EP0108379B1 - Method and controlling device to regulate the distribution of tensile strength in the cold rolling of strips - Google Patents

Method and controlling device to regulate the distribution of tensile strength in the cold rolling of strips Download PDF

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Publication number
EP0108379B1
EP0108379B1 EP19830110911 EP83110911A EP0108379B1 EP 0108379 B1 EP0108379 B1 EP 0108379B1 EP 19830110911 EP19830110911 EP 19830110911 EP 83110911 A EP83110911 A EP 83110911A EP 0108379 B1 EP0108379 B1 EP 0108379B1
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EP
European Patent Office
Prior art keywords
strip
tensile stress
distribution
tensile
rolling
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP19830110911
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German (de)
French (fr)
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EP0108379A3 (en
EP0108379A2 (en
Inventor
Eberhard Dr.-Ing. Neuschütz
Bernd Dr.-Ing. Berger
Gert Dipl.-Ing. Mücke
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BFI VDEH Institut fuer Angewandte Forschung GmbH
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BFI VDEH Institut fuer Angewandte Forschung GmbH
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Publication of EP0108379A3 publication Critical patent/EP0108379A3/en
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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
    • B21B37/28—Control of flatness or profile during rolling of strip, sheets or plates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B1/00—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations
    • B21B1/22—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling plates, strips, bands or sheets of indefinite length
    • B21B1/30—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling plates, strips, bands or sheets of indefinite length in a non-continuous process
    • B21B1/32—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling plates, strips, bands or sheets of indefinite length in a non-continuous process in reversing single stand mills, e.g. with intermediate storage reels for accumulating work
    • B21B1/36—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling plates, strips, bands or sheets of indefinite length in a non-continuous process in reversing single stand mills, e.g. with intermediate storage reels for accumulating work by cold-rolling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B13/00—Metal-rolling stands, i.e. an assembly composed of a stand frame, rolls, and accessories
    • B21B13/14—Metal-rolling stands, i.e. an assembly composed of a stand frame, rolls, and accessories having counter-pressure devices acting on rolls to inhibit deflection of same under load; Back-up rolls
    • B21B13/147—Cluster mills, e.g. Sendzimir mills, Rohn mills, i.e. each work roll being supported by two rolls only arranged symmetrically with respect to the plane passing through the working rolls

Definitions

  • the invention relates to a method for regulating the tensile stress distribution during cold rolling of strips, the tensile stress distribution on at least one side of a roll stand being determined from the strip thickness and the measured values from force transducers spaced axially across the roll width, and for adjusting the tensile stress distribution a controller and dependent actuators for the roll gap, which act differentially in the axial direction of the work rolls, are provided.
  • the invention relates to a rolling mill with a control loop, consisting of a controller, a device for determining the tensile force distribution in the outlet, which is connected to the controller, which, via an auxiliary control loop, acts on the actuators of the roll gap which act differentially in the axial direction of the rolls acts, the setting of which is attributed to the auxiliary control loop, to carry out the aforementioned method.
  • the tensile stress distribution can be changed in a known manner by influencing the roll gap differently over the bandwidth by means of suitable actuators.
  • a different deflection of the work rolls can be achieved by positively or negatively bracing the roll journals of opposing rolls. This essentially enables the setting of curved roll gaps and a corresponding course of the tensile stress distribution.
  • By simply pivoting the roll axes on the other hand, a straight-line change of the roll gap across the width can be brought about.
  • Locally differentiated changes can be achieved by means of a thermal control, in which support and / or work rolls are cooled or heated. Hollow rolls can be changed in their bombage by "pumping up", whereby their cavities are placed under different tensions.
  • a method for determining the tensile stress distribution during cold rolling is described in "Stahl und Eisen", 1977, pages 1029/1031.
  • a deflecting measuring roller with axially spaced tension sensors is used to record the tension distribution as a measure of length deviations and thus flatness in a three-stand cold rolling mill between the last rolling stand and the tension rollers.
  • a method of the type described in the introduction is known from "Iron and Steel Engineer", June 1979, pages 55 to 60.
  • the tensile stress distribution is monitored on the outlet side of the roll stand by means of a deflection measuring roller, the measured values of which are decisive for the actuation of the actuators. Basically, it is based on a uniform tension tension across the bandwidth.
  • the controller working with the input of the tension distribution can also act via an auxiliary control loop on Stetigii ß which acts differentially in the axial direction of the roll and of the roll gap, the setting of which is attributed to the auxiliary control loop.
  • this auxiliary control loop there is the possibility of manually specifying setpoints for the actuators.
  • the values determined for the settings of the actuators on the basis of the tension distribution are subject to storage dependent on the rolling speed, so that the storage has a representative signal ready for the deviation from the average tension.
  • the actuators of a rolling mill are adjusted by the tension distribution determined via a deflection measuring roller.
  • the strip thickness measured across the bandwidth at various points is also taken into account.
  • the invention has for its object to provide a method of the type described in the introduction and a rolling mill with a control loop in such a way that malfunctions during rolling are avoided.
  • the conditions of the flatness of the rolling stock should also be observed. Furthermore, it should be possible to achieve trouble-free rolling with high degrees of deformation through high tensile stresses.
  • a distribution of the tensile stress is therefore first measured at the outlet by means of the tension transducers spaced apart in the axial direction of the rollers.
  • the difference to the inlet tension distribution is either determined by tension sensors located on the inlet side of the roll stand, spaced apart in the axial direction, or determined in the case of reversing roll stands on the basis of stored measured values which were measured and stored in the previous rolling phase.
  • the method according to the invention can thus be expediently adapted to the operating conditions.
  • the tensile stress measurements to be carried out in connection with the invention can expediently be obtained on a deflecting measuring roller which has spacing means which are spaced apart in the axial direction.
  • This if necessary in conjunction with a measuring roller located on the other side of the roll stand or with a memory, allows both the measurements for the determination of the congestion of the flatness of the strip and finally also the elastic roll deformation.
  • the material thickness, the tensile forces and the force distribution at the inlet and outlet of the roll stand and the bandwidth and the strip position are only taken into account at the outlet of the roll stand.
  • suitable measuring sensors for example optical devices, can continuously detect the roll gap and introduce the measured values into a control loop in which the actuators are changed by corresponding amounts that the elastic deromations are compensated.
  • this requires additional measuring and computing devices.
  • a rolling mill with a control circuit is introductory and described in claim 8, in which the tensile force distribution at the outlet is fed back to the controller as control variables, and in which an auxiliary control circuit for the adjustment of the axial spaced actuators is provided, to which the actuator positions are returned.
  • the actuators can be acted on practically without dead time.
  • a measured tension distribution at the inlet is used to specify a target function of the tension distribution at the outlet.
  • the latter is used in conjunction with a measured thickness profile of the incoming strip to determine the position of the actuators.
  • the presetting part is expediently connected to the auxiliary control circuit as a precontrol part during the rolling after the control function of the control loop has been inserted, only the respective changes in the values of the strip thickness profile, the tensile force distribution, the strip position and the strip width available for the entry side being taken into account.
  • the method according to the invention is fundamentally possible in any rolling mill in which a differentiated action can be exerted on the roll gap in the axial direction. This method can be used particularly advantageously in the case of a reversible roll stand with supported work rolls, which is arranged between the brake reel and the drive reel, which can be reversed during reversing.
  • a deflecting measuring roller having the axially spaced measuring transducers is only required on one side of the rolling stand if the measured values are transmitted to the controller in the rolling phase in which the measuring roller is located at the outlet of the rolling stand and in the subsequent phase in which the After reversing the measuring roller is located at the inlet of the roll stand, the pilot part for the tensile stress distribution on the outlet side is transferred. You then save both the space and the effort for a second deflecting measuring roller or the like.
  • the action on the contour of the roll gap is particularly effective in the case of a multi-roll stand, the support rolls of which are axially spaced apart and can be adjusted separately.
  • the strip 1 recognizable in cross section is deformed by the work rolls 2.
  • the work rolls 2 are fixed in position by conical rolls 3.
  • the latter are in turn supported by the intermediate rollers 4, which can be adjusted using the support rollers 5.
  • the support rollers 5 are each provided with a support saddle 6, as can also be seen from FIG. 2.
  • the eccentrics 7 for the bearing of each support roller 5 are adjustable so that the bearing axles 8 can be adjusted. This makes it possible to adjust the support rollers 5 in the direction of the double arrows 9. They thus act in an axially differentiated manner on the intermediate rolls 4, which in turn change the roll gap between the work rolls 2 via the cone rolls 3.
  • the rolling stand 10 can be seen, which is shown schematically as a reversible four-high stand.
  • the strip is rolled in the direction of arrow 11.
  • the tension sensors which are spaced apart in the axial direction, are implemented in the deflecting measuring roller 12 in the outlet, which corresponds to the deflecting measuring roller 12 'in the inlet.
  • the strip 1 is subject to the drive reel 13, the Brake reel 14 and the specification of the roll gap defined tensile force distribution, from this the tensile stress distribution is calculated, for which a target specification is determined, on the basis of which the controller influences the actuators of the rolling mill, as can be seen from the left part of FIG. 3.
  • the right part illustrates the addition of the procedure through presetting and feedforward control.
  • the tensile force distribution determined by the measuring roller 12 'in the inlet is taken into account both for the pilot control 20 and for the calculation of the target tension distribution 21. Likewise, there is still the measurement for the thickness profile 22 in the inlet, which is also taken into account in the pilot control 20 and in the calculation of the target stress distribution 21.
  • the output of the calculation of the target voltage distribution leads to the presetting 23 in order to lead from there together with the precontrol 20 to the setting of the actuator positions 24.
  • the setting of the actuator positions 24 also takes place on the basis of a control 25, to the input of which the calculation of the target voltage distribution 26 leads on the basis of the measurement on the outlet side of the tensile force distribution by means of the measuring roller 12.
  • FIG. 6 the presetting of the tensile stress distribution is formed in an analogous manner to the regulation of the tensile stress distribution, FIG. 6 additionally showing the possibility of storing the actual values, which can also be used when one wants to record the change in band position and band width.
  • FIG. 6 also shows blocks that are not shown in FIG. 3 for reasons of clarity.
  • FIG. 6 shows that the calculation of the target stress distribution 21 is preceded by the calculation of the actual stress distribution 27 at the inlet, which is supplied not only with the tensile force distribution of the inlet but also with the thickness profile measurement 22 of the inlet.
  • the calculation of the target tension distribution 21 also includes the measurement of the rolling force 28, as well as the calculation of the actual tension distribution, the actual bandwidth and the actual strip position derived from block 29.
  • the thickness in the outlet 30 and the tensile force distribution in the outlet 31 are supplied to this block 29 as measured values.
  • the actual values formed in block 29 can be stored in memory 32, from where the calculation of the change in bandwidth and band position 33 can be applied directly if, as mentioned, the band position and band width change are to be recorded. Otherwise, the output of the calculation of the actual values in block 29 is used to calculate the target-actual difference of the voltage distribution 34, to which the calculation of the target voltage distribution 21 is also switched, and which in turn is used to calculate the change in bandwidth and band position 33 acted upon. This is followed by the calculation of the change in thickness profile at the outlet through material spreading 35, which is followed by the calculation of the actuator adjustment amounts 36. This is followed by the calculation and finally the setting of the actuator positions 37, which closes the control loop.
  • the presetting part of the control circuit is shown in more detail in FIG.
  • the nominal tension distribution at the outlet 21 are supplied with the tensile force of the outlet 38 and the thickness of the outlet 39 as well as the tensile force distribution, bandwidth and band position of the inlet and the rolling force 28 ascertained with the measuring roller 12 '.
  • the output of the calculation of the target stress distribution in the outlet leads to the calculation of the change in thickness profile at the outlet through material spreading 40, for which the calculation of the thickness profile at the outlet with constant volume 41 is taken into account on the basis of the thickness profile measurement 22 in the inlet.
  • the calculation of the thickness profile changes at the outlet by material spreading in block 40 leads to the calculation of the actuator target positions 42 and finally to the adjustment of the actuator positions 43, which closes the control loop.
  • the target distribution of the tensile stress at the outlet can be determined, which, taking into account the thickness profile with constant volume and the change in thickness profile due to material spreading, enables the position specification of the actuators to be calculated.
  • the auxiliary control circuit shown in FIG. 7 serves to take these values into account for setting the actuator positions, in which the set positions are returned. The dead time can be practiced in this way switch off, so that the control loop responds to even very short-term operational changes with sufficient accuracy by adjusting the actuators to the exact size.
  • the pilot control part according to FIG. 8 allows the aforementioned changes to be taken into account. Basically, the same organs are used as for the pilot control part of FIG. 7 and the control circuit of FIG. 6, so that this advantageous embodiment requires only an insignificant additional effort.
  • the inlet-side calculation of the actual tension distribution, the actual belt width and the actual belt position in block 44 are the tensile force distribution of the inlet based on the measurement with the measuring roller 12 ', the thickness in the inlet 50 and the strip thickness in the outlet 46 fed.
  • the actual values calculated in block 44 can be stored in memory 45 and can be used from there or also directly for calculating the change in voltage distribution, bandwidth and band position 46 in block 49.
  • the output of block 49 together with the thickness profile measurement 22 in the inlet, stores both the actual thickness profile 47 and the calculation of the change in thickness profile for the inlet and outlet 48.
  • the latter calculation 48 together with the rolling force 28, performs the calculation of the change in thickness profile at the outlet Material spread 40 and from there to calculate the actuator adjustment amounts 36, and on the basis of this calculation 36 there is calculation and adjustment of the actuator positions 37, which also closes this control loop.
  • FIG. 4 shows, over the bandwidth x, the profile ⁇ A of the tensile stress distribution, which in this case is lower in the middle than at the edges. If, however, edge cracks in the strip are to be obtained in the manner mentioned, and if the greatest possible forming and tensile stress are to continue to be rolled, the course ⁇ A should be reversed.
  • the lower dashed line shows the tension curve ⁇ E inlet.
  • Fig. 5 shows the representation of the tensile stress distribution across the width, which is only related to the differences in the tensile stress curves. This makes it particularly clear that the regulation must move in the direction of the constancy ⁇ if one wishes to avoid the congestion of the fold.

