EP0170016A1 - Method to compensate the influence of roll excentricities - Google Patents

Method to compensate the influence of roll excentricities Download PDF

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Publication number
EP0170016A1
EP0170016A1 EP85107336A EP85107336A EP0170016A1 EP 0170016 A1 EP0170016 A1 EP 0170016A1 EP 85107336 A EP85107336 A EP 85107336A EP 85107336 A EP85107336 A EP 85107336A EP 0170016 A1 EP0170016 A1 EP 0170016A1
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EP
European Patent Office
Prior art keywords
roll
signal
oscillators
output signal
eccentricity
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EP85107336A
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German (de)
French (fr)
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EP0170016B1 (en
Inventor
Georg Dr. Weihrich
Dietrich Wohld
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Siemens AG
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Siemens AG
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Priority to AT85107336T priority Critical patent/ATE39069T1/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
    • B21B37/58—Roll-force control; Roll-gap control
    • B21B37/66—Roll eccentricity compensation systems

Definitions

  • the invention relates to a method and a device for compensating for the influence of roll eccentricities in the position or thickness control of roll stands, in particular with indirect actual value formation which takes place by determining the roll stand stretch.
  • the invention has for its object to provide a method for compensating the roll eccentricities in thickness controls of the type mentioned, which works both more accurately and faster and gets along with the transducers usually available on roll stands.
  • a roll stand 1 is shown schematically. It consists of the upper back-up roll with radius R, the lower back-up roll with radius R u , the two smaller-diameter work rolls, a hydraulic piston that adjusts the upper back-up roll, and an associated hydraulic cylinder, which is supported on the scaffold frame.
  • the elastic frame is symbolically represented by a spring with the spring constant C G.
  • the rolling stock to which an equivalent material spring with the spring constant C M is assigned in the roll gap, is rolled down from the inlet thickness h e to the outlet thickness h a by means of the two work rolls.
  • the roll eccentricities of the upper and lower backup rolls are caused by uneven roll wear, deformations due to thermal stresses and by deviations of the geometrical cylinder axes of the rolls from the operationally occurring rotation axes. They are with ⁇ R o and ⁇ R u , that is, as deviations from the ideal supporting roller half-diameters R or R designated. Also provided are sensors for the support roller speed n, usually in the form of a tachodynamo coupled to the drive motor, for the rolling force F w exerted by the hydraulic piston and for the roller position, which corresponds to the relative position s of the piston in the hydraulic cylinder that adjusts the upper support roller.
  • a control element is designated, by means of which the hydraulic piston is acted upon by a valve with pressure oil.
  • the control signal for the control element 2 consists in the output signal of a controller 3, which has the task of bringing the thickness h of the rolling stock to be brought out in accordance with the thickness target value h * fed to it.
  • the actual value of the controlled variable h a is not measured directly at the point where it occurs, ie in the roll gap, but is determined from the roll stand expansion and the roll position.
  • the device designated by GM in FIG. 1 which essentially contains a multiplier, which multiplies the rolling force F W by the reciprocal of the stand spring constant C G and adds the measured value signal s of the relative hydraulic piston position to this product.
  • the relationship between the input signals and the output signal of the device GM also known as a gauge, is therefore: with ⁇ R the overlapping influences of the two support roller eccentricities ⁇ R o and ⁇ R u are summarized.
  • the arrangement described so far essentially corresponds to the known strip thickness control with the gage meter principle determining the actual value of the strip thickness h a .
  • the gauge GM does not deliver if there are roll eccentricities ⁇ R the strip thickness h alone but the sum of the strip thickness and the roll eccentricity.
  • a strip thickness control built up with the gauge meter signal (h a + ⁇ R) as the actual value would compensate for changes in the strip inlet thickness into the roll stand, but would behave incorrectly with respect to roll eccentricities, because a thickness regulation with the output signal h a + ⁇ R of the gauge meter GM as the actual value behaves exactly like a thickness control with h a as the actual value and a target value h * a - ⁇ R, so that the thickness control would erroneously cause the strip with the outlet thickness h a to be rolled out of phase with the eccentricity ⁇ R.
  • the maximum values of the eccentricities can be several tens of micrometers, which is not compatible with today's tolerance requirements for cold-rolled strip.
  • a compensation device called RECO (Roll Eccentricity Compensator) is used, which has the task, with the sensor signals s, n and F W fed to it, as well as the setting parameters R o , R u , C G and C M the roll eccentricity ß R to identify or emulate, and the signal ⁇ R simulated by it is used to correct the falsified actual value of the strip outlet thickness supplied by the gauge GM, so that the thickness value h a actually occurring in the roll gap can be supplied to the controller 3 as an actual value, with which the influence of the roll eccentricities ⁇ R can be exactly compensated.
  • the framework spring constant C G is determined once by a test before the start of rolling and C M by running an online calculation. It was essential for the RECO device operating according to the compensation method according to the invention that for an exact replication of the roll eccentricities not only the mill stretch, but also the elastic deformation of the material during the rolling process should be taken into account.
  • the compensation device according to the invention can also be used for pure position control with the same advantages.
  • the gage meter GM is eliminated and the output signal of the compensation device RECO is subtracted from the measured value signal s and the result is used as the actual position value.
  • the controller 3 is then supplied with a position setpoint.
  • Figure 2 shows the basic structure of the roll eccentricity compensator RECO. It contains a multiplier 4, to which the rolling force measurement signal F W and the sum of the reciprocal values of the frame spring constant C G and the material spring constant C M are fed on the input side. This reciprocal value corresponds to the reciprocal of a spring constant, which results from the series arrangement of the spring of the roll stand and the spring of the rolling stock.
