiplied each other again, and forms the 2nd operational order value corresponding with the controlled quentity controlled variable deviation; The 3rd operational order value according to above-mentioned the 1st operational order value and the formation of above-mentioned the 2nd operational order value sum outputs to transmission mechanism then.

58, according to the described rolling mill control method of claim 57, it is characterized in that above-mentioned the 1st, the 2nd and the 3rd operational order value is made up of the depressing position command value of change roll gap and the speed value of the change speed of rolls respectively, can divide each composition to obtain.

59, rolling mill control method according to claim 5 is characterized in that above-mentioned depressing position command value outputs to screwdown gear, and above-mentioned speed value outputs to roller drive set.

60,, it is characterized in that above-mentioned roller drive set is the roller drive set of preceding support according to the described rolling mill control method of claim 59.

61,, it is characterized in that the above-mentioned presumed value of sending thickness of slab under the thick employing roll of side plate according to each described rolling mill control method in the claim 56 to 60.

62, according to the described rolling mill control method of claim 61, it is characterized in that the presumed value of thickness of slab under the above-mentioned roll is to obtain by side-play amount being fed back to according to sending on the side plate calculated value thick and that obtain by the mass flow law, this side-play amount is made Difference Calculation and is obtained to the above-mentioned tracking thickness of slab of sending the thick meter of side plate the aforementioned calculation value trace by sending thickness of slab that the thick meter of side plate detects.

63, a kind of roller mill control device, comprise with the institute fixed cycle detect a plurality of quantity of states of the roller mill of forming by a plurality of supports and a plurality of controlled quentity controlled variables actual value checkout gear and control to eliminate by setting up operating point and the setting value of target and the DDC control device of the error between the above-mentioned actual value that control device determines, it is characterized in that above-mentioned DDC control device has depressing position, the speed of rolls of rear tension force and preceding support carries out the STATE FEEDBACK CONTROL member of FEEDBACK CONTROL as quantity of state and will send side plate best servo thick and that rear tension force carries out the controlled quentity controlled variable FEEDBACK CONTROL member of FEEDBACK CONTROL as controlled quentity controlled variable constituting.

64, according to the described roller mill control device of claim 63, it is characterized in that above-mentioned STATE FEEDBACK CONTROL member comprises the difference mechanism that asks for deviation between above-mentioned quantity of state and the corresponding separately above-mentioned setting value and proportional gain and these deviations are multiplied each other, and forms the ratio mechanism with quantity of state deviation instruction corresponding value; Above-mentioned controlled quentity controlled variable FEEDBACK CONTROL member comprises the difference mechanism that asks for deviation between above-mentioned controlled quentity controlled variable and the corresponding separately above-mentioned setting value and storage gain and these deviations is multiplied each other, forms the integrating mechanism with controlled quentity controlled variable deviation instruction corresponding value; And the operational order value decision that has according to aforementioned proportion mechanism and above-mentioned integrating mechanism transfers to out to the instruction formation member of the operational order value of transmission mechanism.

65, according to the described roller mill control device of claim 64, it is characterized in that aforementioned proportion mechanism and integrating mechanism form the operational order that instructs the speed command of the composition and the change speed of rolls to become to be grouped into by depressing of change depressing position, above-mentioned instruction forms member and makes by forming depressing position operational order value and speed operation command value after each composition addition, then above-mentioned depressing position operational order value is outputed to screwdown gear, the roller drive set of support before above-mentioned speed value is outputed to.

66, according to claim 63,64 or 65 described roller mill control device, it is characterized in that having according to the plate speed of sending into from this support of above-mentioned detection device that side plate is thick, plate is fast and sending side and infer thickness of slab under the roll of this support, with thickness of slab under this roll as the above-mentioned thick observation device that inputs to the difference mechanism of above-mentioned controlled quentity controlled variable FEEDBACK CONTROL member of side plate of sending.

67, a kind of roller mill control device, be provided with the checkout gear that the actual value of the quantity of state of the tandem roller mill be made up of a plurality of supports and controlled quentity controlled variable is detected with institute's fixed cycle, has rolling model, and according to the setting control device of nonlinear as-rolled condition decision operating point and for eliminating the deviation between setting value such as the operating point set up and target and the above-mentioned actual value, to the roller mill screwdown gear of each support and the DDC control device of roller drive set output function instruction, it is characterized in that above-mentioned DDC control device comprises depressing position, the speed of rolls of rear tension force and preceding support is as above-mentioned quantity of state, obtain the depressing position setting value corresponding with these quantity of states, deviation between the speed of rolls setting value of rear tension force setting value and preceding support, again the 1st proportional gain and the 2nd proportional gain are multiplied each other with these deviations respectively, form the depressing position instruction composition corresponding and the quantity of state FEEDBACK CONTROL member of speed command composition with the quantity of state deviation; To send the thick and rear tension force of side plate as above-mentioned controlled quentity controlled variable, obtain corresponding with these controlled quentity controlled variables deviation of sending between thick setting value of side plate and the rear tension force setting value, again the 1st storage gain and the 2nd storage gain are multiplied each other with these deviations respectively, form the depressing position instruction composition corresponding and the controlled quentity controlled variable FEEDBACK CONTROL member of speed command composition with the controlled quentity controlled variable deviation; And will from the depressing position of above-mentioned quantity of state FEEDBACK CONTROL member and above-mentioned controlled quentity controlled variable FEEDBACK CONTROL member instruction composition and speed command composition by composition separately with from the depressing position desired value and the speed target value addition of setting up control device, form the instruction of depressing position operational order and speed operation, the former outputs to the screwdown gear of this support, and the instruction of the roller drive set of support formed member before the latter outputed to.

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