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Description

Die Erfindung bezieht sich auf ein Verfahren zum Regeln der Zugspannungsverteilung beim Kaltwalzen von Bändern, wobei die Ermittlung der Zugspannungverteilung auf wenigstens einer Seite eines Walzgerüstes aus der Banddicke und den Meßwerten von in axialer Richtung über die Walzbreite beabstandeten Kraftmeßgebern erfolgt, und für die Einstellung der Zugspannungsverteilung ein Regler sowie davon abhängige, in axialer Richtung der Arbeitswalzen differenziert wirkende Stellglieder für den Walzspalt vorgesehen sind.The invention relates to a method for regulating the tensile stress distribution during cold rolling of strips, the tensile stress distribution on at least one side of a roll stand being determined from the strip thickness and the measured values from force transducers spaced axially across the roll width, and for adjusting the tensile stress distribution a controller and dependent actuators for the roll gap, which act differentially in the axial direction of the work rolls, are provided.

Weiterhin bezieht sich die Erfindung auf ein Walzwerk mit einem Regelkreis, bestehend aus einem Regler, einer Einrichtung zur Ermittlung der Zugkraftverteilung im Auslauf, die auf den Regler geschaltet ist, der über einen Hilfsregel- kreis auf in axialer Richtung der Walzen differenziert wirkende Stellglieder des Walzspaltes einwirkt, dessen Einstellung auf den Hilfsregelkreis zurückgeführt ist, zur Durchführung des genannten Verfahrens.Furthermore, the invention relates to a rolling mill with a control loop, consisting of a controller, a device for determining the tensile force distribution in the outlet, which is connected to the controller, which, via an auxiliary control loop, acts on the actuators of the roll gap which act differentially in the axial direction of the rolls acts, the setting of which is attributed to the auxiliary control loop, to carry out the aforementioned method.

