CN110621422B - Tail end snaking control device of tandem rolling mill - Google Patents
Tail end snaking control device of tandem rolling mill Download PDFInfo
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- CN110621422B CN110621422B CN201780084304.2A CN201780084304A CN110621422B CN 110621422 B CN110621422 B CN 110621422B CN 201780084304 A CN201780084304 A CN 201780084304A CN 110621422 B CN110621422 B CN 110621422B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/16—Control of thickness, width, diameter or other transverse dimensions
- B21B37/18—Automatic gauge control
- B21B37/20—Automatic gauge control in tandem mills
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/68—Camber or steering control for strip, sheets or plates, e.g. preventing meandering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
- B21B38/08—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product for measuring roll-force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B2015/0071—Levelling the rolled product
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Abstract
The invention aims to provide a tail end snaking control device of a tandem rolling mill, which can suitably reduce the snaking of a rolled piece caused by tail end stripping. The tail end meandering control device (2) has the following configuration. A transport distance calculation unit (26) calculates the transport distance of the rolled material (3) that has passed through the i-1 st work roll (11b) after the tail end of the rolled material (3) has passed through the tail end pull-out timing of the i-2 th work roll (11 c). A leveling operation amount management unit (27) stores the leveling operation amount in a storage area after the tail end off timing. In addition, the leveling operation amount management unit (27) reads the leveling operation amount from the storage area in conjunction with an increase in the transport distance after the transport distance reaches the inter-roller distance from the i-1 st work roller (11b) to the i-th work roller (11 a). A leveling operation amount output unit (28) outputs the leveling operation amount read by the leveling operation amount management unit (27) to the i-th press device (14 a).
Description
Technical Field
The invention relates to a tail end snaking control device of a tandem rolling mill.
Background
As a hot rolling facility and a cold rolling facility, a tandem continuous rolling mill (tandem mill) called a Strip mill (Strip mill) is known in which a plurality of rolling stands are arranged in series in proximity to each other and 1 rolled material is continuously rolled.
When the tail end of the rolled material passes through the rolling stand, the tension acting as a restraining force up to this point disappears, and hence the rolling stand may suddenly generate meandering. The meandering is a phenomenon in which the width center of the rolled material moves to the working side or the driving side. If the meandering occurs, a difference in rolling load between the work side and the drive side (hereinafter referred to as a differential load) becomes large, and the meandering further progresses. If the meandering progresses, the sheet may be broken or crushed, and further, the apparatus may be damaged. As a result, the yield is deteriorated, the productivity is lowered, and the like. Further, it is known that the meandering propagates from the upstream rolling stand to the downstream rolling stand.
As a method of suppressing meandering of the trailing end portion, a meandering control method is proposed in japanese patent application laid-open No. 2010-247177 (patent document 1). In this meandering control method, meandering control is performed in the finishing mill by feedback control using a differential load of the roll stand (i-th roll stand) to be controlled. In this meandering control method, the output of the meandering control of the 1 st rolling stand (i-1 st rolling stand) located upstream of the i-th rolling stand is multiplied by a certain ratio, and the i-th rolling stand is subjected to the meandering control by the feed-forward control.
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open publication No. 2010-247177
Disclosure of Invention
Problems to be solved by the invention
However, in this feedback control, the difference load of the i-th rolling stand caused by the occurrence of meandering is used, and then the leveling (leveling) operation amount is additionally calculated and output. Therefore, when hunting occurs rapidly, the leveling operation amount cannot be kept up to the target level, and it is difficult to say that the method is an effective control method for sufficiently suppressing hunting.
Further, in this feed-forward control, the leveling of the i-th roll stand is operated at the same timing as the meandering control in the upstream side roll stand (i-1 st roll stand) without taking into account the position of the rolled material. Therefore, the leveling is not properly operated at an appropriate timing, and it is difficult to expect a sufficient meandering suppressing effect in the i-th rolling stand.
The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a tail end meandering control device for a tandem rolling mill capable of appropriately reducing the occurrence of meandering of a rolled material due to tail end run-out.
Means for solving the problems
In order to achieve the above object, a tail end meandering control device for a tandem rolling mill according to an aspect of the present invention is configured as follows.
The tandem rolling mill has n (n is a natural number of 3 or more) rolling stands.
The ith rolling stand (i is a natural number of 3 to n) includes an ith rolling roll for rolling a material to be rolled and an ith rolling reduction device for controlling roll gaps on the working side and the driving side of the ith rolling roll.
The i-1 th rolling stand is disposed upstream of the i-th rolling stand, and has an i-1 th rolling roll for rolling a rolled material and an i-1 th load detecting device for detecting rolling loads on the working side and the driving side of the i-1 th rolling roll.
