EP0698427A1 - Procédé pour supprimer l'influence des excentricités de rouleaux de laminage - Google Patents

Procédé pour supprimer l'influence des excentricités de rouleaux de laminage Download PDF

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Publication number
EP0698427A1
EP0698427A1 EP95111203A EP95111203A EP0698427A1 EP 0698427 A1 EP0698427 A1 EP 0698427A1 EP 95111203 A EP95111203 A EP 95111203A EP 95111203 A EP95111203 A EP 95111203A EP 0698427 A1 EP0698427 A1 EP 0698427A1
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EP
European Patent Office
Prior art keywords
signal
roll
output signal
oscillator
thickness
Prior art date
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.)
Granted
Application number
EP95111203A
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German (de)
English (en)
Other versions
EP0698427B1 (fr
Inventor
Andre Dipl.-Ing. Berghs
Clemens Dipl.-Ing. Jungkunz
Siegbert Dipl.-Ing. Steidl
Dietrich Dipl.-Ing. Wohld
Hans-Peter Dr. Tröndle
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Siemens AG
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Siemens AG
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Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP0698427A1 publication Critical patent/EP0698427A1/fr
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Anticipated expiration legal-status Critical
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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 for suppressing the influence of roll eccentricities on the outlet thickness of the rolling stock in a roll stand.
  • the oscillators work according to the observer principle, the frequencies of their output signals being set as a function of the measured rotational speeds of the rollers; the amplitude and phase position of the output signals is tracked as a function of the deviation between the sum output signal of the two oscillators and a further sum signal, which is composed of the measured rolling force multiplied by the sum of the reciprocal values of the rigidity of the roll stand and the rolling stock and the measured actual value of the roll pitch.
  • the oscillators can be implemented as digital filters, whereby they are coupled to the remaining analog position or thickness control of the roll stand via analog / digital converters and digital / analog converters.
  • the known method provides a good compensation for the roller eccentricity.
  • the measurement of the rolling force and thus the compensation of the roll eccentricity can be impaired by friction in the roll stand.
  • the thickness of the rolling stock is measured after it leaves the roll stand and, together with the instantaneous rotation angle also measured, at least one of the rolls is used to continuously calculate estimated values for the changes in thickness of the roll Rolled good used. These estimates are corrected as a function of the measurement delay converted into the corresponding angle of rotation of the roll, which results from the distance of the measuring point for the thickness measurement from the roll gap, that is to say the location of the change in thickness of the rolling stock.
  • the estimated values related to the angle of rotation are then applied to the position or thickness control to compensate for eccentricities.
  • the precise detection of the instantaneous angle of rotation on the rolls is to be regarded as relatively complex, in particular with regard to the rough conditions in the vicinity of the roll stand.
  • the invention has for its object to provide a method for compensating roller eccentricities without this requires a measurement of the rolling force or the instantaneous angle of rotation of rolls.
  • the object is achieved in that, in order to suppress the influence of roll eccentricities on the outlet thickness of the rolling stock in a roll stand, the roll eccentricities are simulated by the output signal of a feedback oscillator which is applied to a position or thickness control for the roll stand, the frequency the output signal is set as a function of the measured rotational speed of the rolls and the amplitude and phase position of the output signal is set in such a way that the thickness of the rolling stock is measured after its exit from the roll stand with a measurement delay compared to the reduction in thickness taking place in the roll stand, that a signal corresponding to the roll adjustment is formed and at least approximately delayed by the amount of the measurement delay, that a difference signal from the delayed roll adjustment signal and the one with the sum of one and the Qu otients from the rigidity of the rolling stock and the rigidity of the mill stand multiplied thickness measurement signal is formed, that the amplitude and phase of the output signal of the oscillator depending on the deviation between the output signal and the difference signal in the sense of minimizing this deviation
