EP0710513B1 - Zugregelung zwischen den Gerüsten für ein kontinuierliches Walzwerk - Google Patents

Zugregelung zwischen den Gerüsten für ein kontinuierliches Walzwerk Download PDF

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Publication number
EP0710513B1
EP0710513B1 EP94115882A EP94115882A EP0710513B1 EP 0710513 B1 EP0710513 B1 EP 0710513B1 EP 94115882 A EP94115882 A EP 94115882A EP 94115882 A EP94115882 A EP 94115882A EP 0710513 B1 EP0710513 B1 EP 0710513B1
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EP
European Patent Office
Prior art keywords
looping
tension
estimated
speed
rotating speed
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EP94115882A
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English (en)
French (fr)
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EP0710513A1 (de
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Kazuya Technical Research Division Asano
Kazuhiro Technical Research Division Yamamoto
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JFE Steel Corp
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Kawasaki Steel Corp
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Priority to JP05253199A priority Critical patent/JP3075502B2/ja
Priority claimed from JP05253199A external-priority patent/JP3075502B2/ja
Priority to US08/318,105 priority patent/US5660066A/en
Application filed by Kawasaki Steel Corp filed Critical Kawasaki Steel Corp
Priority to EP94115882A priority patent/EP0710513B1/de
Priority to DE1994612099 priority patent/DE69412099T2/de
Publication of EP0710513A1 publication Critical patent/EP0710513A1/de
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Publication of EP0710513B1 publication Critical patent/EP0710513B1/de
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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
    • B21B37/48—Tension control; Compression control
    • B21B37/50—Tension control; Compression control by looper control

Definitions

  • the present invention relates to an interstand tension controller for controlling the interstand tension of a workpiece being rolled on a continuous rolling mill having a plurality of rolling stands and provided with a looper between the adjacent rolling stands and, more specifically, to an interstand tension controller suitable for application to a hot finishing mill, and capable of satisfactorily carrying out interstand tension control operation without being disturbed by interaction between the tension of the workpiece and the looping angle, having a simple configuration and capable of being easily adjusted.
  • a hot finishing mill has rolling stands and is provided with a looper disposed between the adjacent rolling stands to stabilize the interstand tension of the workpiece. It is important for carrying out stable rolling operation to stabilize the tension of the workpiece that affects directly the size and the shape of the workpiece by the looper and to suppress the variation of looping angle.
  • Two manipulated variables i.e., the rotating speed of the rolls of the rolling stand and the looping torque, are controlled to regulate the tension of the workpiece and the looping angle. As shown in Fig.
  • a most common interstand tension controller controls looping angle ⁇ by regulating the rotating speed of the rolls of an upper rolling stand i or that of the rolls of a lower rolling stand i+1 and regulates the looping torque according to the variation of the looping angle ⁇ to adjust the tension ⁇ to a desired value.
  • the tension control performance of this interstand tension controller is not satisfactory because the tension is controlled in an open-loop control mode.
  • Tension and looping angle interact with each other, namely, the variation of tension entails the variation of looping angle, and vice versa. Being unable to deal with interaction between the tension and the looping angle, the conventional interstand tension controller is unable to stabilize the looping angle.
  • a controller disclosed in Japanese Patent Laid-open No. 59-110410 measures the tension of the workpiece with a load cell or the like installed in a looper, regulates the rotating speed of the rolls of the rolling stand, i.e., a manipulated variable, to regulate the tension by a feedback loop, and regulates the looping torque or the looping speed, i.e., a manipulated variable, to regulate the looping angle by another feedback loop.
  • Another controller places a precompensator C, which generally is called a cross controller, before a looper characteristic block G that indicates looper characteristics as shown in Fig. 2 to offset the interaction between the tension and the looping angle by the synergetic effect of the precompensator C and the looper characteristic block G.
  • a precompensator C which generally is called a cross controller
  • Integrating optimum regulators disclosed in Japanese Patent Laid-open Nos. 59-118213 and 59-118214 control the operating speed of a looper driving motor, and use, in combination, a feedback operation for feeding back measurable values, i.e., tension, looping angle and operating speed of the looper driving motor, and a main controller that carries out integration to optimize a P-gain index of performance and an I-gain index of performance in a time domain.
  • an optimum control gain must be determined by setting a weighting matrix for a quadratic evaluation function by a trial-and-error method.