Die Zugspannungsverteilung läßt sich in bekannter Weise durch über die Bandbreite unterschiedliche Beeinflussung des Walzspaltes mittels geeigneter Stellglieder verändern. Beispielsweise kann man bei Quarto-Gerüsten eine unterschiedliche Durchbiegung der Arbeitswalzen erreichen, indem die Walzenzapfen jeweils sich gegenüberliegender Walzen positiv oder negativ gegeneinander verspannt werden. Dies ermöglicht im wesentlichen die Einstellung gekrümmter Walzspalte und einen demgemäßen Verlauf der Zugspannungsverteilung Durch bloßes Verschwenken der Walzachsen läßt sich demgegenüber eine geradlinige Veränderung des Walzspaltes über die Breite bewirken. Örtlich differenzierte Veränderungen erlangt man mittels einer thermischen Regelung, bei welcher Stütz-und/oder Arbeitswalzen gekühlt oder beheizt werden. Hohlwalzen lassen sich durch "Aufpumpen", wobei ihre Hohlräume unter unterschiedliche Spannungen gesetzt werden, in ihrer Bombage verändern. Falls nur im Bereich der Bandkanten eine Veränderung angestrebt wird, ist dies häufig durch die Verschiebung von Konuswalzen in axialer Richtung derselben möglich. Schließlich können die Stützwalzen in axialer Richtung differenziert sein, so daß man Konturänderungen des Walzspaltes sehr genau einstellen kann. Allerdings ist in der Praxis der Anwendbarkeit derartiger Konturänderungen eine Grenze durch die bestehenden Schwierigkeiten gesetzt, Positionsvorgaben zu verwenden, die dem Umstand Rechnung tragen, daß die Betätigung eines oder einiger Stellglieder sich jeweils auf die gesamte Walzspaltkontur auswirkt, und daß daher rückwirkungsfreie Vorgabeänderungen seitens des Bedienungspersonals nicht angegeben werden können.The tensile stress distribution can be changed in a known manner by influencing the roll gap differently over the bandwidth by means of suitable actuators. For example, with four-high stands, a different deflection of the work rolls can be achieved by positively or negatively bracing the roll journals of opposing rolls. This essentially enables the setting of curved roll gaps and a corresponding course of the tensile stress distribution. By simply pivoting the roll axes, on the other hand, a straight-line change of the roll gap across the width can be brought about. Locally differentiated changes can be achieved by means of a thermal control, in which support and / or work rolls are cooled or heated. Hollow rolls can be changed in their bombage by "pumping up", whereby their cavities are placed under different tensions. If a change is only sought in the area of the strip edges, this is often possible by moving conical rollers in the axial direction thereof. Finally, the back-up rolls can be differentiated in the axial direction, so that changes in the contour of the roll gap can be set very precisely. However, in practice, the applicability of such contour changes is limited by the existing difficulties in using position specifications which take into account the fact that the actuation of one or a few actuators affects the entire roll gap contour, and therefore that the operating personnel have non-reactive default changes cannot be specified.

Ein Verfahren zur Ermittlung der Zugspannungsverteilung beim Kaltwalzen ist in "Stahl und Eisen", 1977, Seiten 1029/1031 beschrieben. Dabei findet eine umlenkende Meßrolle mit in axialer Richtung beabstandeten Spannungsmeßgbern Verwendung, um bei einer dreigerüstigen Kaltwalzstraße zwischen dem letzten Walzgerüst und den Zugrollen die Zugspannungsverteilung als Maß für Längenabweichungen und damit die Planheit zu erfassen.A method for determining the tensile stress distribution during cold rolling is described in "Stahl und Eisen", 1977, pages 1029/1031. A deflecting measuring roller with axially spaced tension sensors is used to record the tension distribution as a measure of length deviations and thus flatness in a three-stand cold rolling mill between the last rolling stand and the tension rollers.

Ein Verfahren der einleitend beschriebenen Art ist nach "Iron and Steel Engineer", Juni 1979, Seiten 55 bis 60 bekannt. Die Zugspannungsverteilung wird dabei an der Auslaufseite des Walzgerüstes mittels einer Umlenkmeßrolle überwacht, deren Meßwerte für die Beaufschlagung der Stellglieder maßgeblich sind. Grundlegend wird dabei auf ein über die Bandbreite bestehendes Gleichmaß der Zugspannungen abgestellt. Der mit dem Eingang der Zugspannungsverteilung arbeitende Regler kann dabei auch über einen Hilfsregelkreis auf in axialer Richtung der Walze differenziert wirkende Stetigiißder des Walzspaltes einwirken, dessen Einstellung auf den Hilfsregelkreis zurückgeführt ist. Innerhalb dieses Hilfsregelkreises besteht die Möglichkeit, manuell Sollwerte für die Stellglieder vorzugeben. Die für die Einstellungen der Stellglieder auf Grund der Zugspannungsverteilung ermittelten Werte unterliegen einer von der Walzgeschwindigkeit abhängigen Einspeicherung, so daß der Speicher ein repräsentatives Signal für die Abweichung von der mittleren Zugspannung bereit hält.A method of the type described in the introduction is known from "Iron and Steel Engineer", June 1979, pages 55 to 60. The tensile stress distribution is monitored on the outlet side of the roll stand by means of a deflection measuring roller, the measured values of which are decisive for the actuation of the actuators. Basically, it is based on a uniform tension tension across the bandwidth. The controller working with the input of the tension distribution can also act via an auxiliary control loop on Stetigii ß which acts differentially in the axial direction of the roll and of the roll gap, the setting of which is attributed to the auxiliary control loop. Within this auxiliary control loop, there is the possibility of manually specifying setpoints for the actuators. The values determined for the settings of the actuators on the basis of the tension distribution are subject to storage dependent on the rolling speed, so that the storage has a representative signal ready for the deviation from the average tension.

Innerhalb eines Planheitsregelsystems werden gleichfalls nach der FR-A-2 375 920 die Stellglieder eines Walzwerkes von der über eine Umlenkmeßrolle festgestellten Zugspannungsverteilung eingestellt. In diesem Regelsystem wird desweiteren die an verschiedenen Stellen über die Bandbreite gemessene Banddicke berücksichtigt.Within a flatness control system, also according to FR-A-2 375 920, the actuators of a rolling mill are adjusted by the tension distribution determined via a deflection measuring roller. In this control system, the strip thickness measured across the bandwidth at various points is also taken into account.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren der einleitend bezeichneten Art sowie ein Walzwerk mit einem Regelkreis dahingehend auszugestalten, daß Betriebsstörungen beim Walzen vermieden werden. Dabei sollen ebenfalls die Bedingungen der Planheit des Walzgutes eingehalten werden. Weiterhin soll das störungsfreie Walzen mit hohen Umformungsgraden durch hohe Zugspannungen verwirklicht werden können.The invention has for its object to provide a method of the type described in the introduction and a rolling mill with a control loop in such a way that malfunctions during rolling are avoided. The conditions of the flatness of the rolling stock should also be observed. Furthermore, it should be possible to achieve trouble-free rolling with high degrees of deformation through high tensile stresses.

Die Erfindung löst diese Aufgabenstellung durch die in den Patentansprüchen gekennzeichneten Vorschläge.The invention solves this problem by the proposals characterized in the claims.

Während sich der Patentanspruch 1 speziell auf in einer Richtung betriebene Walzwerke bezieht, gilt der Vorschlag des Anspruchs 2 für reversierend arbeitende Walzgerüste. In beiden Fällen stehen aufgrund der durchgeführten Messungen bzw. Speicherungen die Differenzwerte der auslaufseitigen und einlaufseitigen Zugspannungsverteilung zur Verfügung, die ihrerseits nach dem Vorschlag der Erfindung geregelt werden. Maßgeblich für diese Regelung ist die Einhaltung von Höchstwerten der genannten Differenzen, oberhalb welcher es zu einem ungleichmäßigen Werkstoffluß mit zu Materialfaltungen führendem Rückstau kommt. Unter dieser Bedingung ist ein weitgehend störungsfreies Walzen möglich, da sich ein über die Walzbreite gleichmäßiger und stabiler Werkstoffluß einstellt. Sowie sich ein Materialrückstau und Materialfaltungen am Gerüsteinlauf ergeben, wird die Zugspannungsverteilung mit der Maßgabe geändert, daß die erwähnte Differenz zwischen Gerüsteinlauf und Gerüstauslauf über die Bandbreite vergleichmäßigt wird, wobei dies so weit geschieht, daß die erwähnten Faltungsstauerscheinungen vermieden werden. Dabei ergibt sich, daß nur begrenzte Abweichungen des Zugspannungsunterschiedes bestehen dürfen. Es wird also zunächst am Auslauf eine Verteilung der Zugspannung mittels der in axialer Richtung der Walzen beabstandeten Spannungsmeßgeber gemessen. Die Differenz zur Einlaufspannungsverteilung wird entweder von auch an der Einlaufseite des Walzgerüstes, befindlichen, in axialer Richtung beabstandeten Spannungsmeßgebern ermittelt oder bei reversierenden Walzgerüsten auf Grund abgespeicherter Meßwerte festgestellt, die in der vorausgegangenen Walzphase gemessen und gespeichert wurden. Diese Unterschiede der Zugspannungen unterliegen sodann der erfindungsgemäß vorgeschlagenen Einstellung.While claim 1 relates specifically to rolling mills operated in one direction, the proposal of claim 2 applies to reversing mill stands. In both cases, the difference values of the outlet-side and inlet-side tensile stress distribution are available on the basis of the measurements or storages carried out, which in turn are regulated according to the proposal of the invention. Decisive for this regulation is the compliance with maximum values of the mentioned differences, above which there is an uneven material flow with material folding Backwater is coming. Under this condition, largely trouble-free rolling is possible, since the material flow is uniform and stable over the rolling width. As soon as there is a backflow of material and material folds at the scaffold inlet, the tension distribution is changed with the proviso that the mentioned difference between the scaffold inlet and the scaffold outlet is evened out over the bandwidth, this happening to the extent that the mentioned congestion phenomena are avoided. The result is that there can only be limited deviations in the tension difference. A distribution of the tensile stress is therefore first measured at the outlet by means of the tension transducers spaced apart in the axial direction of the rollers. The difference to the inlet tension distribution is either determined by tension sensors located on the inlet side of the roll stand, spaced apart in the axial direction, or determined in the case of reversing roll stands on the basis of stored measured values which were measured and stored in the previous rolling phase. These differences in tensile stresses are then subject to the setting proposed according to the invention.