The i-2 th rolling stand is disposed upstream of the i-1 th rolling stand, and has an i-2 th rolling roll for rolling a rolled material and an i-2 th load detecting device for detecting a rolling load of the i-2 th rolling roll.
The tail end snaking control device comprises an i-1 th differential load calculation part, a tail end pull-out timing calculation part, an i-1 th differential load variation calculation part, an i-1 th leveling operation amount calculation part, a conveying distance calculation part, a leveling operation amount management part and a leveling operation amount output part.
The i-1 th differential load calculating unit calculates a differential load based on the rolling loads on the work side and the drive side detected by the i-1 th load detecting device.
The tail end stripping timing calculation unit calculates the tail end stripping timing when the tail end of the rolled piece passes through the i-2 th rolling roller according to the change of the rolling load detected by the i-2 th load detection device along with time.
The i-1 th differential load fluctuation amount calculation unit calculates an i-1 th differential load fluctuation amount which is a difference between the differential load at the tail end escape timing calculated by the i-1 th differential load calculation unit and the current differential load.
The i-1 th leveling operation amount calculation unit calculates the leveling operation amount of the i-th rolling stand based on the i-1 th differential load fluctuation amount.
A conveying distance calculation unit calculates a conveying distance of the rolled material passing through the i-1 th rolling roll after the tail end pull-out timing.
The leveling operation amount management part stores the leveling operation amount calculated by the i-1 th leveling operation amount calculation part in a storage area after the tail end drop-out timing. In addition, the leveling operation amount management unit reads the leveling operation amounts from the storage area in the storage order as the conveying distance increases after the conveying distance reaches the inter-roll distance from the i-1 th rolling roll to the i-th rolling roll.
The leveling operation amount output unit outputs the leveling operation amount read by the leveling operation amount management unit to the i-th depressing device.
Here, the transport distance is the distance between the rolls when the part of the material to be rolled that has passed through the i-1 th rolling stand reaches the i-th rolling stand. The leveling operation amount calculated when the portion passes through the i-1 th rolling stand is outputted to the i-th screw-down device as a feed-forward value after a delay time corresponding to the distance between the rolls has elapsed.
Since the rolled material is elongated by rolling, the tail end of the rolled material does not pass through the i-1 th stand when the rolled material reaches the i-th rolling stand. Thus, the feed forward control begins before tail end pull-out in the i-1 th rolling stand. That is, before the occurrence of the meandering caused by the tail-end runout in the i-1 th rolling stand, the meandering suppressing control for the i-th rolling stand is started. In the meandering suppressing control, the leveling operation amount temporarily stored in the storage area is read out in the storage order from when the location reaches the i-th rolling stand. Thus, the leveling operation amount predicted from the meandering actually generated in the i-1 th rolling stand by the tail-end runout in the i-2 th rolling stand is read out as a feed-forward value at an appropriate timing. Thus, according to the trailing end meandering control device of the present embodiment, the leveling operation amount predicted from the actual value can be read at an appropriate timing before the trailing end of the i-1 th rolling stand is removed, and the feed-forward control can be started. Therefore, the risk of sudden snaking of the rolled material caused by the tail end of the i-1 th stand coming out can be reduced.
Preferably, the transport distance calculation unit calculates the transport distance of the rolled material passing through the i-1 th rolling roll after the trailing-end run-out timing, using the roll circumferential speed of the i-th rolling roll and a preset backward slip ratio prediction value.
Preferably, the leveling operation amount management unit stores the leveling operation amount calculated by the i-1 th leveling operation amount calculation unit in a storage area in accordance with a sampling period after the tail end off timing. In addition, the leveling operation amount management unit reads the leveling operation amount stored in the storage area by shifting the storage order in the storage area by 1 division every time in the storage area in a sampling cycle after the conveying distance reaches the inter-roll distance from the i-1 th rolling roll to the i-th rolling roll.
The tail end meandering control device of the tandem rolling mill according to another aspect of the present invention further includes the following configuration.
The ith rolling stand is further provided with an ith load detection device for detecting rolling loads on the work side and the drive side of the ith rolling roll.
The tail end meandering control device further includes an ith differential load calculation unit, an ith differential load fluctuation amount calculation unit, and an ith leveling operation amount calculation unit.
The ith differential load calculation unit calculates a differential load from the rolling loads on the work side and the drive side detected by the ith load detection device.
The ith differential load fluctuation amount calculation unit calculates an ith differential load fluctuation amount which is a difference between the differential load at the tail end escape timing calculated by the ith differential load calculation unit and the current differential load.