  • the direct component h e of the inlet thickness h e is extracted from the output signal of the mixing element 5 by means of a high-pass filter HF, so that the signal ⁇ R + h e results at the output of the high-pass filter HF, which has its corner frequency with the speed measurement value n.
  • a signal AR corresponding to the roll eccentricity is then modeled from this signal in an arrangement 6 designed according to the observer principle.
  • the frequencies of the oscillators are tuned by entering the support roller radius R and R u and the average support roller speed n.
  • the outputs of the individual oscillators are combined to form a sum signal ⁇ R and are compared with the output signal of the high-pass filter HF in a mixer 8, the resulting deviation e adjusting the oscillations generated by the oscillators in their phase positions and amplitudes until the signal ⁇ R is an image of the eccentricity oscillation ⁇ R, which is the case when the deviation e becomes a minimum and only corresponds to the statistically fluctuating portion h e of the inlet thickness h e .
  • the frequency is adjusted as a function of the support roller speed n continuously during the rolling operation, and the corner frequency of the high-pass filter HF is also carried accordingly.
  • FIG. 3 shows an implementation example for a model 6 emulating the roll eccentricity 6R with an oscillator pair for emulating the basic eccentricity oscillation.
  • Each oscillator consists of two integrators 9, 10 and 11, 12 arranged one behind the other, the output signal of the integrators 10 and 12 being fed back to the input of the integrators 9 and 11.
  • Multipliers 13 to 16 are arranged in the input circuit of each of the integrators and are used to determine the frequencies of the oscillators. The second inputs of these multipliers are acted upon by a signal n corresponding to the average backup roller speed.
  • the time behavior of the integrators determining components are designed to be adjustable, for example as rotary potentiometers or rotary capacitors, and are adjusted according to the determined values of the radius R or R u of the support rollers.
  • the frequency of the oscillators is preset as a function of the radii R 0 or R u of the support rollers and is adjusted as a function of the support roller speed n.
  • the outputs of the integrators 10 and 12 are added in a mixer 17 and its output signal is subtracted from the output signal ⁇ R + h e of the high-pass filter in a further mixer 18.
  • the oscillations generated by the oscillators 9, 10 and 11, 12 are adjusted in their phase positions and amplitudes until the sum signal ⁇ R of the integrators 10 and 12 matches that of the roll eccentricity-related portion ⁇ R of the input signal fed to the disturbance model 6 ( ⁇ R + h e ).
  • the parallel arrangement of two oscillator pairs shown in FIG. 3 can be converted into a functionally equivalent series circuit using known transformation rules. Such a 4th order filter can be recommended for some applications.
  • FIG. 4 shows the structure of the disturbance model 6 in the roller eccentricity compensator RECO in the event that, in addition to the fundamental vibration of the roller eccentricity, three further harmonics have to be considered as relevant.
  • the parts of this model which are designated by 60, 61, 62 and 63 and have the same structure are designed in accordance with FIG. 3 and contain oscillator pairs for the fundamental oscillation pair and for the 1st, 2nd and 3rd harmonic pair, the individual eccentricity simulations ⁇ R 0 , ⁇ R 1 , ⁇ R 2 and ⁇ R 3 superimposed the simulation of the total eccentricity ⁇ R surrender.
  • the phase and amplitude adjustment takes place depending on the E i nzel Sharingn e o, e l, e 2, e. 3
  • Two adjustment amplifications a o , b and c, d are required for each oscillator, as shown for the basic oscillation pair of the model part 60.
  • FIG. 5 shows the structure of the roller eccentricity compensator RECO using a digitally operating microcomputer 19, in which the signal processing takes place by supplying the input signals via two analog / digital converters 20 and 21 and the signal removal via a digital / analog converter 22.
  • the microcomputer 19 is divided into three function blocks 191 to 193.
  • block 191 the presetting of the two backup roller radii R o and R u and assuming a nominal average backup roller speed takes place offline the calculation of the oscillator frequencies to be preset.
  • block 192 which contains a signal processor, the signal processing for emulating the roller eccentricity ⁇ R takes place by means of oscillators in accordance with the arrangements according to FIGS. 3 and 4, but implemented in functionally equivalent digital technology.
  • the signal processing takes place in a known manner in each case with the values of the input signals sampled at discrete points in time and a result is output in each case at sampling points in time, a reconstruction filter arranged downstream of the digital-to-analog converter being provided in a manner known per se in order to combine the time-resultant analog result sequence into one to convert continuous-time signal.
  • a so-called anti-aliasing filter AF is arranged after the high-pass filter HF in order to suppress the occurrence of interfering external frequencies caused by the scanning process.
  • Anti-aliasing filters such as those found in the "2920 Analog Signal" published by the Intel Corporation in 1980 Processor Design Handbook ", pp. 2-1 to pp.
  • the filters HF, AF and RF which consist of a combination of integrators and Summing amplifiers exist, are in turn tracked in their corner frequencies as a function of the support roller speed n, which can be done by means of multipliers arranged in the input of the integrators, corresponding to the arrangement of Figure 3.
  • Block 193 contains a timer which blocks the values in block 192 in digital technology implemented oscillators in frequency as a function of the current backup roller speed n
  • the timer can, for example, consist of a counter that can be preset to the output value of the analog-digital converter 20 and that is continuously counted down at a constant clock rate, each time the counter reading reaches zero
  • Signal processor 192 emits a pulse.

Abstract

A process and device for compensation of the effect of roll eccentricities upon thickness regulation of material being rolled in a roll stand (1), wherein eccentricity oscillations are simulated by a model (6) based on measured values of roll adjustment position (s), roll force (FW) and mean support roll speed (n), together with spring constants (CG, CM) for the roll stand and the material. An output signal ( DELTA R) of the model (6) is used to modify the thickness value (ha+ DELTA R) used for regulation, so as to compensate for the effect of roll eccentricity. The model may be implemented by a device (RECO) comprising pairs of oscillators (7), the phase and amplitude relationships of which are adjusted according to the observer principle.