Das erwähnte Verfahren läßt sich noch dadurch verbessern, daß bei Planheitsfehlern des gewalzten Bandes im entspannten Zustand die Zugspannungen über die Bandbreite einander angenähert und im Grenzfalle konstant gemacht werden. Damit wird eine äußerste Grenze des mit den Patentansprüchen gemachten Vorschlages verwirklicht.The above-mentioned method can be improved further in that, in the event of flatness errors in the rolled strip in the relaxed state, the tensile stresses are approximated to one another over the strip width and made constant in the limit case. This realizes an extreme limit of the proposal made with the patent claims.

In anderer Richtung ergibt sich für den Vorschlag gemäß den Vorschlägen der Patentansprüche dann eine Grenze, wenn möglichst hohe Umformungsgrade durch große Zugspannungen erreicht werden müssen. Dies setzt zunächst Planheit des gespannten Bandes voraus. In diesem Falle wird man das Band mit der höchst zulässigen Zugspannung walzen. Dies ist aber nur dann möglich, wenn nach einem weiteren Vorschlag der Erfindung in der Bandmitte eine gegenüber den Bandrändern vergrößerte Zugspannung zugelassen wird, wohingegen die Zugspannung an den Bandrändern einen vom Bandmaterial für die Kerbreißwirkung abhängigen Spannungshöchstwert nicht überschreiten darf, der kleiner als ein vorgegebener, über die Bandbreite mittlerer Zugspannungswert ist. Da Risse zunächst grundsätzlich von den Bandkanten ausgehen, wird einer Rißgefährdung durch die vorgeschlagene Bedingung, bei der die Zugspannung an den Rändern gegenüber der Mitte stets geringer ist, Rechnung getragen, wobei der vorgegebene mittlere Zugspannungswert größer als derjenige an den Rändern ist. In der Praxis kann man bei dünnen Bändern damit rechnen, daß in der Mitte ein dreifach größerer Zugspannungswert zulässig als an den Rändern ist. Selbstverständlich entfällt die vorerwähnte Verfahrensbedingung dann, wenn Bänder in Dickenbereichen gewalzt werden müssen, bei denen an den Rändern keine erhöhte Rißempfindlichkeit besteht.In another direction, there is a limit for the proposal according to the proposals of the claims when the highest possible degrees of deformation must be achieved by high tensile stresses. This initially requires flatness of the tensioned belt. In this case, the strip will be rolled with the maximum allowable tension. However, this is only possible if, according to a further proposal of the invention, a tensile stress that is greater than the band edges is permitted in the middle of the band, whereas the tensile stress at the band edges must not exceed a maximum tension value dependent on the band material for the notch effect, which is less than a predetermined, average tensile stress value across the bandwidth. Since cracks generally originate from the belt edges, a risk of cracking is taken into account by the proposed condition in which the tensile stress at the edges is always lower compared to the center, the predetermined mean tensile stress value being greater than that at the edges. In practice, thin strips can be expected to have a tensile strength that is three times greater in the middle than at the edges. Of course, the above-mentioned process condition does not apply if strips have to be rolled in thickness ranges in which there is no increased sensitivity to cracks at the edges.

Somit läßt sich das erfindungsgemäße Verfahren den Betriesbsbedingungen zweckmäßig anpassen.The method according to the invention can thus be expediently adapted to the operating conditions.

Die im Zusammenhang mit der erfindung vorzunehmenden Zugspannungsmessungen lassen sich zweckmäßig an einer sich in axialer Richtung beabstandenten Spannungsmeßgeben aufweisenden umlenkenden Meßrolle erhalten. Diese erlaubt gegebenenfalls in Verbindung mit einer auf der anderen Seite des Walzgerüstes befindlichen Meßrolle oder mit einem Speicher sowohl die Messungen für die Ermittlung des Faltungsstaues der Unplanheiten des Bandes und schließlich auch der elastischen Walzenverformung.The tensile stress measurements to be carried out in connection with the invention can expediently be obtained on a deflecting measuring roller which has spacing means which are spaced apart in the axial direction. This, if necessary in conjunction with a measuring roller located on the other side of the roll stand or with a memory, allows both the measurements for the determination of the congestion of the flatness of the strip and finally also the elastic roll deformation.

In weiterer Ausgestaltung der erfindung werden für die Positionsvorgabe neben den kennzeichnenden Materialeigenschaften und der Walzkraft zusätzlich die Materialdicke, die Zugkräfte und die Zukraftverteilung jeweils am Einlauf und Auslauf des Walzgerüstes und die Bandbreite und die Bandlage nur am Auslauf des Walzgerüstes berüksichtigt.In a further embodiment of the invention, in addition to the characteristic material properties and the rolling force, the material thickness, the tensile forces and the force distribution at the inlet and outlet of the roll stand and the bandwidth and the strip position are only taken into account at the outlet of the roll stand.

Da das erfindungsgemäße Verfahren während des Betriebes zur Anwendung gelangen muß, ist es für seine Verwirklichung von erheblicher Bedeutung, daß die meßtechnisch und rechnerisch ermittelte Positionsvorgabe auch hinreichend schnell an den Stellgliedern für den Walzspalt zur Auswirkung kommt. Es besteht sonst die Möglichkeit, durch zu ausgedehnte Totzeiten bestimmte betriebliche Störungen zu "überfahren", d.h. hierauf erst dann anzusprechen, wenn sie bereits nicht mehr zu beeinflussen sind. Materialfehler sowie Betriebsstörungen sind dann die Folge. Um die erwähnte Zielsetzung im Interesse eines störungsfreien Walzbetriebes zu verwirklichen, werden die sich beim Walzen mit einem bestimmten Walzspalt während des Materialdurchganges ergebenden elastischen Verformungen infolge Durchbiegung und Abplattung der Walzen mittels gleichzeitiger Anstellung aller Stellglieder auskompensiert. Damit wird zugleich erreicht, daß die Rückwirkung der Verstellung einzelner Stellglieder auf den gesamten Walzspalt berücksichtigt wird.Since the method according to the invention has to be used during operation, it is of considerable importance for its realization that the position specification determined by measurement and calculation also comes into play quickly enough on the actuators for the roll gap. Otherwise it is possible to "run over" certain operational disturbances due to extended dead times, i.e. only respond to this when they can no longer be influenced. Material errors and operational disruptions are the result. In order to achieve the mentioned objective in the interest of a trouble-free rolling operation, the elastic deformations resulting from rolling with a certain roll gap during the material passage due to deflection and flattening of the rolls are compensated for by simultaneous adjustment of all actuators. This also ensures that the effect of the adjustment of individual actuators on the entire roll gap is taken into account.

Man kann dies in der Praxis unterschiedlich erreichen. Da sich die Durchbiegung und Abplattung der Walzen unmittelbar auf Grund einer elastischen Deformation derselben ergeben, kann man mittels geeigneter Meßgeber, beispielsweise optischer Geräte, den Walzspalt laufend erfassen und die Meßerte in einen Regelkreis einführen, bei dem die Stellglieder um entsprechende Beträge verändert werden, so daß die elastischen Deromationen eine Kompensierung erfahren. Dies setzt indes zusätzliche Meß-und Rechengeräte voraus.This can be achieved in different ways in practice. Since the deflection and flattening of the rollers result directly from an elastic deformation of the same, suitable measuring sensors, for example optical devices, can continuously detect the roll gap and introduce the measured values into a control loop in which the actuators are changed by corresponding amounts that the elastic deromations are compensated. However, this requires additional measuring and computing devices.