The ith leveling operation amount calculating unit calculates a leveling operation amount of the ith rolling stand based on the ith differential load fluctuation amount.
The leveling operation amount output unit outputs a final leveling operation amount based on the leveling operation amount read by the leveling operation amount management unit and the leveling operation amount calculated by the i-th leveling operation amount calculation unit to the i-th depressing device.
According to the trailing end meandering control device according to the present embodiment, by adding the meandering suppressing control based on the feedback in addition to the above-described meandering suppressing control based on the feedforward, the following performance with respect to the meandering of the i-th rolling stand is improved, and a further meandering suppressing effect can be expected.
Effects of the invention
According to the present invention, the occurrence of meandering of the rolled material due to tail-end run-out can be appropriately reduced. Therefore, the yield can be improved and the stability of the work can be improved.
Drawings
Fig. 1 is a diagram for explaining a system configuration according to embodiment 1 of the present invention.
Fig. 2 is a timing chart for explaining the feedforward control according to embodiment 1 of the present invention.
Fig. 3 is a diagram for explaining a system configuration according to embodiment 2 of the present invention.
Fig. 4 is a conceptual diagram showing an example of a hardware configuration of a processing circuit included in the control device according to the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, the same reference numerals are given to elements common to the respective drawings, and redundant description is omitted.
Embodiment 1.
Fig. 1 is a diagram for explaining a system configuration according to embodiment 1 of the present invention. The system shown in fig. 1 includes a tandem rolling mill 1 and a tail end meandering control device 2. The tail-end meandering control device 2 is a part of a control device (not shown) that controls the roll gap and the roll circumferential speed of the tandem rolling mill 1 so that the rolled material 3 has a desired thickness on the exit side of the tandem rolling mill 1.
(tandem rolling mill)
The tandem rolling mill 1 is a tandem continuous rolling mill called a strip mill in which a plurality of rolling stands are arranged in series in a hot rolling mill or a cold rolling mill in proximity to each other to continuously roll 1 rolled material.
The tandem rolling mill 1 has n (n is a natural number of 3 or more) rolling stands. In fig. 1, a tandem rolling mill 1 having 3 rolling stands is depicted as an example. The 3 rolling stands are, in order from the downstream side (exit side), the ith rolling stand, the (i-1) th rolling stand and the (i-2) th rolling stand. These roll stands roll the rolled material 3 in a rolling direction 4 (from left to right in fig. 1). For example, in the case of a hot rolling mill, a material 3 to be rolled by a roughing mill (not shown) is rolled by upper and lower work rolls adjusted to have an appropriate roll gap and roll circumferential speed so that the material has a desired thickness on the exit side of a finishing mill (tandem mill 1) having 5 to 7 continuous rolling stands.
The ith rolling stand (i is a natural number of 3 to n) includes an upper and lower pair of ith work rolls 11a (ith rolling roll), an upper and lower pair of ith backup rolls 12a, an ith load detection device 13a, and an ith rolling reduction device 14 a. Further, the i-th rolling stand has a speed sensor that measures the roll circumferential speed of the i-th work roll 11 a.
The i-th work roll 11a rolls the rolled material 3. The ith backup roll 12a is provided to support the ith work roll 11 a.
The i-th load detecting device 13a detects the rolling loads (loads that the work rolls receive from the rolled material 3) on the work side and the drive side of the i-th work roll 11a, respectively. The rolling load is detected in accordance with the sampling period. As a detection method, there are a direct measurement method by a dynamometer and a method of calculating a rolling load from a pressure detected in a hydraulic screw down device. In either method, the driving unit is generally mounted on the working side and the driving side, respectively. The Work Side (WS) and the Drive Side (DS) are the one width-direction end and the other width-direction end of the material to be rolled 3, and the side where the motor and the drive device are arranged is referred to as the Drive Side (DS) at the boundary of the rolling line.
The ith press down device 14a controls the respective roll gaps of the working side and the driving side of the ith work roll 11 a. The screw-down devices are provided on the working side and the driving side, respectively (not shown), and can be adjusted on the working side and the driving side, respectively.
The i-1 th rolling stand has, similarly to the i-th rolling stand, a pair of upper and lower i-1 th work rolls 11b (i-1 th rolling rolls), a pair of upper and lower i-1 th back-up rolls 12b, an i-1 th load detecting device 13b, and an i-1 th rolling reduction device 14 b. The i-1 th work roll 11b rolls the rolled material 3. The i-1 th backup roll 12b is disposed in such a manner as to support the i-1 th work roll 11 b. The i-1 th load detecting device 13b detects the rolling loads of the working side and the driving side of the i-1 th work roll 11b, respectively. The i-1 th screw down device 14b controls the respective roll gaps of the working side and the driving side of the i-1 th work roll 11 b.