Description

Die Erfindung betrifft ein Verfahren und eine Einrichtung zur Kompensation des Einflusses von Walzenexzentrizitäten bei der Positions- oder Dickenregelung von Walzgerüsten, insbesondere mit indirekter, unter Ermittlung der Walzgerüstdehnung erfolgender Istwertbildung.The invention relates to a method and a device for compensating for the influence of roll eccentricities in the position or thickness control of roll stands, in particular with indirect actual value formation which takes place by determining the roll stand stretch.

Nach der US-PS 3 928 994 ist es bekannt, mittels der Methode der Autokorrelation den Einfluß der Walzenexzentrizitäten auf das im Istwertkanal verwendete Signal für di-e Gerüstdehnung zu eliminieren. Die andere Komponente des indirekt gebildeten Istwertsignals, nämlich die Walzenanstellung wird hiervon nicht berührt, so daß mit diesem bekannten Verfahren die Kompensation des Einflusses der Walzenextentrizitäten nur zum Teil gelingt. Des weiteren sind Autokorrelationsmethoden wegen der dabei verwendeten Mittelwertbildungen stets mit einem für ein schnelles Reagieren der Dickenregelung abträglichen Zeitaufwand verbunden.According to US Pat. No. 3,928,994, it is known to use the method of autocorrelation to eliminate the influence of the roll eccentricities on the signal for di-e stand expansion used in the actual value channel. The other component of the indirectly formed actual value signal, namely the roll pitch, is not affected by this, so that the known process only partially compensates for the influence of the roll external centricities. Furthermore, because of the averaging used, auto-correlation methods are always associated with a time that is detrimental to a rapid reaction of the thickness control.

Die Erfindung stellt sich die Aufgabe, ein Verfahren zur Kompensation der Walzenexzentrizitäten bei Dickenregelungen der eingangs genannten Art zu schaffen, welche sowohl genauer als auch schneller arbeitet und mit den üblicherweise an Walzgerüsten vorhandenen Gebern auskommt.The invention has for its object to provide a method for compensating the roll eccentricities in thickness controls of the type mentioned, which works both more accurately and faster and gets along with the transducers usually available on roll stands.

Diese Aufgabe wird erfindungsgemäß durch die im kennzeichnenden Teil des Hauptanspruches angegebenen Merkmalen gelöst.This object is achieved by the features specified in the characterizing part of the main claim.

Die Erfindung soll nachstehend anhand der Figuren näher erläutert werden, es zeigen:

  • Fig. 1 die Anordnung eines erfindungsgemäß arbeitenden Walzenexzentrizitäts-Kompensators (RECO) bei der Dickenregelung eines Walzgerüsts,
  • Fig. 2 die grundsätzliche Struktur des Walzenexzentrizitäts-Kompensators,
  • Fig. 3 ein Ausführungsbeispiel für die innerhalb des Walzenexzentrizitäts-Kompensators erfolgende modellmäßige Nachbildung eines Walzenexzentrizitätsschwingungspaares,
  • Fig. 4 die Signalverarbeitung bei mehreren nachgebildeten Exzentrizitätsschwingungspaaren,
  • Fig. 5 den Aufbau des Walzenexzentrizitäts-Kompensators . bei digitaler Signalverarbeitung.
The invention will be explained in more detail below with reference to the figures, in which:
  • 1 shows the arrangement of a roller eccentricity compensator (RECO) operating according to the invention in the thickness control of a roll stand,
  • 2 shows the basic structure of the roller eccentricity compensator,
  • 3 shows an exemplary embodiment of the model-like simulation of a pair of roller eccentricity oscillations which takes place within the roller eccentricity compensator,
  • 4 shows the signal processing in the case of several simulated eccentricity oscillation pairs,
  • Fig. 5 shows the structure of the roller eccentricity compensator. with digital signal processing.

In Fig. 1 ist ein Walzgerüst 1 schematisch dargestellt. Es besteht aus der oberen Stützwalze mit dem Radius R , der unteren Stützwalze mit dem Radius Ru, den beiden im Durchmesser kleineren Arbeitswalzen, einem die Verstellung der oberen Stützwalze bewirkenden Hydraulikkolben und einem dazugehörigen Hydraulikzylinder, welcher sich auf dem Gerüstrahmen abstützt. Der elastische Gerüstrahmen ist symbolisch durch eine Feder mit der Federkonstanten CG dargestellt. Das Walzgut, dem im Walzspalt eine äquivalente Materialfeder mit der Federkonstanten CM zugeordnet wird, wird mittels der beiden Arbeitswalzen von der Einlaufdicke he auf die Auslaufdicke ha heruntergewalzt. Die Walzenexzentrizitäten der oberen bzw. der unteren Stützwalze haben ihre Ursache in ungleichmäßiger Walzenabnutzung, Verformungen durch Wärmespannungen und in Abweichungen der geometrischen Zylinderachsen der Walzen von den betrieblich sich einstellenden Rotationsachsen. Sie sind mit Δ Ro bzw. ΔRu, d.h. als Abweichungen von den idealen Stützwalzenhalbmessern R bzw. R bezeichnet. Weiterhin sind vorgesehen Meßwertgeber für die Stützwalzendrehzahl n, üblicherweise in Form einer mit dem Antriebsmotor gekuppelten Tachodynamo, für die von dem Hydraulikkolben ausgeübte Walzkraft Fw und für die Walzenanstellposition, welche der relativen Position s des die obere Stützwalze verstellenden Kolbens im Hydraulikzylinder entspricht. Mit 2 ist ein Ansteuerglied bezeichnet, mittels welchem der Hydraulikkolben über ein Ventil mit Drucköl beaufschlagt wird. Das Stellsignal für das Ansteuerglied 2 besteht im Ausgangssignal eines Reglers 3, welchem die Aufgabe zukommt, die Dicke h des auslaufenden Walzgutes in Übereinstimmung mit dem ihm zugeführten Dickensollwert h* zu bringen. Der Istwert der Regelgröße ha wird dabei nicht direkt am Ort seiner Entstehung, d.h. im Walzspalt gemessen, sondern aus der Walzgerüstdehnung und der Walzenanstellposition ermittelt. Hierzu dient die in Figur 1 mit GM bezeichnete Einrichtung, die im wesentlichen eine Multipliziereinrichtung enthält, welche die Walzkraft FW mit dem Kehrwert der Gerüstfederkonstanten CG multipliziert und zu diesem Produkt das Meßwertsignal s der relativen Hydraulikkolbenposition hinzuaddiert. Zwischen den Eingangssignalen und dem Ausgangssignal der auch als Gaugemeter bekannten Einrichtung GM besteht somit die Beziehung:

Figure imgb0001
wobei mit Δ R die sich überlagernden Einflüsse der beiden Stützwalzenexzentrizitäten ΔRo und δRu zusammengefaßt sind.In Fig. 1 a roll stand 1 is shown schematically. It consists of the upper back-up roll with radius R, the lower back-up roll with radius R u , the two smaller-diameter work rolls, a hydraulic piston that adjusts the upper back-up roll, and an associated hydraulic cylinder, which is supported on the scaffold frame. The elastic frame is symbolically represented by a spring with the spring constant C G. The rolling stock, to which an equivalent material spring with the spring constant C M is assigned in the roll gap, is rolled down from the inlet thickness h e to the outlet thickness h a by means of the two work rolls. The roll eccentricities of the upper and lower backup rolls are caused by uneven roll wear, deformations due to thermal stresses and by deviations of the geometrical cylinder axes of the rolls from the operationally occurring rotation axes. They are with Δ R o and ΔR u , that is, as deviations from the ideal supporting roller half-diameters R or R designated. Also provided are sensors for the support roller speed n, usually in the form of a tachodynamo coupled to the drive motor, for the rolling force F w exerted by the hydraulic piston and for the roller position, which corresponds to the relative position s of the piston in the hydraulic cylinder that adjusts the upper support roller. With 2 a control element is designated, by means of which the hydraulic piston is acted upon by a valve with pressure oil. The control signal for the control element 2 consists in the output signal of a controller 3, which has the task of bringing the thickness h of the rolling stock to be brought out in accordance with the thickness target value h * fed to it. The actual value of the controlled variable h a is not measured directly at the point where it occurs, ie in the roll gap, but is determined from the roll stand expansion and the roll position. For this purpose, the device designated by GM in FIG. 1, which essentially contains a multiplier, which multiplies the rolling force F W by the reciprocal of the stand spring constant C G and adds the measured value signal s of the relative hydraulic piston position to this product. The relationship between the input signals and the output signal of the device GM, also known as a gauge, is therefore:
Figure imgb0001
 with Δ R the overlapping influences of the two support roller eccentricities ΔR o and δR u are summarized.

Die bisher beschriebene Anordnung entspricht im wesentlichen der bekannten Banddickenregelung mit nach dem Gaugemeter-Prinzip erfolgender Ermittlung des Istwertes der Banddicke ha. Beim Vorhandensein von Walzenexzentrizitäten ΔR liefert allerdings das Gaugemeter GM nicht die Banddicke h allein sondern die Summe von Banddicke und Walzexzentrizität. Eine mit dem Gaugemetersignal (ha + ΔR) als Istwert aufgebaute Banddickenregelung würde zwar Änderungen der Bandeinlaufdicke in das Walzgerüst ausregeln, sich aber fehlerhaft bezüglich Walzenexzentrizitäten verhalten, denn eine Dickenregelung mit dem Ausgangssignal h a + ΔR des Gaugemeters GM als Istwert verhält sich genauso wie eine Dickenregelung mit ha als Istwert und einem Sollwert h*a - ΔR, so daß die Dickenregelung fehlerhafterweise bewirken würde, daß dem Band mit der Auslaufdicke ha die Exzentrizität ΔR um 180° phasenverschoben eingewalzt würde. Dabei können die Größtwerte der Exzentrizitäten mehrere zehn Mikrometer betragen, was mit den heutigen Toleranzforderungen bei kaltgewalztem Band nicht verträglich ist.The arrangement described so far essentially corresponds to the known strip thickness control with the gage meter principle determining the actual value of the strip thickness h a . However, the gauge GM does not deliver if there are roll eccentricities ΔR the strip thickness h alone but the sum of the strip thickness and the roll eccentricity. A strip thickness control built up with the gauge meter signal (h a + ΔR) as the actual value would compensate for changes in the strip inlet thickness into the roll stand, but would behave incorrectly with respect to roll eccentricities, because a thickness regulation with the output signal h a + ΔR of the gauge meter GM as the actual value behaves exactly like a thickness control with h a as the actual value and a target value h * a - ΔR, so that the thickness control would erroneously cause the strip with the outlet thickness h a to be rolled out of phase with the eccentricity ΔR. The maximum values of the eccentricities can be several tens of micrometers, which is not compatible with today's tolerance requirements for cold-rolled strip.