Im Sinne der Erfindung ist es nun von besonderer Bedeutung, daß für die Beaufschlagung der Stellglieder nicht nur die Beaufschlagungsrichtungen vorgegeben werden, wie dies in einem einfachen Regelkreis ausreichend sein würde, sondern daß die echten Stellwerte ermittelt und auf die Stellglieder übertragen werden. Derartige Stellwerte lassen sich auf der Grundlage der vorerwähnten Messungen nicht nur am Walzspalt, sondern auch auf Grund einer Messung der Zugspannungsverteilung der bereits beschriebenen Art ermitteln. Man kommt, von der erwähnten Spannungsverteilung ausgehend, zu einer Positionsvorgabeverteilung auf der Grundlage der nachstehenden Beziehung:

Figure imgb0001
In the sense of the invention, it is now of particular importance that not only the directions of action are specified for the action of the actuators, as would be sufficient in a simple control loop would, but that the real manipulated values are determined and transferred to the actuators. Such control values can be determined on the basis of the aforementioned measurements not only at the roll gap, but also on the basis of a measurement of the tension distribution of the type already described. Starting from the stress distribution mentioned, a position specification distribution is obtained on the basis of the following relationship:
Figure imgb0001

In dieser Beziehung sind:

  • U; = die elastische Verformung, die durch die Stellglieder auszukompensieren ist, in mm.
  • Aij = Matrix für das elastische Verhalten des Gerüstes und das als gegeben vorausgesetzte plastische Verhalten des Bandes. Man rechnet jeweils den Wert in mm3/N für eine diskrete Stelle i aus, wobei j = Koeffizient der Spannung des Bandes und i = Koeffizient der Verformung des Gerüstes ist. Somit ergibt diese Matrix den Zusammenhang zwischen der Zugspannung an den Stellen j des Bandes und der Verformung des Gerüstes an den Stellen i;
  • σj = Zugspannungsverteilung in N/mm2, als Differenz der Istverteilung von der Sollverteilung, wie sie ermittelt wird.
In this regard:
  • U; = the elastic deformation to be compensated for by the actuators, in mm.
  • A ij = matrix for the elastic behavior of the framework and the plastic behavior of the belt, which is assumed as given. The value in mm 3 / N is calculated for a discrete location i, where j = coefficient of tension of the belt and i = coefficient of deformation of the frame. This matrix thus gives the relationship between the tensile stress at points j of the belt and the deformation of the scaffold at points i;
  • σj = tensile stress distribution in N / mm 2 , as the difference between the actual distribution and the target distribution as determined.

Auf Grund einer derartigen Ermittlung der Positionsvorgabe-Werte ist es möglich, sämtliche Stellglieder gleichzeitig zu beaufschlagen und praktisch trägheitsfrei auf das Walzgerüst einzuwirken. Hierdurch wird die Einbeziehung eines Hilfsregelkreises, auf den die Stellglieder-Positionen rückführbar sind, besonders vorteilhaft.On the basis of such a determination of the position specification values, it is possible to act on all actuators at the same time and to act on the rolling stand with practically no inertia. This makes the inclusion of an auxiliary control loop, to which the actuator positions can be traced, particularly advantageous.

Für die Durchführung des vorgeschlagenen Verfahrens anhand der angesprochenen Ermittlung eignet sich ein Walzwerk mit einem Regelkreis einleitend und im Patentanspruch 8 beschrieben, bei welchem die am Auslauf bestehende Zugkraftverteilung als Regelgrößen auf den Regler zurückgeführt sind, und bei dem weiterhin ein Hilfsregelkreis für die Einstellung der axial beabstandeten Stellglieder vorgesehen ist, auf den die Stellgliederpositionen zurückgefürt sind. Bei einem derartigen Regelkreis kann praktisch totzeitfrei auf die Stellglieder eingewirkt werden.For the implementation of the proposed method on the basis of the mentioned determination, a rolling mill with a control circuit is introductory and described in claim 8, in which the tensile force distribution at the outlet is fed back to the controller as control variables, and in which an auxiliary control circuit for the adjustment of the axial spaced actuators is provided, to which the actuator positions are returned. With such a control loop, the actuators can be acted on practically without dead time.

Beim Beginn des Walzens stehen mehrere der für die Regelung erforderlichen Werte noch nicht zur Verfügung. Deshalb wird der vorgesehene Hilfsregelkreis weiterhin der Einwirkung eines Voreinstellungsteils ausgesetzt. Im Rahmen dieser Voreinstellung wird eine gemessene Zugspannungsverteilung am Einlauf zur Vorgabe einer Sollfunktion der Zugsgspannungsverteilung am Auslauf verwendet. Letztere dient in Verbindung mit einem gemessenen Dickenprofil des einlaufenden Bandes zur Ermittlung der Positionsvorgabe der Stellglieder.When rolling begins, several of the values required for control are not yet available. Therefore, the intended auxiliary control loop is still exposed to the action of a presetting part. Within the scope of this presetting, a measured tension distribution at the inlet is used to specify a target function of the tension distribution at the outlet. The latter is used in conjunction with a measured thickness profile of the incoming strip to determine the position of the actuators.

Zweckmäßig wird das Voreinstellungsteil während des Walzens nach Einsetzen der Regelfunktion des Regelkreises weiterhin als Vorsteuerungsteil mit dem Hilfsregelkreis verbunden wobei lediglich noch die jeweiligen Änderungen der für die Einlaufseite zur Verfügung stehenden Werte des banddickenprofils, der Zugkraftverteilung, der Bandlage und der Bandbreite berücksichtigt werden. Das erfindungsgemäße Verfahren ist grundsätzlich bei jedem Walzwerk möglich, bei dem in axialer Richtung differenziert auf den Walzspalt eingewirkt werden kann. Besonders vorteilhaft gelingt die Anwendung dieses Verfahrens bei einem zwischen bei Reversierung umschaltbaren Bremshaspel und Antriebshaspel angeordneten, reversierbaren Walzgerüst mit abgestützten Arbeitswalzen. Hierbei ist lediglich auf einer Seite des Walzgerüstes eine die axial beabstandeten Meßwertgeber aufweisende umlenkende Meßrolle erforderlich, wenn in der Walzphase, in welcher sich die Meßrolle am Auslauf des Walzgerüstes befindet, die Meßwerte dem Regler übertragen werden und in der folgenden Phase, in der sich die Meßrolle nach Reversierung am Einlauf des Walzgerüstes befindet, dem Vorsteuerteil für die auslaufseitige Zugspannungsverteilung übertragen werden. Man spart dann sowohl den Platz als auch den Aufwand für eine zweite umlenkende Meßrolle oder dergleichen.The presetting part is expediently connected to the auxiliary control circuit as a precontrol part during the rolling after the control function of the control loop has been inserted, only the respective changes in the values of the strip thickness profile, the tensile force distribution, the strip position and the strip width available for the entry side being taken into account. The method according to the invention is fundamentally possible in any rolling mill in which a differentiated action can be exerted on the roll gap in the axial direction. This method can be used particularly advantageously in the case of a reversible roll stand with supported work rolls, which is arranged between the brake reel and the drive reel, which can be reversed during reversing. In this case, a deflecting measuring roller having the axially spaced measuring transducers is only required on one side of the rolling stand if the measured values are transmitted to the controller in the rolling phase in which the measuring roller is located at the outlet of the rolling stand and in the subsequent phase in which the After reversing the measuring roller is located at the inlet of the roll stand, the pilot part for the tensile stress distribution on the outlet side is transferred. You then save both the space and the effort for a second deflecting measuring roller or the like.

Die Einwirkung auf die Kontur des Walzspaltes ist besonders wirkungsvollbei einem Vielwalzengerüst, dessen Stützwalzen axial beabstandet und getrennt anstellbar sind.The action on the contour of the roll gap is particularly effective in the case of a multi-roll stand, the support rolls of which are axially spaced apart and can be adjusted separately.

Die Erfindung sei weiterhin anhand der sich auf Ausführungsbeispiele beziehenden Zeichnungen veranschaulicht. Darin zeigen:

  • Figur 1 ein 20-Walzen-Kaltwalzgerüst in schematischem Querschnitt,
  • Figur 2 einen Längsschnitt entsprechend Figur 1,
  • Figur 3 eine Gesamtübersicht über das erfindungsgemäße Verfahren,
  • Figur 4 ein Schaubild der Zugspannungsverteilung über die Bandbreite,
  • Figur 5 ein Schaubild der Zugspannungsdifferenzen über die Bandbreite,
  • Figur 6 eine Übersicht des erfindungsgemäßen Regelkreises,
  • Figur 7 eine ausführlichere Darstellung des Voreinstellungsteils des Regelkreises und
  • Figur 8 das Vorsteuerungsteil in ausführlicherer Darstellung.
The invention is further illustrated by the drawings relating to exemplary embodiments. In it show:
  • FIG. 1 shows a 20-roll cold rolling mill in schematic cross section,
  • FIG. 2 shows a longitudinal section corresponding to FIG. 1,
  • FIG. 3 shows an overall overview of the method according to the invention,
  • FIG. 4 shows a diagram of the tension distribution over the bandwidth,
  • FIG. 5 shows a diagram of the tension differences over the bandwidth,
  • FIG. 6 shows an overview of the control loop according to the invention,
  • Figure 7 is a more detailed representation of the presetting part of the control loop and
  • Figure 8 shows the pilot control in more detail.