Similarly, the i-2 th rolling stand has an upper and lower pair of i-2 th work rolls 11c (i-2 th rolling rolls), an upper and lower pair of i-2 th back-up rolls 12c, an i-2 th load detecting device 13c and an i-2 th rolling reduction device 14 c. The i-2 th work roll 11c rolls the rolled material 3. The i-2 th backup roll 12c is provided so as to support the i-2 th work roll 11 c. The i-2 th load detecting device 13c detects the rolling loads of the working side and the driving side of the i-2 th work roll 11c, respectively. The i-2 nd screw down device 14c controls the respective roll gaps of the working side and the driving side of the i-2 nd work roll 11 c.
(Tail end snake control device)
The tail end meandering control device 2 includes an i-1 th differential load calculation unit 21, a tail end falling timing calculation unit 22, an i-1 th differential load storage unit 23, an i-1 th differential load fluctuation amount calculation unit 24, an i-1 th leveling operation amount calculation unit 25, a transport distance calculation unit 26, a leveling operation amount management unit 27, and a leveling operation amount output unit 28.
The i-1 th differential load calculation unit 21 calculates a differential load (difference in rolling load) from the respective rolling loads on the work side and the drive side detected by the i-1 th load detection device 13 b. The differential load is calculated by the following equation (1) for each sampling period.
δPi-1＝PWS,i-1-PDS,i-1 (1)
Here, the first and second liquid crystal display panels are,
δPi－1: differential load of the i-1 th rolling stand
PWS，i－1: the rolling load on the Work Side (WS) detected by the i-1 th load detecting means 13b
PDS，i－1: the rolling load on the Drive Side (DS) detected by the i-1 th load detection device 13b
The tail end run-out timing calculation unit 22 calculates a tail end run-out timing at which the tail end of the rolled material 3 passes through the i-2 th work roll 11c (hereinafter referred to as the tail end run-out timing of the i-2 th roll stand) based on the temporal change in the rolling load detected by the i-2 th load detection device 13 c. The tail end escape timing is a timing at which the load relay signal (L/R) at the tail end of the rolled material 3 is turned off based on the rolling load detected by the i-2 th load detector 13c provided in the i-2 th rolling stand. When the tail end of the rolled material 3 passes through the i-2 th stand, the restraint of the i-1 st stand on the rolled material 3 becomes weak, and the differential load starts to change greatly.
The i-1 th differential load storage unit 23 stores the differential load of the i-1 th rolling stand calculated by the i-1 th differential load calculating unit 21 based on the rolling load detected by the i-1 th load detecting device 13b at the trailing end pull-out timing of the i-2 th rolling stand. The differential load at the tail end strip timing is maintained at least during a period before the tail end of the rolled material 3 passes through the i-th rolling stand.
The i-1 th differential load fluctuation amount calculation unit 24 calculates an i-1 th differential load fluctuation amount which is a difference between the differential load at the tail end coming-out timing calculated by the i-1 th differential load calculation unit 21 and the current differential load. I-1 th differential load fluctuation amount Δ Pi－1The following equation (2) is used for the sampling period.
ΔPi-1＝δPi-1-δPLK,i-1 (2)
Here, the first and second liquid crystal display panels are,
ΔPi－1: i-1 th differential load fluctuation amount
δPi－1: the current differential load calculated by the i-1 th differential load calculating unit 21 (calculated from the equation (1) in the current sampling period)
δPLK，i－1: the differential load at the tail-end pull-out timing of the i-2 th rolling stand stored in the i-1 th differential load storage section 23
The i-1 th leveling operation amount calculation unit 25 calculates the leveling operation amount of the i-th rolling stand based on the i-1 th differential load fluctuation amount obtained from the equation (2) at the sampling cycle. Specifically, the i-1 th leveling operation amount calculation unit 25 multiplies the i-1 th differential load fluctuation amount by a predetermined influence coefficient, and calculates a leveling operation amount for closing the roll gap of the larger rolling load side. For example, the rolling load on the working side is larger than the rolling load on the driving side (P)WS>PDS) In the case of (3), a leveling operation amount is calculated so as to close the roll gap on the working side. Further, a dead zone may be set for the differential load variation amount to remove a slight variation amount such as noise.
The conveying distance calculating unit 26 calculates the conveying distance of the rolled material 3 passing through the i-1 st work roll 11b after the trailing-end run-out timing. Specifically, the transport distance calculation unit 26 calculates the transport distance of the rolled material 3 passing through the i-1 th work roll 11b after the trailing edge run-out timing, using the roll circumferential speed of the i-th work roll 11a and the predicted value of the slip back ratio set in advance. The conveying distances of the rolled material 3 advancing per sampling time are integrated, and the integrated conveying distances are output to the leveling operation amount management unit 27.