  • the thickness of the rolling stock is measured after it exits the rolling stand and is converted into an estimated course of the roll eccentricities using the gauge meter equations.
  • the basic oscillation of the estimated roll eccentricities is simulated by the oscillator and the position or thickness control is applied.
  • the measurement delay in relation to the roll gap that occurs when measuring the thickness of the rolling stock, in which the thickness reduction takes place and the eccentricities in relation to the thickness of the rolling stock take effect is canceled in the eccentricity compensation by the leading phase shift of the sinusoidal output signal of the oscillator.
  • an oscillator which, according to FIG.
  • the setpoint of the roll setting is preferably used as the roll setting signal instead of the actual value. This ensures that roll eccentricities are accurate even when the position control dynamics are slow and / or not exactly known. H. completely, to be compensated. With the increasingly slow dynamics of the position control, only the settling time for the compensation of the roller eccentricities is extended.
  • the insensitivity of the eccentricity compensation to the dynamics of the position control no longer applies at high speeds of the rollers, since the entire control loop can become unstable at high speeds and at the same time slow dynamics of the position control.
  • a dynamic correction of the delay in the position control is simpler by means of a proportional differential element (PD element), via which the thickness measurement signal used to form the difference signal is conducted.
  • the phase-shifted output signal of the oscillator can be fed to the position or thickness control via a proportional differential element (PD element), the roller adjustment signal used to form the difference signal also being guided via a proportional delay element (PT1 element) becomes.
  • a direct digital implementation of the position or thickness control and the oscillator is preferably provided, the roll setting signal, the thickness measurement signal and the measured speed of the rolls being digital values or being converted into digital values.
  • DDC direct digital control
  • further feedback oscillators can also be used, which are also connected in series or whose output signals are additively linked to one another.
  • roller eccentricities are additionally simulated by the output signal of at least one additional oscillator, which can be connected to the position or thickness control, the frequency of the output signal as a function of the measured rotational speed of the rolls and the amplitude and phase of the output signal as a function of the deviation between the output signal of the oscillator and the sum signal from the measured rolling force multiplied by the sum of the reciprocal values of the rigidity of the roll stand and the rolling stock and the roll adjustment in order to minimize this deviation.
  • the setpoint of the roll adjustment is preferably used to determine the deviation.
  • FIG. 1 shows an example of the position control of a roll stand 1 with an upper and lower support roll 2 or 3, two work rolls 4 and 5, a hydraulic adjusting device 7, which can be actuated via a control valve 6, for setting the roll position s and a symbolizing the elasticity of the roll stand 1 Spring c G.
  • the rolling stock 8, to which an equivalent material spring c M can be assigned in the roll gap, is rolled down by the two work rolls 4 and 5 from an inlet thickness h e to an outlet thickness h a .
  • the roll eccentricities can be described by effectively changing the roll radius ⁇ R.
  • the roller adjustment s is measured with a position sensor 9 on the adjusting device 7 and compared as an actual value at a summing point 10 with a setpoint s * of the roller adjustment, the comparison result via a position controller 11 and a downstream actuator 12 for actuating the control valve 6 and thus for adjustment the roll adjustment s is used.
  • the compensation of the roll eccentricities ⁇ R requires the measurement of the outlet thickness h a and the roll speed n and, in the case of the exemplary embodiment shown in FIG. 3, the measurement of the rolling force F W.
  • the rolling force F W is measured by means of a pressure sensor 13 on the rolling stand 1.