Gemäß Figur 1 wird das im Querschnitt erkennbare Band 1 von den Arbeitswalzen 2 verformt. Die Arbeitswalzen 2 sind von Konuswalzen 3 in ihrer Position festgelegt. Letztere sind wiederum mittels der Zwischenwalzen 4 abgestützt, welche mit Hilfe der Stützrollen 5 anstellbar sind. Zu diesem Zwecke sind die Stützrollen 5 mit je einem Stützsattel 6 versehen, wie ergänzend auch aus Figur 2 hervorgeht. Mittels nicht näher dargestellter Stellmittel sind die Exzenter 7 für das Lager jeder Stützrolle 5 verstellbar, so daß sich die Lagerachsen 8 einstellen lassen. Dadurch ist es möglich, die Stützrollen 5 in Richtung der Doppelpfeile 9 zu verstellen. Sie wirken somit in axial differenzierter Weise auf die Zwischenwalzen 4 ein, die wiederum über die Konuswalzen 3 den Walzspalt zwischen den Arbeitswalzen 2 verändern.According to Figure 1, the strip 1 recognizable in cross section is deformed by the work rolls 2. The work rolls 2 are fixed in position by conical rolls 3. The latter are in turn supported by the intermediate rollers 4, which can be adjusted using the support rollers 5. For this purpose, the support rollers 5 are each provided with a support saddle 6, as can also be seen from FIG. 2. By means of adjusting means, not shown, the eccentrics 7 for the bearing of each support roller 5 are adjustable so that the bearing axles 8 can be adjusted. This makes it possible to adjust the support rollers 5 in the direction of the double arrows 9. They thus act in an axially differentiated manner on the intermediate rolls 4, which in turn change the roll gap between the work rolls 2 via the cone rolls 3.

Anstatt des in den Figuren 1 und 2 dargestellter 20 Walzen-Kaltwalz gerüstes kann selbstverständlich auch ein anderes Kaltwalzgerüst vorgesehen sein.Instead of the 20-roll cold rolling mill shown in FIGS. 1 and 2, another cold-rolling mill can of course also be provided.

Den grundsätzlichen Verlauf des Verfahrens veranschaulicht Figur 3. Man erkennt das Walzgerüst 10, welches schematisch als ein reversierbares Quarto-Gerüst dargestellt ist. In der dargestellten Walzphase wird das Band in Richtung des Pfeiles 11 gewalzt, Die in axialer Richtung beabstandeten Spannungsmeßgeber sind bei der umlenkenden Meßrolle 12 im Auslauf verwirklicht, welcher die umlenkende Meßrolle 12' im Einlauf entspricht, Das Band 1 unterliegt der vom Antriebshaspel 13, dem Bremshaspel 14 und der Vorgabe des Walzspalten definierten Zugkraftverteilung, Daraus berechnet sich die Zugspannungsverteilung, für welche eine Sollvorgabe ermittelt wird, auf Grund welcher der Regler die Stellglieder des Walzwerkes beeinflußt, wie sich aus dem linken Teil der Figur 3 ergibt. Der rechte Teil veranschaulicht die Ergänzung des Verfahrens durch Voreinstellung und Vorsteuerung.The basic course of the method is illustrated in FIG. 3. The rolling stand 10 can be seen, which is shown schematically as a reversible four-high stand. In the rolling phase shown, the strip is rolled in the direction of arrow 11. The tension sensors, which are spaced apart in the axial direction, are implemented in the deflecting measuring roller 12 in the outlet, which corresponds to the deflecting measuring roller 12 'in the inlet. The strip 1 is subject to the drive reel 13, the Brake reel 14 and the specification of the roll gap defined tensile force distribution, from this the tensile stress distribution is calculated, for which a target specification is determined, on the basis of which the controller influences the actuators of the rolling mill, as can be seen from the left part of FIG. 3. The right part illustrates the addition of the procedure through presetting and feedforward control.

Die von der Meßrolle 12' im Einlauf ermittelte Zugkraftverteilung wird sowohl für die Vorsteuerung 20 als auch von der Berechnung der Soll-Spannungsverteilung 21 berücksichtigt. Gleichfalls besteht im Einlauf noch die Messung für das Dickenprofil 22, welche ebenfalls bei der Vorsteuerung 20 und bei der Berechnung der Soll-Spannungsverteilung 21 berücksichtigt wird. Der Ausgang der Berechnung der Soll-Spannungsverteilung führt zur Voreinstellung 23, um von dort aus zusammen mit der Vorsteuerung 20 zur Einstellung der Stellgliederpositionen 24 zu führen. Die Einstellung der Stellgliederpositionen 24 erfolgt weiterhin auf Grund einer Regelung 25, zu deren Eingang die Berechnung der Sollspannungsverteilung 26 auf Grund der auslaufseitigen Messung der Zugkraftverteilung mittels der Meßrolle 12 führt.The tensile force distribution determined by the measuring roller 12 'in the inlet is taken into account both for the pilot control 20 and for the calculation of the target tension distribution 21. Likewise, there is still the measurement for the thickness profile 22 in the inlet, which is also taken into account in the pilot control 20 and in the calculation of the target stress distribution 21. The output of the calculation of the target voltage distribution leads to the presetting 23 in order to lead from there together with the precontrol 20 to the setting of the actuator positions 24. The setting of the actuator positions 24 also takes place on the basis of a control 25, to the input of which the calculation of the target voltage distribution 26 leads on the basis of the measurement on the outlet side of the tensile force distribution by means of the measuring roller 12.

Nach Figur 6 wird die Voreinstellung der Zugspannungsverteilung in analoger Weise wie die Regelung der Zugspannungsverteilung gebildet, wobei Figur 6 noch ergänzend die Möglichkeit der Speicherung der Istwerte aufzeigt, von der auch dann Gebrauch gemacht werden kann, wenn man die Bandlagen- und Bandbreitenänderung erfassen will. Insbesondere zeigt Figur 6 auch aus Gründen der Obersicht in Figur 3 nicht wiedergegebene Blöcke. So zeigt Figur 6, daß der Berechnung der Soll-Spannungsverteilung 21 die Berechnung der Ist-Spannungsverteilung 27 am Einlauf vorgeschaltet ist, der nicht nur die Zugkraftverteilung des Einlaufes, sondern auch die Dickenprofilmessung 22 des Einlaufs zugeführt ist. Die Berechnung der Sollspannungsverteilung 21 nimmt weiterhin die Messung der Walzkraft 28 auf, ferner die vom Block 29 abgeleitete Berechnung der Ist-spannungsverteilung, der Ist-Bandbreite und der Ist-Bandlage. Diesem Block 29 sind als Meßwerte die Dicke im Auslauf 30 und die Zugkraftverteilung im Auslauf 31 zugeführt. Die im Block 29 gebildeten Ist-Werte lassen sich im Speicher 32 speichern, von wo aus unmittelbar die Berechnung der Änderung von Bandbreite und Bandlage 33 beaufschlagbar ist, wenn man, wie erwähnt, die Bandlagen- und Bandbreitenänderung erfassen will. Im übrigen dient der Ausgang der Berechnung der Ist-Werte im Block 29 zur Berechnung der Soll-Ist-Differenz der Spannungsverteilung 34, auf welche ebenfalls die Berechnung der Soll-Spannungsverteilung 21 geschaltet ist, und die ihrerseits die Berechnung der Änderung von Bandbreite und Bandlage 33 beaufschlagt. Im Anschluß daran kommt es zur Berechnung der Dicken-Profil-Änderung am Auslauf durch Materialbreitung 35, an welche sich die Berechnung der Stellglieder-Verstellbeträge 36 anschließt. Danach erfolgt noch die Berechnung und schließlich die Einstellung der Stellglieder-Positionen 37, womit der Regelkreis geschlossen ist.According to FIG. 6, the presetting of the tensile stress distribution is formed in an analogous manner to the regulation of the tensile stress distribution, FIG. 6 additionally showing the possibility of storing the actual values, which can also be used when one wants to record the change in band position and band width. In particular, FIG. 6 also shows blocks that are not shown in FIG. 3 for reasons of clarity. Thus, FIG. 6 shows that the calculation of the target stress distribution 21 is preceded by the calculation of the actual stress distribution 27 at the inlet, which is supplied not only with the tensile force distribution of the inlet but also with the thickness profile measurement 22 of the inlet. The calculation of the target tension distribution 21 also includes the measurement of the rolling force 28, as well as the calculation of the actual tension distribution, the actual bandwidth and the actual strip position derived from block 29. The thickness in the outlet 30 and the tensile force distribution in the outlet 31 are supplied to this block 29 as measured values. The actual values formed in block 29 can be stored in memory 32, from where the calculation of the change in bandwidth and band position 33 can be applied directly if, as mentioned, the band position and band width change are to be recorded. Otherwise, the output of the calculation of the actual values in block 29 is used to calculate the target-actual difference of the voltage distribution 34, to which the calculation of the target voltage distribution 21 is also switched, and which in turn is used to calculate the change in bandwidth and band position 33 acted upon. This is followed by the calculation of the change in thickness profile at the outlet through material spreading 35, which is followed by the calculation of the actuator adjustment amounts 36. This is followed by the calculation and finally the setting of the actuator positions 37, which closes the control loop.