Es wird daher eine mit RECO (Roll Eccentricity Compensator) bezeichnete Kompensationseinrichtung eingesetzt, welche die Aufgabe hat, mit den ihr zugeführten Meßwertgebersignalen s, n und FW, sowie den Einstellparametern Ro, Ru, CG und CM die Walzenexzentrizität ß R zu identifizieren bzw. nachzubilden, und das von ihr nachgebildete Signal ΔR wird dazu verwendet, den von dem Gaugemeter GM gelieferten, verfälschten Istwert der Bandauslaufdicke zu bereinigen, so daß der tatsächlich im Walzspalt auftretende Dickenwert ha dem Regler 3 als Istwert zugeführt werden kann, womit die exakte Kompensation des Einflusses der Walzenexzentrizitäten ΔR gelingt. Die Gerüstfederkonstante CG wird einmalig durch einen Versuch vor Walzbeginn und CM durch laufende online Rechnung ermittelt. Wesentlich für die nach dem erfindungsgemäßen Kompensationsverfahren arbeitende Einrichtung RECO war die Erkenntnis, daß für eine genaue Nachbildung der Walzenexzentrizitäten nicht nur die Gerüstdehnung, sondern auch die elastische Verformung des Materials beim Walzvorgang berücksichtigt werden sollte.Therefore, a compensation device called RECO (Roll Eccentricity Compensator) is used, which has the task, with the sensor signals s, n and F W fed to it, as well as the setting parameters R o , R u , C G and C M the roll eccentricity ß R to identify or emulate, and the signal ΔR simulated by it is used to correct the falsified actual value of the strip outlet thickness supplied by the gauge GM, so that the thickness value h a actually occurring in the roll gap can be supplied to the controller 3 as an actual value, with which the influence of the roll eccentricities ΔR can be exactly compensated. The framework spring constant C G is determined once by a test before the start of rolling and C M by running an online calculation. It was essential for the RECO device operating according to the compensation method according to the invention that for an exact replication of the roll eccentricities not only the mill stretch, but also the elastic deformation of the material during the rolling process should be taken into account.

Die erfindungsgemäße Kompensationseinrichtung läßt sich mit gleichen Vorteilen auch für eine reine Positionsregelung verwenden. Hierbei kommt das Gaugemeter GM in Wegfall und vom Meßwertsignal s wird das Ausgangssignal der Kompensationserinrichtung RECO subtrahiert und das Ergebnis als Positionsistwert verwendet. Statt dem Sollwert ha* der Auslaufdicke wird dem Regler 3 dann ein Positionssollwert zugeführt.The compensation device according to the invention can also be used for pure position control with the same advantages. Here, the gage meter GM is eliminated and the output signal of the compensation device RECO is subtracted from the measured value signal s and the result is used as the actual position value. Instead of the setpoint h a * of the outlet thickness, the controller 3 is then supplied with a position setpoint.

Figur 2 zeigt den grundsätzlichen Aufbau des Walzenexzentrizitäts-Kompensators RECO. Er enthält einen Mulitplizierer 4, dem eingangsseitig das Walzkraftmeßsignal FW und die Summe der Kehrwerte der Gerüstfederkonstanten CG und der Materialfederkonstanten CM zugeführt werden. Diese Kehrwertsumme entspricht dem Kehrwert einer Federkonstanten, welche sich aus der Reihenanordnung der Feder des Walzgerüstes und der Feder des Walzgutes ergibt. Zum Ausgangssignal des Multiplizierers 4 wird in einem Mischglied 5 der Positionsmeßwert s des die obere Stützwalze verstellenden Hydraulikkolbens addiert und es läßt sich zeigen, daß dann das Ausgangssignal des Mischgliedes 5 in dem durch die Exzentrizitäten ΔRo und ΔRu verursachten Exzentrizitätssignal ΔR und der Bandeinlaufdicke h besteht, wobei sich letztere aus einem Gleichanteil h und einem diesem überlagerten, statistisch schwankenden Wechselanteil he besteht. Es gilt also he = h + he. Dem Ausgangssignal des Mischgliedes 5 wird mittels eines Hochpaßfilters HF der Gleichanteil he der Einlaufdicke he entzogen, so daß am Ausgang des in seiner Eckfrequenz mit dem Drehzahlmeßwert n nachgeführten Hochpaßfilter HF sich das Signal ΔR + he ergibt. Aus diesem Signal wird dann in einer nach dem Beobachter-Prinzip entworfenen Anordnung 6 ein der Walzenexzentrizität entsprechendes SignalAR modellmäßig nachgebildet. Die Anordnung 6, welche ein rückgekoppeltes Modell für die Exzentrizitätsstörungen ΔR darstellt, enthält mindestens zwei Oszillatoren für die paarweise auftretenden Grundschwingungen der Exzentrizitäten ΔRo und ΔRu der oberen bzw. der unteren Stützwalze und wird für_den Fall, daß auch relevante Oberschwingungspaare auftreten, zweckmäßigerweise um entsprechende Oszillatorpaare ergänzt. Die Oszillatoren sind in ihren Frequenzen durch Eingabe der Stützwalzenhalbmesser R und Ru sowie der mittleren Stützwalzendrehzahl n abgestimmt. Die Ausgänge der einzelnen Oszillatoren sind zu einem Summensignal ΔR zusammengefaßt und werden mit dem Ausgangssignal des Hochpaßfilters HF in einem Mischglied 8 verglichen, wobei die sich daraus ergebende Abweichung e die von den Oszillatoren erzeugten Schwingungen in ihren Phasenlagen und Amplituden solange nachstellt, bis das Signal ΔR ein Abbild der Exzentrizitätsschwingung öR ist, was dann der Fall ist, wenn die Abweichung e zu einem Minimum wird und nur noch dem sta- tistisch schwankenden Anteil he der Einlaufdicke he entspricht. Dabei erfolgt die Frequenzanpassung in Abhängigkeit von der Stützwalzendrehzahl n kontinuierlich während des Walzbetriebs, und auch die Eckfrequenz des Hochpaßfilters HF wird entsprechend mitgeführt.Figure 2 shows the basic structure of the roll eccentricity compensator RECO. It contains a multiplier 4, to which the rolling force measurement signal F W and the sum of the reciprocal values of the frame spring constant C G and the material spring constant C M are fed on the input side. This reciprocal value corresponds to the reciprocal of a spring constant, which results from the series arrangement of the spring of the roll stand and the spring of the rolling stock. To the output signal of the multiplier 4, the position measurement value s of the hydraulic piston adjusting the upper back-up roll is added in a mixer element 5 and it can be shown that the output signal of the mixer element 5 is then in the eccentricity signal ΔR and the tape inlet thickness h caused by the eccentricities ΔR o and ΔR u consists, the latter consisting of a constant component h and a superimposed, statistically fluctuating alternating component h e . So h e = h + h e . The direct component h e of the inlet thickness h e is extracted from the output signal of the mixing element 5 by means of a high-pass filter HF, so that the signal ΔR + h e results at the output of the high-pass filter HF, which has its corner frequency with the speed measurement value n. A signal AR corresponding to the roll eccentricity is then modeled from this signal in an arrangement 6 designed according to the observer principle. The arrangement 6, which is a feedback model for the eccentricity disturbances ΔR represents, contains at least two oscillators for the paired fundamental vibrations of the eccentricities ΔR o and ΔR u of the upper and the lower support roller and is expediently supplemented by appropriate oscillator pairs in the event that relevant harmonic pairs also occur. The frequencies of the oscillators are tuned by entering the support roller radius R and R u and the average support roller speed n. The outputs of the individual oscillators are combined to form a sum signal ΔR and are compared with the output signal of the high-pass filter HF in a mixer 8, the resulting deviation e adjusting the oscillations generated by the oscillators in their phase positions and amplitudes until the signal ΔR is an image of the eccentricity oscillation ÖR, which is the case when the deviation e becomes a minimum and only corresponds to the statistically fluctuating portion h e of the inlet thickness h e . The frequency is adjusted as a function of the support roller speed n continuously during the rolling operation, and the corner frequency of the high-pass filter HF is also carried accordingly.