  • a previously proposed H-infinity controller is an improvement of the integrating optimum regulator and specifies closed-loop response in a frequency domain to facilitate the design.
  • the noninteractive interstand tension controller sets an inverse model of a controlled system in the cross controller, the noninteractive interstand tension controller is unable to deal with variations in the characteristics of the controlled system satisfactorily and is incapable of offsetting the effect of a disturbance, such as the variation of the rolling speed.
  • the integrating optimum regulator and the H-infinity control are difficult to adjust at the site because the integrating optimum regulator and the H-infinity control need a controller having a complicated configuration, an evaluation function must be determined and the parameters of the controller must be designed so as to optimize the evaluation function.
  • DE-A-4 003 548 discloses an interstand tension controller in which the looping angle is fed back from a looper mechanical system to an extreme looper angle state judgement unit, and the tension is fed back from a tension generation mechanism, along with the looper angle, to an extreme tension judgement unit. If the looper angle exceeds a preset range, or if the tension becomes an extreme value, instructing units are activated so as to modify integral and proportional constants of a control system, thereby correcting commanded values of the looper angle and tension.
  • DE-A-2 618 901 discloses an interstand tension controller in which the tension is fed back to an error detector along with the looping angle.
  • the error detector produces a speed correction signal which is fed to a control unit of a motor driving rolls preceding the looper.
  • DE-A-3 314 466 discloses an interstand tension controller in which the looping angle and the tension are compared with respective commanded values, and the differences are fed to respective operating units which employ PI control, to generate two speed-compensation values. These are fed to an "interference-free operating unit" or precompensator, which transforms both compensation values to form modified compensation values for the looping angle and tension in which interference between the two kinds of control is eliminated.
  • a method of regulating an interstand tension of a workpiece, being rolled on a continuous rolling mill having a plurality of rolling stands and provided with a looper between adjacent rolling stands, at a desired interstand tension by controlling a rotating speed of rolls of the rolling stand and of regulating a looping angle at a desired looping angle by controlling a looping torque or a looping speed of the looper comprising the steps of: estimating a disturbance acting on a first controlled system, in which the rotating speed of the rolls is a manipulated variable and the interstand tension of the workpiece is a controlled variable, on the basis of the difference between an estimated interstand tension obtained by applying at least a rotating speed command for the rolls of the rolling stand to at least one first model that receives at least the rotating speed command, and a measured or estimated working interstand tension; calculating a rotating speed command to offset the estimated disturbance; regulating the rotating speed according to the calculated rotating speed command; estimating a disturbance acting on a second controlled system, in which the
  • an interstand tension controller for a continuous rolling mill having a plurality of rolling stands and provided with a looper between the adjacent rolling stands comprises:
  • an interstand tension controller for a continuous rolling mill having a plurality of rolling stands and provided with a looper between the adjacent rolling stands comprises:
  • an interstand tension controller for a continuous rolling mill having a plurality of rolling stands and provided with a looper between the adjacent rolling stands comprises:
  • an interstand tension controller for a continuous rolling mill having a plurality of rolling stands and provided with a looper between the adjacent rolling stands comprises:
  • an interstand tension controller for a continuous rolling mill having a plurality of rolling stands and provided with a looper between the adjacent rolling stands comprises:
  • an interstand tension controller for a continuous rolling mill having a plurality of rolling stands and provided with a looper between the adjacent rolling stands comprises:
  • a method of controlling the interstand tension of a workpiece being rolled on a continuous rolling mill having a plurality of rolling stands and provided with a looper between the adjacent rolling stands by regulating the rotating speed of the rolls of the rolling stand so that the interstand tension of the workpiece coincides with a desired interstand tension and controlling the looping angle by regulating the looping torque or the looping speed of the looper so that the looping angle coincides with a desired looping angle comprises the steps of:
  • a method of controlling the interstand tension of a workpiece being rolled on a continuous rolling mill having a plurality of rolling stands and provided with a looper between the adjacent rolling stands by regulating the rotating speed of the rolls of the rolling stand so that the interstand tension of the workpiece coincide with a desired interstand tension and controlling the looping angle by regulating the looping torque or the looping speed of the looper so that the looping angle coincides with a desired looping angle comprises the steps of:
  • a method of controlling the interstand tension of a workpiece being rolled on a continuous rolling mill having a plurality of rolling stands and provided with a looper between the adjacent rolling stands by regulating the rotating speed of the rolls of the rolling stand so that the interstand tension of the workpiece coincides with a desired interstand tension and controlling the looping angle by regulating the looping torque or the looping speed of the looper so that the looping angle coincides with a looping angle comprises the steps of:
  • a method of controlling the interstand tension of a workpiece being rolled on a continuous rolling mill having a plurality of rolling stands and provided with a looper between the adjacent rolling stands by regulating the rotating speed of the rolls of the rolling stand so that the interstand tension of the workpiece coincides with a desired interstand tension and controlling the looping angle by regulating the looping torque or the looping speed of the looper so that the looping angle coincides with a desired looping angle comprises the steps of:
  • each of the interstand tension controllers in the first to the fourth aspect of the present invention similarly to a conventional noninteractive interstand tension controller, comprises the first feedback loop that measures or estimates the interstand tension of the workpiece, calculates a rotating speed command specifying a desired rotating speed of the rolls of the roll stand on the basis of the difference between a desired interstand tension and the measured or estimated working interstand tension, and corrects the rotating speed of the rolls, and a second feedback loop that measures the looping angle, calculates a looping torque command or a looping speed command on the basis of the difference between the measured looping angle and a desired looping angle and corrects the looping torque or the looping speed.
  • the interstand tension controllers in the first to the fourth aspect of the present invention differ from the conventional noninteractive interstand tension controller in that the two disturbance compensators estimate a disturbance acting on the two feedback loops and add signals capable of offsetting the disturbance to the signals provided by the feedback loops.
  • the disturbance includes an equivalent disturbance such as the variation of the characteristics of the controlled system resulting from the variation of parameters such as the Young' s modulus of the workpiece, in addition to the influence of interaction between the feedback loops, and the variation of the rolling speed due to the variation of the thickness or the temperature of the workpiece.
  • the interstand tension controllers in the first to the fourth aspect of the present invention interactions between the two feedback loops are compensated by the disturbance offsetting signals provided by the two disturbance compensators and the two feedback loops can individually be designed. Therefore, the interstand tension controllers can easily be designed and is highly resistant to disturbances, such as the variation of the rolling speed, and the variation of the characteristics of the controlled system.
  • the two disturbance compensators estimate the disturbances acting on the feedback loop, and add correction signals to offset the disturbances to signals calculated by a feedback control system.
  • the interference between the tension and the looping angle need not be offset by the corrections provided by the disturbance compensators because the interference between the tension and the looping angle is controlled by the feedback loop.
  • the looping speed is applied to the model that receives the rotating speed command and provides the interstand tension of the workpiece
  • the measured tension is applied to the model that receives the looping torque command or the looping speed command and provides the looping speed so that the disturbance compensators will not provide any corrections to offset the interference.
  • the disturbances include variation of the rolling speed due to the variation of the thickness and the temperature of the workpiece, and the variation of the characteristics of the controlled system resulting from the variation of parameters, such as the variation of the Young's modulus of the workpiece.
  • a control system is resistant to the disturbances and the variation of the characteristics of the controlled system by using the two disturbance compensators.
  • the second disturbance compensator of the interstand tension controller in the first aspect of the present invention shown in Fig. 3 uses the estimated looping angle obtained by applying the sum of the looping torque command or the looping speed command calculated by the second feedback loop and the correction calculated by the second disturbance compensator to the model that receives the looping torque command or the looping speed command and provides a looping angle, and the measured looping angle for estimate the disturbance acting on the second feedback loop.
  • ⁇ (1/s) ⁇ where ⁇ is the looping angle and ⁇ is the looping speed.
  • the configuration of the interstand tension controller in the second aspect of the present invention is more simple than that of the interstand tension controller in the first aspect of the present invention, and the order of the model of the looper and the filter of the interstand tension controller in the second aspect of the present invention is lower than that of the same of the interstand tension controller in the first aspect of the present invention.