The leveling operation amount management unit 27 stores (buffers) the leveling operation amount calculated by the i-1 th leveling operation amount calculation unit 25 in a storage area (data table) in accordance with a sampling period after the tail end pull-out timing. The leveling operation amount calculated in accordance with the sampling period is stored in a storage area (buffer) by shifting by 1 division at a time.
In addition, the leveling operation amount management unit 27 reads the leveling operation amount from the storage area in the storage order with an increase in the transport distance after the transport distance reaches the inter-roller distance from the i-1 st work roller 11b to the i-th work roller 11 a. For example, the leveling operation amount management section 27 reads the leveling operation amount stored in the storage area by shifting in the storage order by 1 division every time in the storage area in accordance with the sampling period after the conveyance distance reaches the inter-roller distance from the i-1 st work roller 11b to the i-th work roller 11 a.
Here, the case where the transport distance reaches the inter-roll distance is a case where a part of the material to be rolled which has passed through the i-1 th rolling stand reaches the i-th rolling stand. The leveling operation amount calculated when the portion passes through the i-1 th rolling stand is read out as a feed-forward value after a delay time corresponding to the distance between the rolls has elapsed.
In addition, the leveling operation amount may be read after the transport distance reaches a distance set shorter than the distance between the rollers in consideration of the response delay of the i-th screw down device 14 a. In addition, the timing of reading out the leveling operation amount is not limited to the sampling period. For example, the distance between adjacent rollers may be divided into N parts, and when the transport distance calculated by the transport distance calculation unit 26 exceeds the distance corresponding to 1 part, the leveling operation amount corresponding to the current transport distance may be read from the storage area.
The leveling operation amount output unit 28 outputs the leveling operation amount read by the leveling operation amount management unit 27 to the i-th depressing device 14 a. Preferably, when the control is held in the interlock state or the like, the leveling operation amount is output to the i-th screw down device 14a via a PID controller or a phase lead-lag compensator because the subsequent operation amount changes. The i-th rolling reduction device 14a (or the control device thereof) operates with a control amount obtained by adjusting a predetermined roll gap for satisfying the exit-side target plate thickness of the rolled material 3 by the leveling operation amount output from the leveling operation amount output unit 28.
Fig. 2 is a timing chart for explaining the above-described feedforward control. The time t0 is the tail end pull-out timing when the rolled material 3 passes through the i-2 th rolling stand. The tail-end escape timing is detected by the load relay signal (L/R) of the i-2 th rolling stand changing from on to off. After time t1, meandering occurs due to the tail end of the rolled material 3, and differential load fluctuation occurs. Time t2 is a time at which a differential load exceeding the dead zone is generated. The time t3 is a time when the position of the rolled material passing through the i-1 st stand reaches the i-th stand at the timing when the tail end of the i-2 nd stand is pulled out. Since the rolled material 3 is elongated by rolling, when the portion reaches the i-th rolling stand (time t3), the tail end of the rolled material does not pass through the i-1 th stand. The feed-forward control for the meandering suppression starts from a time t3 before the trailing-end run-out timing (time t4) of the i-1 th rolling stand. After time t3, the leveling operation amount management unit 27 reads the leveling operation amounts from the storage area in the stored order as the transport distance increases, and the leveling operation amount output unit 28 outputs the leveling operation amounts to the i-th presser 14 a. Thus, the leveling operation amount predicted from the meandering actually generated in the i-1 th rolling stand due to the tail end runout in the i-2 th rolling stand is output to the i-th screw down device 14a as a feed forward value at an appropriate timing.
Thus, according to the trailing end meandering control device of the present embodiment, the feedforward control for reading out the leveling operation amount predicted from the actual value can be started at an appropriate timing before the trailing end of the i-1 th rolling stand comes out. Therefore, the risk of the rapid meandering of the rolled material 3 due to the tail end coming out of the i-1 th stand can be reduced. As a result, yield and operation stability can be improved.
(hardware configuration example)
Fig. 4 is a conceptual diagram showing an example of a hardware configuration of a processing circuit included in the control device (including the tail-end meandering control device 2) of the present system. Each portion within the dotted line in fig. 1 (and fig. 3 described later) represents a part of the function, and each function is realized by a processing circuit. In one embodiment, the processing circuit includes at least 1 processor 91 and at least 1 memory 92. In another aspect, the processing circuit includes at least 1 dedicated hardware 93. The storage area of the leveling operation amount management unit 27 and the i-1 th differential load storage unit 23 (and the i-1 th differential load storage unit 33 described later) are realized by a memory 92 or dedicated hardware 93.