Das Voreinstellungsteil des Regelkreises zeigt Figur 7 ausführlicher. Der Soll-Spannungsverteilung am Auslauf 21 sind als Sollwerte die Zugkraft des Auslaufs 38 und die Dicke des Auslaufs 39 sowie die mit der Meßrolle 12' erfaßte Zugkraftverteilung, Bandbreite und Bandlage des Einlaufs und die Walzkraft 28 zugeführt. Der Ausgang der Berechnung der Soll-Spannungsverteilung im Auslauf führt zur Berechnung der Dickenprofiländerung am Auslauf durch Materialbreitung 40, für welche die Berechnung des Dickenprofils am Auslauf bei konstantem Volumen 41 auf Grund der Dickenprofilmessung 22 im Einlauf berücksichtigt wird. Die im Block 40 erfolgende Berechnung der Dickenprofiländerungen am Auslauf durch Materialbreitung führt zur Berechnung der Stellglieder-Sollpositionen 42 und schließlich zur Einstellung der Stellgliederpositionen 43, womit sich der Regelkreis schließt. Somit sind zum Zwecke der Voreinstellung lediglich die Dicke beim Auslauf und die Zugkraft beim Auslauf vorgegeben, wohingegen die übrigen Werte einlaufseitig gebildet sind, indem die Zugkraftverteilung, das Dicken- profil und die Walzkraft gemessen werden. Mit diesen, insgesamt nur fünf Parametern läßt sich die Sollverteilung der Zugspannung am Auslauf ermitteln, die unter Berücksichtigung des Dickenprofils bei konstantem Volumen sowie der Dickenprofiländerung infolge Materialbreitung die Berechnung der Positionsvorgabe der Stellglieder ermöglicht. Der Berücksichtigung dieser Werte dient in Figur 7 im linken Zeichnungsteil der dargestellte Hilfsregelkreis für das Einstellen der Stellgliederpositionen, bei welchen die Rückführung der eingestellten Positionen stattfindet Die Totzeit läßt sich auf diese Weise praktisch ausschalten, so daß der Regelkreis auch auf sehr kurzfristige, betriebliche Änderungen hinreichend genau durch maßgenaue Einstellung der Stellglieder anspricht.The presetting part of the control circuit is shown in more detail in FIG. The nominal tension distribution at the outlet 21 are supplied with the tensile force of the outlet 38 and the thickness of the outlet 39 as well as the tensile force distribution, bandwidth and band position of the inlet and the rolling force 28 ascertained with the measuring roller 12 '. The output of the calculation of the target stress distribution in the outlet leads to the calculation of the change in thickness profile at the outlet through material spreading 40, for which the calculation of the thickness profile at the outlet with constant volume 41 is taken into account on the basis of the thickness profile measurement 22 in the inlet. The calculation of the thickness profile changes at the outlet by material spreading in block 40 leads to the calculation of the actuator target positions 42 and finally to the adjustment of the actuator positions 43, which closes the control loop. Thus, for the purpose of presetting, only the thickness at the outlet and the tensile force at the outlet are specified, whereas the other values are formed on the inlet side by measuring the tensile force distribution, the thickness profile and the rolling force. With these, a total of only five parameters, the target distribution of the tensile stress at the outlet can be determined, which, taking into account the thickness profile with constant volume and the change in thickness profile due to material spreading, enables the position specification of the actuators to be calculated. In the left part of the drawing, the auxiliary control circuit shown in FIG. 7 serves to take these values into account for setting the actuator positions, in which the set positions are returned. The dead time can be practiced in this way switch off, so that the control loop responds to even very short-term operational changes with sufficient accuracy by adjusting the actuators to the exact size.

Die vorerwähnten Änderungen erlaubt das Vorsteuerungsteil gemäß Figur 8 zu berücksichtigen. Dafür finden grundsätzlich die gleichen Organe wie für das Vorsteuerungsteil der Figur 7 und des Regelkreises der Figur 6 Verwendung, so daß es für diese vorteilhafte Ausführungsform nur eines unwesentlichen Mehraufwandes bedarf. Der einlaufseitigen Berechnung der Ist-Spannungsverteilung, der Ist-Bandbreite und der Ist-Bandlage im Block 44 werden die Zugkraftverteilung des Einlaufs auf Grund der Messung mit der Meßrolle 12', ferner die Dicke im Einlauf 50 und die Banddicke im Auslauf 46 zugeführt. Die im Block 44 berechneten Ist-Werte lassen sich im Speicher 45 speichern und von dort oder auch unmittelbar für die Berechnung der Änderung von Spannungsverteilung, Bandbreite und Bandlage 46 im Block 49 verwenden. Der Ausgang des Blockes 49 führt zusammen mit der Dickenprofilmessung 22 im Einlauf sowohl zur Speicherung des Ist-Dickenprofils 47 als auch zur Berechnung de Dickenprofiländerung für Einlauf und Auslauf 48. Die letztgenannte Berechnung 48 führt zusammen mit der Walzkraft 28 zur Berechnung der Dickenprofiländerung am Auslauf durch Materialbreitung 40 und von dort zur Berechnung der Stellglieder-Verstellbeträge 36, und auf Grund dieser Berechnung 36 kommt es zur Berechnung und zur Einstellung der StellgliederPositionen 37, womit auch dieser Regelkreis geschlossen ist.The pilot control part according to FIG. 8 allows the aforementioned changes to be taken into account. Basically, the same organs are used as for the pilot control part of FIG. 7 and the control circuit of FIG. 6, so that this advantageous embodiment requires only an insignificant additional effort. The inlet-side calculation of the actual tension distribution, the actual belt width and the actual belt position in block 44 are the tensile force distribution of the inlet based on the measurement with the measuring roller 12 ', the thickness in the inlet 50 and the strip thickness in the outlet 46 fed. The actual values calculated in block 44 can be stored in memory 45 and can be used from there or also directly for calculating the change in voltage distribution, bandwidth and band position 46 in block 49. The output of block 49, together with the thickness profile measurement 22 in the inlet, stores both the actual thickness profile 47 and the calculation of the change in thickness profile for the inlet and outlet 48. The latter calculation 48, together with the rolling force 28, performs the calculation of the change in thickness profile at the outlet Material spread 40 and from there to calculate the actuator adjustment amounts 36, and on the basis of this calculation 36 there is calculation and adjustment of the actuator positions 37, which also closes this control loop.

Für das anzuwendende Verfahren ergeben sich die Bedingungen aus den Figuren 4 und 5. Figur 4 zeigt über die Bandbreite x den Verlauf σA der Zugspannungsverteilung, die in diesem Falle in der Mitte niedriger als an den Rändern ist. Sofern allerdings in der erwähnten Weise Randrisse des Bandes zu besorgen sind, und sofern weiterhin mit größtmöglicher Umformung und Zugspannun gewalzt werden soll, müßte der Verlauf σA umgekehrt sein.The conditions for the method to be used result from FIGS. 4 and 5. FIG. 4 shows, over the bandwidth x, the profile σ A of the tensile stress distribution, which in this case is lower in the middle than at the edges. If, however, edge cracks in the strip are to be obtained in the manner mentioned, and if the greatest possible forming and tensile stress are to continue to be rolled, the course σ A should be reversed.