  • the measurement of the roller speed n serves to determine the basic vibration of the roller eccentricities. Under the simplifying requirement that the top and bottom rollers of the roll stand 1 rotate at the same speed, it is sufficient to adjust the speed of only one driven roller, e.g. B. the work roll 5 by means of a tachometer 14.
  • the measured speed of the work roller 5 is in a unit 15 via the ratio of the diameter of the work roller 5 to that of the support roller 3 in the speed n u of the lower Support roller 3 converted. Since, as a rule, the speeds of the upper and lower rollers differ due to slightly different diameters, in the exemplary embodiment shown there is a further tachometer 16 with a subordinate conversion unit 17 for detecting the speed n o of the upper support roller 2.
  • the outlet thickness h a of the rolling stock 8 is measured by means of a thickness measuring device 18, which is arranged at a distance l behind the roll gap.
  • reference number 19 denotes the simplified block diagram of the control path formed by the position control shown in FIG. 1 and the rolling stand.
  • the position control 20 includes, among other things, the position controller 11 with the summing point 10, the actuator 12, the valve 6 and the hydraulic adjusting device 7 with the roller mass moved by it.
  • the position control 20 supplies the actual value s of the roll adjustment as the output variable.
  • the friction in the roll stand is affected. Due to the thickness reduction h a- h e appearing at the output of the function block 23, the exit thickness h a of the rolling stock 8 is obtained, which with the aid of the thickness measuring device 18 has a velocity v B of the rolling stock 8 and the distance l between the roll gap and the thickness measuring device 18 dependent measurement delay is measured.
  • the disturbance ⁇ R 'simulated by the oscillator 24 is fed via a phase rotator 26 compensating the measuring delay between the roll gap and the thickness measuring device 18, a proportional differential element (PD element) 27 and a switch 28 to a summing element 29 and there the setpoint s * the roller adjustment switched on at the entrance to the controlled system 19.
  • a phase rotator 26 compensating the measuring delay between the roll gap and the thickness measuring device 18, a proportional differential element (PD element) 27 and a switch 28 to a summing element 29 and there the setpoint s * the roller adjustment switched on at the entrance to the controlled system 19.
  • the setpoint of the roll adjustment superimposed with the simulated fault s * + ⁇ R ' is supplied to a summing point 32 via a proportional delay element (PT1 element) 30, which is complementary to the PD element 27, and a delay element 31 with a delay at least approximately corresponding to the measuring delay in the thickness measuring device 18.
  • the summing point 32 is supplied with the setpoint s 'superimposed with the interference simulation ⁇ R' of the roll adjustment, the respective dynamics of the position control 20 have no influence whatsoever on the compensation of the roll eccentricities ⁇ R, so that these are asymptotically completely unaffected in their effect on the exit thickness h a of the rolling stock 8 are eliminated.
  • this no longer applies at very high speeds of the rollers, since at such high speeds and at the same time slow dynamics of the position control 20, the entire control loop can become unstable.
  • the PD element 27 and the PT1 element 30 it is also possible to provide a single PD element in the area of processing the thickness measurement signal h a 'between the thickness measurement device 18 and the summing point 32.
  • FIG. 3 shows an expanded embodiment of the block diagram according to FIG. 2, 19 again denoting the controlled system, to which the setpoint s * for the roll adjustment is supplied at the beginning via a digital / analog converter.
  • the controlled system 19 supplies the rolling force measurement signal F W 'and the thickness measurement signal h a ' as output signals, both of which are each converted into digital values by means of an analog / digital converter.
  • Both the rolling force F W and the initial thickness h a of the rolling stock 8 are influenced in the control path 19 by the roll eccentricities which are due to diameter differences for the upper and lower rolls of the roll stand 1 are slightly different and are referred to here as ⁇ R o and ⁇ R u .
  • two feedback oscillators 36 and 37 are provided, of which the oscillator denoted by 36 simulates the disturbances ⁇ R o originating from the upper rollers and the oscillator denoted by 37 the reproduces disturbances ⁇ R u originating from the lower rollers.