When the processing circuit includes the processor 91 and the memory 92, each function is realized by software, firmware, or a combination of software and firmware. At least one of the software and the firmware is described as a program. At least one of the software and firmware is stored in the memory 92. The processor 91 reads out and executes a program stored in the memory 92, thereby realizing each function.
In the case where the processing circuitry includes dedicated hardware 93, the processing circuitry may be, for example, a single circuit, a complex circuit, a programmed processor, or a combination thereof. The functions are implemented by processing circuitry.
(System configuration)
Next, embodiment 2 of the present invention will be described with reference to fig. 3. Fig. 3 is a diagram for explaining a system configuration according to embodiment 2 of the present invention. The system configuration shown in fig. 3 is the same as that shown in fig. 1, except that the points of the i-th differential load calculation unit 31, the trailing end falling-off timing calculation unit 32, the i-th differential load storage unit 33, the i-th differential load fluctuation amount calculation unit 34, and the i-th leveling operation amount calculation unit 35 are added, and the processing of the leveling operation amount output unit 28 is changed.
The system according to embodiment 2 executes feedback control based on the differential load of the i-th rolling stand in parallel with the feedforward control based on the differential load of the i-th rolling stand described in embodiment 1.
The i-th differential load calculation unit 31 calculates the differential load from the rolling loads on the working side and the driving side detected by the i-th load detection device 13 a. The differential load is calculated by using the following equation (3) for each sampling period.
δPi＝PWS,i-PDS,i (3)
Here, the first and second liquid crystal display panels are,
δPi: differential load of ith rolling stand
PWS，i: the rolling load on the Work Side (WS) detected by the i-th load detecting device 13a
PDS，i: the rolling load on the Drive Side (DS) detected by the i-th load detecting device 13a
The tail end run-out timing calculation unit 32 calculates the tail end run-out timing at which the tail end of the rolled material 3 passes through the i-2 th work roll 11c, based on the temporal change in the rolling load detected by the i-2 th load detection device 13 c. The processing of the trailing-end protrusion timing calculation unit 32 is the same as that of the trailing-end protrusion timing calculation unit 22, and therefore, the description thereof is omitted.
The i-th differential load storage unit 33 stores the differential load of the i-th rolling stand calculated by the i-th differential load calculating unit 31 based on the rolling load detected by the i-th load detecting device 13a at the trailing-end pull-out timing of the i-2 th rolling stand. The differential load at the tail end drop-out timing is stored at least until the tail end of the rolled material 3 passes through the i-th rolling stand.
The i-th differential load fluctuation amount calculation unit 34 calculates an i-th differential load fluctuation amount which is a difference between the differential load at the trailing end escape timing calculated by the i-th differential load calculation unit 31 and the current differential load. Ith differential load fluctuation amount DeltaPiThe following equation (4) is used for the sampling period.
ΔPi＝δPi-δPLK,i (4)
Here, the first and second liquid crystal display panels are,
ΔPi: ith differential load variation
δPi: the current difference calculated by the i-th difference load calculating unit 31Load (calculated according to equation (3) in the present sampling period)
δPLK，i: the differential load at the tail-end pull-out timing of the i-2 th rolling stand stored in the i-th differential load storage section 33
The i-th leveling operation amount calculation unit 35 calculates the leveling operation amount of the i-th rolling stand based on the i-th differential load fluctuation amount obtained from equation (4) at each sampling cycle. Similarly to the i-1 th leveling operation amount calculating unit 25 described in embodiment 1, the i-th leveling operation amount calculating unit 35 calculates a leveling operation amount by multiplying the i-th differential load fluctuation amount by a predetermined influence coefficient so as to close the roll gap where the rolling load is larger.
The leveling operation amount output unit 28 outputs a final leveling operation amount based on the leveling operation amount read by the leveling operation amount management unit 27 and the leveling operation amount calculated by the i-th leveling operation amount calculation unit 35 to the i-th press-down device 14 a. Specifically, the final leveling operation amount is calculated using the following equation (5) via the PID controller or the phase lead lag compensator.