Die untere gestrichelte Linie zeigt demgegenüber den Zugspannungsverlauf σE Einlauf. Ober die Bandbreite x bestehen die mittleren Zugspannungen σA,m und σE,m. δσ verläuft zwischen 8crmax und δσmin. Es sei angenommen, daß ein Faltungsstau behoben werden muß. Während der dargestellte Zustand nun unterschiedliche Verläufe von als Unterschied zwischen der Zugspannungsverteilung Einlauf gegenüber Zugspannungsverteilung Auslauf erkennen läßt, wäre es zur Behebung des Faltungsstaus erforderlich, die Zugspannungsverteilung im Auslauf derart zu verändern, daß sie im Grenzfalle der strichpunktierten Kurve entspricht. Dieser Grenzfall zeigt, in welcher Richtung die regelungstechnischen Maßnahme verlaufen muß. In der Praxis wird man nicht stets bis zur völligen Konstanz des Unterschiedes einstellen müssen, da ein gewisser Höchstwert des Unterschiedes der Zugspannungsverteilungen zugelassen werden kann.In contrast, the lower dashed line shows the tension curve σ E inlet. The mean tensile stresses σ A, m and σ E, m exist above the bandwidth x. δσ runs between 8 cm ax and δσ min . It is assumed that a congestion needs to be cleared. While the state shown now shows different courses of the difference between the tension distribution in the inlet versus the tension distribution in the outlet, it would be necessary to correct the congestion of the fold to change the tension distribution in the outlet so that it corresponds to the dash-dotted curve in the limit. This borderline case shows in which direction the control measure must run. In practice, it will not always be necessary to set the difference to be completely constant, since a certain maximum value of the difference in the tension distributions can be allowed.

Die lediglich auf die Unterschiede der Zugspannungsverläufe bezogene Darstellung der Zugspannungsverteilung über die Breite zeigt Fig. 5. Hierdurch wird besonders deutlich, daß sich die Regelung in Richtung der Konstanz δσ bewegen muß, wenn man den Faltungsstau vermeiden will.Fig. 5 shows the representation of the tensile stress distribution across the width, which is only related to the differences in the tensile stress curves. This makes it particularly clear that the regulation must move in the direction of the constancy δσ if one wishes to avoid the congestion of the fold.

Claims (10)

1. Method for the control of tensile stress distribution in the cold rolling of strips (1), the tensile stress distribution (σ) being determined at least on one side of the mill stand (10) from the strip thickness and the values measured by load transducers spaced in axial direction over the roll width, and with the provision of a controller (25, 26) for the adjustment of the tensile stress distribution as well as of derivative final controlling elements for the roll gap dependent on the former and acting in axial direction of the work rolls (2),
characterized in that
in mill stands (10) driven in one direction the tensile stress distribution (σA, CYE) is determined on the entry side and on the delivery side of the mill stand (10) on the basis of tensile force measurements distributed over the roll width and of the strip thickness,
and that the differential values (δσ) of same are formed from the tensile stresses distributed over the roll width,
and that said differential values (δo) are adjusted by means of position setpoint selections of the controller (25, 26) acting on the final controlling elements in such a manner that they are as far as possible differentially constant over the roll width,
and are thus below a maximum value, above which a non-uniform material flow occurs and causes a backward slip which leads to material overlaps
2. Method for the control of tensile stress distribution in the cold rolling of strips, the tensile stress distribution (σA, σE) being determined at least on one side of the mill stand (10) from the strip thickness and the values measured by load transducers spaced in axial direction over the roll width, and with the provision of a controller (25, 26) for the adjustment of the tensile stress distribution as well as of derivative final controlling elements for the roll gap dependent on the former and acting in the axial direction of the work rolls (2),
characterized in that
in reversing mill stands (10) the tensile stress distribution (σA) is determined on the respective delivery side of the mill stand (10) from tensile force distribution measurements over the roll width,
whereas for the entry side of the mill stand (10) the tensile stress distribution (aE) determined on the basis of stored measured values of the previous rolling phase,
and that the differential values (8a) of same are formed from the tensile stresses distributed over the roll width,
and that said differential values (8a) are adjusted by means of position setpoint selections of the controller (25, 26) acting on the final controlling elements in such a manner that they are as far as possible differentially constant over the roll width,
and are thus below a maximum value, above which a nonuniform material flow occurs and causes a backward slip which leads to material overlaps.
3. Method according to one of the claims 1 or 2,
characterized in that
the position setpoint selection is made subject to the additional condition that on the delivery side the tensile stresses distributed over the strip width (x) should be locally approximately similar in case of uneven sections of the strip (1).
4. Method according to the claims 1 or 2,
characterized in that
the position setpoint selection is made subject to the additional condition that in case of flatness of the tensioned strip (1) a higher tensile stress is allowed in the strip centre relatively to the strip edges, so that the tensile stresses at the strip edges shall not exceed the maximum tensile stress value of the notch cracking effect dependent on the strip material concerned, which is lower than a preset mean tensile stress value (6A, m; σE, m) over the strip width (x).
5. Method according to one of the claims 1 to 4,
characterized in that
the elastic deformations resulting in the rolling process with a certain roll gap during the passage of the material owing to the deflection and flattening of the rolls are fully compensated by means of simultaneous adjustment of the final controlling elements.
6. Method according to one of the claims 1 to 3,
characterized in that
the determination of material overlaps and/or of the uneveness of the strip and/or of the elastic deformation of the rolls (2) is made by tensile force measurements at a deflecting measuring roller (12, 12') with load cells spaced in axial direction.
7. Method according to claim 6,
characterized in that
for the position setpoint selection, in addition to the characteristic material properties and the rolling force, the strip width and the strip pass-line are taken into consideration only on the delivery side of the mill stand (10)
8. Rolling mill with a control circuit, consisting of a controller (25, 26), a device for the determination of the tensile-force distribution on the delivery side, which is connected to the controller, which acts through an auxiliary control circuit (24 and 43) on derivative final controlling elements of the roll gap in the axial direction of the rolls, the adjustments of which are fed back to the auxiliary control circuit (24 and 43) for the realization of the method according to one of the claims 1 to 7,
characterized in that
the distribution of the final controlling element adjustment is fed back to the auxiliary control circuit (24) in terms of computationally determined products of the available values of tensile stress distribution (61) and the quantities of the elastic deformation of the mill stand (Aij) assigned to same.
9. Rolling mill with a control circuit according to claim 8,
characterized in that
the auxiliary control circuit (24 and 43) continues to be subject to the effect of a presetting section (20, 21, 23 and 21,40,41,42, respectively), in which a tensile force distribution measured in the entry section is used for presetting a setpoint function of the tensile force distribution in the delivery section, and a measured thickness profile of the running-in strip is employed to form the position setpoint selection of the final controlling elements.
10. Rolling mill with a control circuit according to claim 9,
characterized in that
the presetting section (20, 21, 23 and 21, 40, 41, 42, respectively), continues to be connected as pilot control section to the auxiliary control circuit (24 and 43) during the rolling operation after the initiation of the control function of the control circuit, whilst only the respective variations of the values of the strip thickness profile, the tensile force distribution, the strip pass-line and the strip thickness, which are available for the entry section, are taken into consideration.
EP19830110911 1982-11-03 1983-11-02 Method and controlling device to regulate the distribution of tensile strength in the cold rolling of strips Expired EP0108379B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3240602 1982-11-03
DE19823240602 DE3240602A1 (en) 1982-11-03 1982-11-03 METHOD FOR REGULATING THE TENSION DISTRIBUTION IN COLD ROLLING OF TAPES

Publications (3)

Publication Number Publication Date
EP0108379A2 EP0108379A2 (en) 1984-05-16
EP0108379A3 EP0108379A3 (en) 1986-01-15
EP0108379B1 true EP0108379B1 (en) 1989-08-02

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EP (1) EP0108379B1 (en)
JP (1) JPS59130615A (en)
DE (1) DE3240602A1 (en)

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AU2005297538B2 (en) * 2004-10-13 2010-07-01 Primetals Technologies Austria GmbH Method and device for continuously producing a thin metal strip

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US7849722B2 (en) 2006-03-08 2010-12-14 Nucor Corporation Method and plant for integrated monitoring and control of strip flatness and strip profile
CN104646431B (en) * 2015-03-05 2017-01-11 北京科技大学 Control method for eliminating load drift of double-stand aluminum cold continuous rolling mill unit
DE102020205120A1 (en) * 2020-04-22 2021-10-28 Sms Group Gmbh Method for operating a metal strip processing system and a metal strip processing system
CN113083907B (en) * 2021-03-29 2022-07-19 广西北港不锈钢有限公司 Method for calculating eccentric rolling line of stainless steel plate

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Publication number Priority date Publication date Assignee Title
AU2005297538B2 (en) * 2004-10-13 2010-07-01 Primetals Technologies Austria GmbH Method and device for continuously producing a thin metal strip
AU2005297538B8 (en) * 2004-10-13 2010-07-15 Primetals Technologies Austria GmbH Method and device for continuously producing a thin metal strip
DE102008015828A1 (en) 2007-09-26 2009-04-02 Sms Demag Ag Rolling device and method for its operation

Also Published As

Publication number Publication date
JPS59130615A (en) 1984-07-27
EP0108379A3 (en) 1986-01-15
EP0108379A2 (en) 1984-05-16
DE3240602C2 (en) 1993-06-09
DE3240602A1 (en) 1984-06-14

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