Figur 3 zeigt ein Realisierungsbeispiel für ein die Walzenexzentrizität 6R nachbildendes Modell 6 mit einem Oszillatorpaar zur Nachbildung der Exzentrizitäts-Grundschwingung. Jeder Oszillator besteht aus zwei hintereinander angeordneten Integratoren 9, 10, bzw. 11, 12, wobei das Ausgangssignal der Integratoren 10 bzw. 12 auf den Eingang der Integratoren 9 bzw. 11 gegengekoppelt ist. Im Eingangskreis jedes der Integratoren sind Multiplizierer 13 bis 16 angeordnet, mit denen die Frequenzen der Oszillatoren bestimmt werden. Die zweiten Eingänge dieser Multiplizierer werden von einer der mittleren Stützwalzendrehzahl entsprechendem Signal n beaufschlagt. Die das Zeitverhalten der Integratoren bestimmenden Bauelemente sind verstellbar ausgeführt, beispielsweise als Drehpotentiometer oder Drehkondensatoren, und werden entsprechend den ermittelten Werten der Halbmesser R bzw. Ru der Stützwalzen justiert. Auf diese Weise wird die Frequenz der Oszillatoren in Abhängigkeit von den Radien R0 bzw. Ru der Stützwalzen voreingestellt und in Abhängigkeit von der Stützwalzendrehzahl n nachgestellt. Die Ausgänge der Integratoren 10 und 12 werden in einem Mischglied 17 addiert und des- sen Ausgangssignal vom Ausgangssignal ΔR + he des Hochpaßfilters in einem weiteren Mischglied 18 subtrahiert. Mit der sich daraus ergebenden Abweichung e werden über Proportionalglieder a bis d die von den Oszillatoren 9, 10 bzw. 11, 12 erzeugten Schwingungen in ihren Phasenlagen und Amplituden solange nachgestellt, bis das Sum- mensignal ΔR der Integratoren 10 und 12 übereinstimmt mit dem von der Walzenexzentrizität herrührenden Anteil ΔR des dem Störmodell 6 zugeführten Eingangssignals (ΔR + he). Die in Figur 3 dargestellte Parallelanordnung zweier Oszillatorpaare kann unter Anwendung bekannter Transformationsregeln in eine funktionsäquivalente Reihenschaltung umgewandelt werden. Ein derartiges Filter 4. Ordnung kann sich für manche Anwendungsfälle empfehlen.FIG. 3 shows an implementation example for a model 6 emulating the roll eccentricity 6R with an oscillator pair for emulating the basic eccentricity oscillation. Each oscillator consists of two integrators 9, 10 and 11, 12 arranged one behind the other, the output signal of the integrators 10 and 12 being fed back to the input of the integrators 9 and 11. Multipliers 13 to 16 are arranged in the input circuit of each of the integrators and are used to determine the frequencies of the oscillators. The second inputs of these multipliers are acted upon by a signal n corresponding to the average backup roller speed. The time behavior of the integrators determining components are designed to be adjustable, for example as rotary potentiometers or rotary capacitors, and are adjusted according to the determined values of the radius R or R u of the support rollers. In this way, the frequency of the oscillators is preset as a function of the radii R 0 or R u of the support rollers and is adjusted as a function of the support roller speed n. The outputs of the integrators 10 and 12 are added in a mixer 17 and its output signal is subtracted from the output signal ΔR + h e of the high-pass filter in a further mixer 18. With the resulting deviation e, the oscillations generated by the oscillators 9, 10 and 11, 12 are adjusted in their phase positions and amplitudes until the sum signal ΔR of the integrators 10 and 12 matches that of the roll eccentricity-related portion ΔR of the input signal fed to the disturbance model 6 (ΔR + h e ). The parallel arrangement of two oscillator pairs shown in FIG. 3 can be converted into a functionally equivalent series circuit using known transformation rules. Such a 4th order filter can be recommended for some applications.