  • the feedback loop for controlling the interstand tension through the control of the rotating speed of the rolls of the rolling stand and the feedback loop for controlling the looping angle through the control of the looping torque or the looping speed are used for adjusting the two controlled variables of the interstand tension of the workpiece and the looper to the corresponding desired values, interactions between the two feedback loops are compensated by the disturbance compensating signals provided by the two disturbance compensators, and the two feedback loops can individually be designed. Therefore, the interstand tension controller can easily be designed and is highly resistant to disturbances, such as the variation of the rolling speed and the variation of the characteristics of the controlled system.
  • a control system is resistant to the disturbances and the variation of the characteristics of the controlled system by using the two disturbance compensators. Consequently, the workpiece can be rolled in a satisfactory shape and correct dimensions, and the rolling operation can be stabilized.
  • the methods of controlling the interstand tension of a workpiece being rolled on a continuous rolling mill in the seventh to the tenth aspect of the present invention regulate the rotating speed of the rolls of the rolling stand to adjust the interstand tension of the workpiece to a desired interstand tension, and regulates the looping torque or the looping speed to adjust the looping angle to a desired looping angle as shown in Figs. 7 and 8.
  • a disturbance acting on the controlled system in which the rotating speed is a manipulated variable and the interstand tension is a controlled variable, is estimated on the basis of the difference between an estimated interstand tension obtained by applying a rotating speed command to the model that receives the rotating speed command and provides the interstand tension of the workpiece, and the measured or estimated working interstand tension of the workpiece, a rotating speed command to offset the disturbance is calculated and the rotating speed of the rolls is regulated according to the calculated rotating speed command.
  • a disturbance acting on the controlled system in which the looping torque or the looping speed is a manipulated variable and the looping angle is a controlled variable, is estimated on the basis of the difference between an estimated looping angle obtained by applying a looping torque command or a looping speed command to a model that receives the looping torque or the looping speed and provides an interstand tension, and a measured looping angle, a looping torque command or a looping speed command capable of offsetting the disturbance is calculated, and the looping torque or the looping speed is regulated according to the calculated looping torque or the calculated looping speed.
  • the interactive components are regarded as a disturbance acting on the two control loops
  • the disturbance is estimated on the basis of the difference between the respective outputs of the control loops and the models arranged in parallel to the controlled systems, respectively, and a signal capable of offsetting the disturbance is calculated and used as commands for regulating the manipulated variables.
  • the disturbance acting on the control loops is offset and the control operation can stably be carried out.
  • the disturbance includes an equivalent disturbance, variations in the characteristics of the controlled systems resulting from the variation of parameters such as the Young's modulus of the workpiece in addition to the variation of the rolling speed due to the variation of the thickness or the temperature of the workpiece.
  • the interstand tension controllers in the seventh to the tenth aspect of the present invention regard interaction between the two control loops as a disturbance, estimate the same, and compensate for the same to enable the two control loops to be designed individually. Accordingly, the two feedback loops can easily be designed, and the controller is highly resistant to disturbances including the variation of the rolling speed, and the variation of the characteristics of the controlled systems.
  • a disturbance acting on the controlled system in which the looping torque or the looping speed is a manipulated variable and the looping angle is a controlled variable, is estimated on the basis of the difference between an estimated looping speed obtained by applying a looping torque command or a looping speed command to a model that receives the looping torque command or the looping speed command and provides a looping speed, and a measured looping speed, a looping torque command or a looping speed command capable of offsetting the disturbance is calculated, and the looping torque or the looping speed is regulated according to the calculated looping torque command or the calculated looping speed command.
  • the estimated looping speed and the measured looping speed are used to estimate the disturbance acting on the controlled system, in which the looping torque or the looping speed is a manipulated variable and the looping angle is a controlled variable; that is, the model of the looper system and the filter in the seventh aspect of the present invention are modified by using expression (1).
  • the configuration of the interstand tension controller in the eighth aspect of the present invention is more simple than that of the controller in the seventh aspect of the present invention, and the order of the model of the looper and the filter in the eighth aspect of the present invention is lower than that of the same in the seventh aspect of the present invention, and hence the configuration of the interstand tension controller is simple.
  • the method in the eighth aspect of the present invention regulates the looping speed at zero to maintain a looping angle constant and does not use any desired looping angle.
  • the desired looping angle is not changed actually and it is sufficient to maintain a constant looping angle in practice.