  • the disturbance variables ⁇ R o 'and ⁇ R u ' simulated by the two oscillators 36 and 37 are added up in a summing element 38 and applied to the setpoint s * of the roll adjustment via the phase rotator 26, the PD element 27 and the switch 28 in the summing point 29 fed to the summing point 34 for the feedback of the two oscillators 36 and 37 with a negative sign. Otherwise, just as in the exemplary embodiment shown in FIG.
  • the setpoint of the roll adjustment which is subject to interference, becomes s * + ⁇ R O '+ ⁇ R u ' Via the PT1 element 30 and the delay element 31 and the thickness measurement signal h a 'via the multiplier 33 to the summing point 32 to form the difference signal u.
  • compensation of the roll eccentricities ⁇ R o + ⁇ R u is provided on the basis of the roll force measurement signal F W '.
  • an oscillator 39 frequency-controlled with ⁇ o simulates the disturbances ⁇ R o originating from the upper rollers
  • a further oscillator 40 is frequency-controlled with ⁇ u and simulates the disturbances ⁇ R u originating from the lower rollers.
  • the disturbance variables simulated by the two oscillators 39 and 40 are added up in a summing element 41 and applied to the setpoint s * of the roll adjustment via a PD element 42 and a switch 43 in a summing point 44.
  • the setpoint of the roll adjustment superimposed with the simulated faults s * + ⁇ R O '+ ⁇ R u ' becomes a summing point via a PT1 element 45 46 supplied and linked there with the rolling force measurement signal F W 'multiplied in a multiplier 47 by the calculated reciprocal 1 / c0' of the overall rigidity of the frame and material spring to form a sum signal u.
  • This sum signal u and the output sum signal ⁇ R o '+ ⁇ R u ' of the two oscillators 39 and 40 are compared with one another at a further summing point 48, the amplitude and phase of the two oscillators 39 and 40 being tracked with the correction signal e obtained in this way, until the sum of the simulated disturbances ⁇ R o '+ ⁇ R u ' and the sum signal u match.
  • FIG. 4 shows a direct digital implementation of the oscillator 24 shown in FIG. 2 with the downstream phase rotator 26.
  • the tracking coefficients a and b determine the settling dynamics of the feedback oscillator 24, the tracking coefficients a and b being adjustable as a function of the frequency ⁇ of the fundamental oscillation.
  • FIG. 5 shows a further exemplary embodiment of the interference observer used to compensate for the roller eccentricities on the basis of the thickness measurement signal h a '.
  • This contains four oscillators 53, 54, 55 and 56, of which the oscillator 53 the fundamental oscillation ⁇ o and the oscillator 55 the harmonic 2 ⁇ o of the disturbances originating from the upper rollers and the oscillator 54 the fundamental oscillation ⁇ u and the oscillator 56 the harmonic 2 ⁇ u of the disturbances emanating from the lower rollers.
  • the structure of the individual oscillators 53 to 56 corresponds to that of the oscillator 24 in FIG. 4.
  • each oscillator 53 to 56 is followed by a phase rotator 59, 60, 61 and 62 in the exemplary embodiment shown.
  • the phase rotators 59 and 60 which are used to simulate the fundamental vibration ⁇ o and ⁇ u Serving oscillators 53 and 54, each contain two multipliers 63 and 64, in which the sinusoidal signal at the switching point 25 are multiplied by cos ⁇ and the cosine signal at the switching point 49 by sin ⁇ ; then both signals are summed in the adder 65.
  • the two phase rotators 61 and 62 which are arranged downstream of the oscillators 55 and 56 used to emulate the harmonics 2 ⁇ o and 2 ⁇ u , also each contain two multipliers 66 and 67, in each of which the sinusoidal signal at switching point 25 is multiplied by cos 2 ⁇ and the cosine signal at switching point 49 is multiplied by sin 2 ⁇ ; then both signals are summed in a summing element 68.
  • the output signals of the phase rotators 59 and 60 are added up in a summing point 69 and the position or thickness control is applied as shown in FIG. 2 or 3.
  • the output signals of the phase rotators 61 and 62 are also added up in a summing point 70 and, if necessary, also applied to the position or thickness control via a switch 71 and a further summing point 72.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Metal Rolling (AREA)
EP95111203A 1994-07-28 1995-07-17 Procédé pour supprimer l'influence des excentricités de rouleaux de laminage Expired - Lifetime EP0698427B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4426637 1994-07-28
DE4426637 1994-07-28