Figur 4 zeigt die Struktur des Störmodells 6 im Walzenexzentrizitätkompensator RECO für den Fall, daß außer der Grundschwingung der Walzenexzentrizität noch weitere drei Oberschwingungen als relevant zu berücksichtigen sind. Die mit 60, 61, 62 und 63 bezeichneten, sich in ihrem Aufbau gleichenden Teile dieses Modells sind entsprechend Fig. 3 ausgebildet und enthalten Oszillatorpaare für das Grundschwingungspaar sowie für das 1., 2. und 3. Oberschwingungspaar, deren einzelne Exzentrizitätsnachbildungen ΔR0, ΔR1, ΔR2 und ΔR3 in Uberlagerung die Nachbildung der Gesamtexzentrizität ΔR ergeben. Die Phasen- und Amplitudennachstellung erfolgt abhängig von den Einzelfehlern eo, el, e2, e3. Je Oszillator sind dabei zwei Nachstellverstärkungen ao, b bzw. c , d erforderlich, wie für das Grundschwingungspaar des Modellteils 60 gezeigt ist.FIG. 4 shows the structure of the disturbance model 6 in the roller eccentricity compensator RECO in the event that, in addition to the fundamental vibration of the roller eccentricity, three further harmonics have to be considered as relevant. The parts of this model which are designated by 60, 61, 62 and 63 and have the same structure are designed in accordance with FIG. 3 and contain oscillator pairs for the fundamental oscillation pair and for the 1st, 2nd and 3rd harmonic pair, the individual eccentricity simulations ΔR 0 , ΔR 1 , ΔR 2 and ΔR 3 superimposed the simulation of the total eccentricity ΔR surrender. The phase and amplitude adjustment takes place depending on the E i nzelfehlern e o, e l, e 2, e. 3 Two adjustment amplifications a o , b and c, d are required for each oscillator, as shown for the basic oscillation pair of the model part 60.

Figur 5 zeigt den Aufbau des Walzenexzentrizitäts-Kompensators RECO unter Verwendung eines digital arbeitenden Mikrorechners 19, in welchem die Signalverarbeitung unter Zuführung der Eingangssignale über zwei Analog/Digitalwandler 20 und 21 und der Signalabführung über einen Digital/Analogwandler 22 erfolgt. Der Mikrorechner 19 ist in drei Funktionsblöcke 191 bis 193 unterteilt. Im Block 191 findet nach Vorgabe der beiden Stützwalzenradien Ro und Ru und unter Annahme einer nominalen mittleren Stützwalzendrehzahl offline die Berechnung der voreinzustellenden Oszillator-Frequenzen statt. In Block 192, welcher einen Signalprozessor enthält, geschieht die Signalverarbeitung zur Nachbildung der Walzenexzen- trizität ΔR mittels Oszillatoren entsprechend den Anordnungen nach den Figuren 3 bzw. 4, jedoch in funktionsäquivalente Digitaltechnik umgesetzt. Die Signalverarbeitung erfolgt dabei in bekannter Weise jeweils mit den zu diskreten Zeitpunkten abgetasteten Werten der Eingangssignale und ein Ergebnis wird jeweils zu Abtastzeitpunkten ausgegeben, wobei in an sich bekannter Weise ein dem Digital-Analogwandler nachgeordnetes Rekonstruktionsfilter vorgesehen ist, um die zeitdiskret anfallende analoge Ergebnisfolge in ein zeitkontinuierliches Signal umzuformen. Da der Block 192 praktisch ein digitales Filter darstellt, ist nach dem Hochpaßfilter HF ein sogenanntes Antialiasingfilter AF angeordnet, um das Auftreten von durch den Abtastvorgang hervorgerufener störender Fremdfrequenzen zu unterdrücken. Antialiasingfilter, wie sie beispielsweise in dem von der Intel Corporation 1980 herausgegebenen "2920 Analog Signal Processor Design Handbook", S. 2-1 bis S. 2-5 beschrieben sind, sind Tiefpaßfilter, welche bei der halben Abtastfrequenz eine nennenswerte Dämpfung beispielsweise 60 dB aufweisen. Die Filter HF, AF und RF, welche aus einer Kombination von Integratoren und Summierverstärkern bestehen, sind wiederum in ihren Eckfrequenzen in Abhängigkeit von der Stützwalzendrehzahl n nachgeführt, was mittels im Eingang der Integratoren angeordneter Multiplizierer, entsprechend wie bei der Anordnung der Figur 3, erfolgen kann. Der Block 193 enthält einen Timer, der die im Block 192 in digitaler Technik realisierten Oszillatoren in Abhängigkeit von der aktuellen Stützwalzendrehzahl n in der Frequenz nachstellt. Der Timer kann beispielsweise aus einem auf den Ausgangswert des Analog-Digitalwandlers 20 voreinstellbaren Zähler bestehen, der ständig mit konstanter Taktrate heruntergezählt wird, jeweils bei Erreichen des Zählerstandes Null an den Signalprozessor 192 einen Impuls abgibt.FIG. 5 shows the structure of the roller eccentricity compensator RECO using a digitally operating microcomputer 19, in which the signal processing takes place by supplying the input signals via two analog / digital converters 20 and 21 and the signal removal via a digital / analog converter 22. The microcomputer 19 is divided into three function blocks 191 to 193. In block 191, the presetting of the two backup roller radii R o and R u and assuming a nominal average backup roller speed takes place offline the calculation of the oscillator frequencies to be preset. In block 192, which contains a signal processor, the signal processing for emulating the roller eccentricity ΔR takes place by means of oscillators in accordance with the arrangements according to FIGS. 3 and 4, but implemented in functionally equivalent digital technology. The signal processing takes place in a known manner in each case with the values of the input signals sampled at discrete points in time and a result is output in each case at sampling points in time, a reconstruction filter arranged downstream of the digital-to-analog converter being provided in a manner known per se in order to combine the time-resultant analog result sequence into one to convert continuous-time signal. Since the block 192 practically represents a digital filter, a so-called anti-aliasing filter AF is arranged after the high-pass filter HF in order to suppress the occurrence of interfering external frequencies caused by the scanning process. Anti-aliasing filters, such as those found in the "2920 Analog Signal" published by the Intel Corporation in 1980 Processor Design Handbook ", pp. 2-1 to pp. 2-5 are low-pass filters which have a notable attenuation, for example 60 dB, at half the sampling frequency. The filters HF, AF and RF, which consist of a combination of integrators and Summing amplifiers exist, are in turn tracked in their corner frequencies as a function of the support roller speed n, which can be done by means of multipliers arranged in the input of the integrators, corresponding to the arrangement of Figure 3. Block 193 contains a timer which blocks the values in block 192 in digital technology implemented oscillators in frequency as a function of the current backup roller speed n The timer can, for example, consist of a counter that can be preset to the output value of the analog-digital converter 20 and that is continuously counted down at a constant clock rate, each time the counter reading reaches zero Signal processor 192 emits a pulse.