SL,i＝WFFSL,i FF+WFBSL,i FB (5)
Here, the first and second liquid crystal display panels are,
SL，i FF: leveling operation amount of the i-th rolling stand calculated from the differential load of the i-1 th rolling stand (leveling operation amount based on feedforward control)
SL，i FB: leveling operation amount of the ith rolling stand calculated from the differential load of the ith rolling stand (leveling operation amount based on feedback control)
WFF: weight coefficient corresponding to leveling operation amount based on feedforward control
WFB: weight coefficient corresponding to leveling operation amount based on feedback control
If the weighting coefficients are adjusted, the control of hunting can be changed. For example, when importance is attached to the output against the estimated meandering of the i-th rolling stand, the weight coefficient of the feedforward control is made larger than the weight coefficient of the feedback control (W)FF>WFB). In additionOn the other hand, when importance is attached to the output against the meandering occurring in the i-th rolling stand, the weight coefficient of the feedback control is made larger than the weight coefficient of the feedforward control (W)FB>WFF)。
Otherwise, when the feedback control is not considered (the same as in embodiment 1), the weight coefficient of the feedforward control is 1.0 and the weight coefficient of the feedback control is 0. In the case of feedback control, the weight coefficient of feedback control is set to a value greater than 0.
(Effect)
As described above, according to the trailing end meandering control device 2 according to embodiment 2 of the present invention, it is possible to improve the following performance for the meandering of the i-th rolling stand and to expect a further meandering suppressing effect by adding the meandering suppressing control based on the feedback in addition to the meandering suppressing control based on the feedforward described in embodiment 1.
Description of the reference symbols
1 tandem rolling mill
2 tail end snaking control device
3 rolled material
4 rolling direction
11a ith work roll
11b ith-1 work roll
11c ith-2 work roll
12a ith support roller
12b No. i-1 support roller
12c ith-2 support roller
13a ith load detection device
13b No. i-1 load detection device
13c i-2 load detection device
14a ith pressing device
14b No. i-1 screw-down device
14c No. i-2 screwdown gear
21 i-1 th differential load calculating part
22. 32 tail end pull-out timing calculation part
23 th i-1 th differential load storage unit
24 th i-1 th differential load fluctuation amount calculation unit
25 th i-1 leveling operation amount calculating part
26 conveying distance calculating part
27 leveling operation amount management part
28 leveling operation amount output unit
31 ith differential load calculating unit
33 ith differential load storage unit
34 ith differential load fluctuation amount calculating part
35 ith leveling operation amount calculating section
91 processor
92 memory
93 hardware
Claims (4)
1. A tail end meandering control device of a tandem rolling mill having n rolling stands, wherein n is a natural number of 3 or more,
the tandem rolling mill comprises:
an ith rolling stand having an ith rolling roll for rolling a rolled material and an ith rolling device for controlling roll gaps of a working side and a driving side of the ith rolling roll, wherein i is a natural number of 3 to n;
an i-1 th rolling stand provided upstream of the i-th rolling stand and including an i-1 th rolling roll for rolling the material to be rolled, and an i-1 th load detector for detecting rolling loads on a working side and a driving side of the i-1 th rolling roll; and
an i-2 th rolling stand provided upstream of the i-1 th rolling stand and including an i-2 th rolling roll for rolling the material to be rolled and an i-2 th load detecting device for detecting a rolling load of the i-2 th rolling roll;
the tail end snaking control device comprises:
an i-1 th differential load calculation unit for calculating a differential load from the rolling loads on the working side and the driving side detected by the i-1 th load detection device;
a tail end strip timing calculation unit for calculating a tail end strip timing at which the tail end of the rolled material passes through the i-2 th rolling roll, based on a change with time of the rolling load detected by the i-2 th load detection device;
an i-1 th differential load fluctuation amount calculation unit that calculates an i-1 th differential load fluctuation amount that is a difference between the differential load at the tail end coming-out timing calculated by the i-1 th differential load calculation unit and the current differential load;
an i-1 th leveling operation amount calculation unit for calculating the leveling operation amount of the i-th rolling stand based on the i-1 th differential load variation amount;
a conveying distance calculating unit that calculates a conveying distance of the rolled material passing through the i-1 th rolling roll after the tail end pull-out timing;
a leveling operation amount management unit that stores the leveling operation amount calculated by the i-1 th leveling operation amount calculation unit in a storage area after the tail end pull-out timing, and reads the leveling operation amount from the storage area in a storage order as the transport distance increases after the transport distance reaches the inter-roll distance from the i-1 th rolling roll to the i-th rolling roll; and
and a leveling operation amount output unit that outputs the leveling operation amount read by the leveling operation amount management unit to the i-th press device.
2. The tail end snaking control device of tandem rolling mill as set forth in claim 1,
the transport distance calculation unit calculates a transport distance of the rolled material passing through the i-1 th rolling roll after the tail end separating timing, using the roll circumferential speed of the i-th rolling roll and a predetermined backward slip ratio prediction value.