Publications (2)

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EP0698427A1 true EP0698427A1 (fr) 1996-02-28
EP0698427B1 EP0698427B1 (fr) 1997-12-03

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EP95111203A Expired - Lifetime EP0698427B1 (fr) 1994-07-28 1995-07-17 Procédé pour supprimer l'influence des excentricités de rouleaux de laminage

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US (1) US5647237A (fr)
EP (1) EP0698427B1 (fr)
JP (1) JPH0857511A (fr)
DE (1) DE59501064D1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5961899A (en) * 1997-07-15 1999-10-05 Lord Corporation Vibration control apparatus and method for calender rolls and the like
JP2000288614A (ja) * 1999-04-09 2000-10-17 Toshiba Corp 圧延機の板厚制御装置
DE102006008574A1 (de) * 2006-02-22 2007-08-30 Siemens Ag Verfahren zur Unterdrückung des Einflusses von Walzenexzentrizitäten
CN101927272B (zh) * 2010-08-23 2012-09-05 中冶南方工程技术有限公司 基于在线递推参数估计的轧辊偏心补偿设备
CN101927271B (zh) * 2010-08-23 2012-07-04 中冶南方工程技术有限公司 基于在线递推参数估计的轧辊偏心补偿方法及其设备

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2643686A1 (de) * 1976-09-28 1978-03-30 Siemens Ag Anordnung zur regelung der walzgutdicke in einem walzgeruest
US4222254A (en) * 1979-03-12 1980-09-16 Aluminum Company Of America Gauge control using estimate of roll eccentricity
EP0170016A1 (fr) * 1984-07-05 1986-02-05 Siemens Aktiengesellschaft Méthode pour compenser l'influence de l'excentricité de rouleaux de laminage
US4648257A (en) 1985-08-30 1987-03-10 Aluminum Company Of America Rolling mill eccentricity compensation using actual measurement of exit sheet thickness
US4691547A (en) * 1983-09-08 1987-09-08 John Lysaght (Australia) Limited Rolling mill strip thickness controller
WO1994006578A1 (fr) * 1992-09-22 1994-03-31 Siemens Aktiengesellschaft Procede visant a supprimer l'influence qu'exercent les excentricites des rouleaux sur le reglage de l'epaisseur des produits a laminer passes dans une cage de laminoir

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1177923A (en) * 1966-02-21 1970-01-14 Davy & United Eng Co Ltd Rolling Mills
DE3331822A1 (de) * 1983-09-01 1985-03-21 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt Verfahren zur regelung der banddicke
US4531392A (en) * 1984-03-19 1985-07-30 Aluminum Company Of America Phase compensator for gauge control using estimate of roll eccentricity
DE58906215D1 (de) * 1989-07-10 1993-12-23 Siemens Ag Verfahren und Einrichtung zur Elimination des Einflusses von periodischen Störgrössen mit bekannter, veränderlicher Frequenz.

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2643686A1 (de) * 1976-09-28 1978-03-30 Siemens Ag Anordnung zur regelung der walzgutdicke in einem walzgeruest
US4222254A (en) * 1979-03-12 1980-09-16 Aluminum Company Of America Gauge control using estimate of roll eccentricity
US4691547A (en) * 1983-09-08 1987-09-08 John Lysaght (Australia) Limited Rolling mill strip thickness controller
EP0170016A1 (fr) * 1984-07-05 1986-02-05 Siemens Aktiengesellschaft Méthode pour compenser l'influence de l'excentricité de rouleaux de laminage
EP0170016B1 (fr) 1984-07-05 1988-12-07 Siemens Aktiengesellschaft Méthode pour compenser l'influence de l'excentricité de rouleaux de laminage
US4648257A (en) 1985-08-30 1987-03-10 Aluminum Company Of America Rolling mill eccentricity compensation using actual measurement of exit sheet thickness
WO1994006578A1 (fr) * 1992-09-22 1994-03-31 Siemens Aktiengesellschaft Procede visant a supprimer l'influence qu'exercent les excentricites des rouleaux sur le reglage de l'epaisseur des produits a laminer passes dans une cage de laminoir

Also Published As

Publication number Publication date
DE59501064D1 (de) 1998-01-15
US5647237A (en) 1997-07-15
JPH0857511A (ja) 1996-03-05
EP0698427B1 (fr) 1997-12-03

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