  • the first control loop controls the interstand tension through the regulation of the rotating speed of the rolls of the rolling stand and the second control loop controls the looping angle through the regulation of the looping torque or the looping speed to regulate the two controlled variables of the interstand tension of the workpiece and the looper at corresponding desired values
  • interaction between the two control loops is estimated as a disturbance
  • the manipulated variables are regulated so as to offset the disturbance to compensate for the interaction between the two control loops.
  • the two control loops can individually be designed, the design of the control loops is facilitated, and the interstand tension controller is highly resistant to disturbances such as the variation of the rolling speed, and the variation of the characteristics of the controlled system. Consequently, the workpiece can be rolled in a satisfactory shape and satisfactory dimensions and the rolling operation can stably be carried out.
  • the looping speed, too is applied to the model.
  • the rotating speed command specifying a rotating speed of the rolls of the rolling stand is applied to the model in the fifth and the sixth aspect of the present invention
  • the looping speed, too is applied to the model.
  • the looper operates to absorb variations in the interstand tension when the interstand tension varies. Therefore, the range of variation of the interstand tension when the effect of interactions between the interstand tension and the looping angle is not completely removed is narrower than that when the effect of interactions is completely removed and the looping angle varies in a comparatively narrow range if the interstand tension and the looping angle interact properly with each other. That is, the stability of the interstand tension and the operation of the looper is enhanced by allowing appropriate interaction between the interstand tension and the looping angle instead of completely removing the effect of interaction between the interstand tension and the looping angle.
  • the looping speed is applied to the model that provides the interstand tension of the workpiece to adjust offsetting the interactions.
  • the effect of some of the interactions between the interstand tension and the operation of the looper is left unremoved, the stability of the interstand tension and the operation of the looper will further be enhanced.
  • FIG. 9 showing an interstand tension controller in a first embodiment according to a first aspect of the present invention as applied to the two adjacent rolling stands of a hot rolling mill
  • a workpiece 10 and two adjacent rolling stands 12 and 13 respectively having work rolls 12a and 12b and work rolls 13a and 13b.
  • a motor 20 drives the work rolls 12a and 12b, and the motor 20 is controlled by a roll speed controller 22 so that the work rolls 12a and 12b are driven for rotation at a desired rotating speed.
  • the workpiece 10 traveling from the left to the right in Fig. 9 is supported by a looper 16 having a looper arm 16b and a looper roller 16a supported for rotation on the free end of the looper arm 16b.
  • the looper arm 16b has a base end operatively connected to a motor 24.
  • the motor 24 is controlled by a looper torque controller 26 so as to generate a desired torque.
  • a tension detector 30 receives a signal representing the reaction force of the workpiece 10 acting on the looper 16 from a load cell, not shown, installed on the looper 16 and calculates a measured tension ⁇ m of the workpiece 10, and then a tension feedback controller 32 calculates a rotating speed command ub on the basis of the difference between the measured tension ⁇ m and a desired tension ⁇ r specified by a host computer 50.
  • a tension disturbance compensator 34 internally provided with a model estimates a disturbance acting on the tension control system and calculates a rotating speed correction uf to offset the disturbance.
  • An adder 36 adds up the rotating speed command ub and the rotating speed correction uf to give a corrected speed command u to the roll speed controller 22.
  • the model of the tension disturbance compensator 34 receives the corrected speed command u, estimates the tension of the workpiece 10 on the basis of the corrected speed command u, regards the difference between the estimated tension and the measured tension ⁇ m given thereto by the tension detector 30 as a disturbance, and calculates the rotating speed correction uf to offset the disturbance.
  • a looping angle controller 42 calculates a looping torque command gb on the basis of the difference between a measured looping angle ⁇ m measured by a looping angle detector 40 and a desired looping angle ⁇ r received from the host computer 50.
  • a looper disturbance compensator 44 internally provided with a model estimates a disturbance acting on the looper control system and calculates a looping torque correction gf to offset the estimated disturbance.
  • An adder 46 adds up the looping torque command gb and the looping torque correction gf and gives a corrected looping torque command g to a looping torque controller 26.
  • the looper disturbance compensator 44 estimates the disturbance acting on the looper 16 on the basis of the difference between an estimated looping angle obtained by applying the corrected torque command g to its model and the measured looping angle ⁇ m measured by the looping angle detector 40, and then calculates the looping torque correction gf to offset the estimated disturbance.