Claims (3)

1. Verfahren zur Kompensation des Einflusses von Walzenexzentrizitäten bei der Positios- oder Dickenregelung von Walzengerüsten, insbesondere mit indirekter, unter Ermittlung der Walzgerüstdehnung erfolgender Istwertbildung, gekennzeichnet durch folgende Merkmale: a) Es wird ein Summensignal aus dem mit der Kehrwertsumme von Gerüstfederkonstanten (CG) und Materialfederkonstanten (CM) multiplizierten Meßwertsignal der Walzkraft (FW) und dem Meßwertsignal der Walzenanstellposition (s) gebildet; b) das Summensignal wird über ein Hochpaßfilter (HF) geführt, welches in seiner Eckfrequenz proportional zur Stützwalzendrehzahl (n) verändert wird; c) das Ausgangssignal des Hochpaßfilters wird mit dem Summenausgangssignal mindestens eines Oszillatorpaares verglichen, dessen Frequenzen in Abhängigkeit vom Radius der oberen bzw. der unteren Stützwalze voreingestellt und in Abhängigkeit von der Stützwalzendrehzahl nachgestellt werden; d) mit der Abweichung (e) zwischen dem Ausgangssignal des Hochpaßfilters und dem Summenausgangssignal des Oszillatorpaares werden die Oszillatoren in Amplitude und Phasenlage so nachgeführt, daß diese Abweichung zu einem Minimum wird; e) das Summenausgangssignal (ΔR) der Oszillatoren wird von dem Istwertsignal subtrahiert. 1. Method for compensating for the influence of roll eccentricities in the position or thickness control of roll stands, in particular with indirect actual value formation which takes place by determining the roll stand stretch, characterized by the following features: a) A sum signal is formed from the measured value signal of the rolling force (F W ) multiplied by the reciprocal of the stand spring constants (C G ) and material spring constants (C M ) and the measured value signal of the roll position (s); b) the sum signal is passed through a high-pass filter (HF), the corner frequency of which is changed in proportion to the backup roller speed (n); c) the output signal of the high-pass filter is compared with the sum output signal of at least one pair of oscillators, the frequencies of which are preset as a function of the radius of the upper or lower support roller and adjusted as a function of the support roller speed; d) with the deviation (e) between the output signal of the high-pass filter and the sum output signal of the pair of oscillators, the oscillators are adjusted in amplitude and phase so that this deviation becomes a minimum; e) the sum output signal (ΔR) of the oscillators is subtracted from the actual value signal. 2. Verfahren nach Anspruch 1, dadurch gekennzeichnet , daß zur Nachbildung der wesentlichen Oberschwingungen entsprechende, rückgekoppelte Oszillatorpaare zusätzlich vorgesehen sind, deren Summenausgangssignale vom Istwertsignal subtrahiert werden.2. The method according to claim 1, characterized in that corresponding, feedback oscillator pairs are additionally provided to emulate the essential harmonics, the sum output signals of which are subtracted from the actual value signal. 3. Einrichtung zur Durchführung des Verfahrens nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß für die Nachbildung der Exzentrizitätsschwingungen ein als digitales Filter arbeitender Signalprozessor (192) verwendet ist, dem ein über einen Analog-Digitalwandler von der mittleren Stützwalzendrehzahl (n) beeinflußten Timer (193) zugeordnet ist.3. Device for carrying out the method according to claim 1 or 2, characterized in that a signal processor (192) working as a digital filter is used for the simulation of the eccentricity vibrations, which is influenced by a timer via an analog-digital converter from the mean backup roller speed (s) (193) is assigned.
EP85107336A 1984-07-05 1985-06-13 Method to compensate the influence of roll excentricities Expired EP0170016B1 (en)

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EP0698427A1 (en) * 1994-07-28 1996-02-28 Siemens Aktiengesellschaft Process for suppressing the influence of roll eccentricities
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US4685063A (en) 1987-08-04
ATE39069T1 (en) 1988-12-15
DE3566627D1 (en) 1989-01-12
CA1234613A (en) 1988-03-29

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