3. The tail end snaking control device of tandem rolling mill as set forth in claim 1 or 2,
the leveling operation amount managing section described above,
storing the leveling operation amount calculated by the i-1 th leveling operation amount calculating part into the storage area according to a sampling period after the tail end pull-out timing;
after the transport distance reaches the inter-roll distance from the i-1 th rolling roll to the i-th rolling roll, the leveling operation amount stored in the storage area is read out by shifting the storage area in the storage order by 1 division at a time in the storage area according to a sampling cycle.
4. The tail end snaking control device of tandem rolling mill as set forth in claim 1 or 2,
the ith rolling stand further includes an ith load detecting device for detecting rolling loads on the work side and the drive side of the ith rolling roll;
the tail end meandering control device further includes:
an i-th differential load calculation unit for calculating a differential load from the rolling loads on the working side and the driving side detected by the i-th load detection device;
an ith differential load fluctuation amount calculation unit that calculates an ith differential load fluctuation amount that is a difference between the differential load at the tail end escape timing calculated by the ith differential load calculation unit and a current differential load; and
an i-th leveling operation amount calculation unit that calculates a leveling operation amount of the i-th rolling stand based on the i-th differential load fluctuation amount;
the leveling operation amount output unit outputs a final leveling operation amount based on the leveling operation amount read by the leveling operation amount management unit and the leveling operation amount calculated by the i-th leveling operation amount calculation unit to the i-th press device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2017/019781 WO2018216215A1 (en) | 2017-05-26 | 2017-05-26 | Tandem rolling mill tail end meander control device |
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| CN110621422B true CN110621422B (en) | 2021-03-23 |
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| JP (1) | JP6717430B2 (en) |
| KR (1) | KR102232334B1 (en) |
| CN (1) | CN110621422B (en) |
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| JP6863532B1 (en) * | 2019-06-20 | 2021-04-21 | Ｊｆｅスチール株式会社 | Serpentine control method for hot-rolled steel strips, meandering control device and hot-rolling equipment |
| JP7252458B2 (en) * | 2019-08-06 | 2023-04-05 | 日本製鉄株式会社 | Control method |
| CN112739468B (en) * | 2019-08-28 | 2023-04-11 | 东芝三菱电机产业系统株式会社 | Roller state monitoring device |
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| JPH0796124B2 (en) * | 1989-11-22 | 1995-10-18 | 新日本製鐵株式会社 | Meandering control method and controller in hot continuous finishing mill |
| CN1105296A (en) * | 1993-10-05 | 1995-07-19 | 日立有限公司 | Rolling mill control method and apparatus |
| JP3273117B2 (en) * | 1996-03-29 | 2002-04-08 | 新日本製鐵株式会社 | Meandering control method for hot tandem rolling mill |
| JP3398658B2 (en) * | 2000-08-24 | 2003-04-21 | 新日本製鐵株式会社 | Meandering control method for tandem rolling mill |
| JP3526554B2 (en) * | 2001-02-13 | 2004-05-17 | 株式会社日立製作所 | Tandem rolling equipment and rolling method |
| JP2002292416A (en) * | 2001-03-30 | 2002-10-08 | Kobe Steel Ltd | Control method for meandering in tail end of threading material |
| JP4128813B2 (en) * | 2002-07-05 | 2008-07-30 | 株式会社日立製作所 | Threading control method and rolling control system for tandem rolling mill |
| JP2006150415A (en) * | 2004-11-30 | 2006-06-15 | Jfe Steel Kk | Method for controlling zigzag motion of steel strip in continuous hot rolling |
| JP4437753B2 (en) * | 2005-02-18 | 2010-03-24 | 東芝三菱電機産業システム株式会社 | Thickness control method for tandem rolling mill |
| JP2010247177A (en) | 2009-04-15 | 2010-11-04 | Jfe Steel Corp | Method of controlling meandering of tail end in hot rolling |
| CN102120224B (en) * | 2010-01-08 | 2012-10-10 | 宝山钢铁股份有限公司 | Control method of automatic deviation correction during rolling of hot continuous rolling mill |
| JP5780196B2 (en) * | 2012-04-02 | 2015-09-16 | 新日鐵住金株式会社 | Rolling material meandering control method and rolling material meandering control system |
| JP6315818B2 (en) * | 2014-10-07 | 2018-04-25 | 株式会社日立製作所 | Control device and control method for tandem rolling mill |
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| WO2018216215A1 (en) | 2018-11-29 |
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| KR20190101407A (en) | 2019-08-30 |
| KR102232334B1 (en) | 2021-03-25 |
| JPWO2018216215A1 (en) | 2019-11-07 |
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