  • an interstand tension controller in a second embodiment includes a looping speed detector 52 for detecting looping speed and a looping speed controller 54 forming a looping speed control loop as shown in Fig. 10.
  • the respective models and the filters of a tension disturbance compensator 34 and a looper disturbance compensator 44 will be described in detail.
  • Fig. 11 The interstand tension of the workpiece on the hot rolling mill and the characteristics of the looper of the hot rolling mill are shown in Fig. 11 by way of example.
  • Kg ⁇ and Kg ⁇ are influence coefficients indicating the influence of interactions between the interstand tension and the looping angle.
  • a tension model and a looper model are produced by using transfer functions of a low order on an assumption that there is no influence of interactions between the tension and the looping angle.
  • the models are expressed by the following expressions.
  • an estimated tension and an estimated looping angle obtained by using expressions (2) and (3) are those under an ideal condition where there is neither disturbance nor interaction. Accordingly, the difference between an estimated value calculated by using each model and measured value representing the condition of the corresponding controlled system reflects the effect of interactions between the controlled systems, disturbances acting on the controlled system, and the difference in characteristics between the model and the actual controlled system.
  • ⁇ (P ⁇ -G ⁇ )u+P ⁇ d
  • ⁇ is the difference between the output of the tension model and an actual tension
  • P ⁇ is the transfer constant of the tension system
  • u is a rotating speed command
  • d is a disturbance
  • the tension model a subtracter that calculates the difference ⁇ between the estimated tension calculated by the tension model and the measured tension, and the filter constitute the tension disturbance compensator 34.
  • a looper model a subtracter that calculates the difference between an estimated looping angle calculated by the looper model and a measured looping angle, and a filter constitute the looper disturbance compensator 44.
  • the follow-up performance of the interstand tension controller to follow up the desired tension and the desired looping angle is dependent on the performance of the tension feedback controller 32 and the looping angle controller 42.
  • an interstand tension controller in a third embodiment according to the present invention is provided with a looper disturbance compensator 60 internally provided with a looper model.
  • the looper disturbance compensator 60 estimates a disturbance acting on a looper control system and calculates a looping torque correction gf to offset the estimated disturbance.
  • An adder 46 adds up a looping torque command gb and the looping torque correction gf and gives a corrected looping torque command g to a looping torque controller 26.
  • the looper model of the looper disturbance compensator 60 receives the corrected torque command g and provides an estimated looping speed, calculates the difference between the estimated looping speed and a measured looping speed, regards the difference as a disturbance acting on the looper system, and then calculates the looping torque correction gf to offset the estimated disturbance, i.e., the difference.
  • the third embodiment regulates the looping angle by controlling the looping torque by the looping torque controller 26.
  • the looper model of the interstand tension controller in the second embodiment is expressed by a quadratic expression
  • the looper model of the interstand tension controller in the fourth embodiment is expressed by a linear expression. Since the filter includes the looper model G ⁇ (s), the order of the filter is lowered.
  • Figs. 14 to 17 show the effects of the interstand tension controllers in the first to the fourth embodiment confirmed through simulation, in which a change in the rolling speed resulting from a 10 ⁇ m change in draft was applied to the interstand tension controllers.
  • Figs. 14 and 15 showing the control performance of the conventional noninteractive interstand tension controller
  • both the interstand tension (Fig. 14) and the looping angle (Fig. 15) varied greatly and it took a comparatively long time to restore a steady state.
  • the interstand tension controllers of the present invention limited the variation of the interstand tension (Fig. 16) and that of the looping angle (Fig. 17) to a very low degree.
  • the output of a looping speed detector 52 is transferred through an interaction gain regulator 70 to a tension disturbance compensator 35 and is applied to the tension model of the tension disturbance compensator 35.
  • Part of the looping speed signal to be applied to the tension disturbance compensator 35 can be adjusted by the interaction gain regulator 70 and is neither estimated nor offset.
  • a looping speed detector 52 detects the looping speed and feeds back the detected looping speed to a looping speed controller 54.
  • the looping speed detector 52 and the looping speed controller 54 constitute a looping speed control loop.
  • Figs. 20 and 21 shows the effects of the interstand tension controllers in the fifth and the sixth embodiment of the present invention confirmed through simulation, in which a change in rolling speed resulting from a 10 ⁇ m change in draft was applied to the interstand tension controllers.
  • Figs. 14 and 15 showing the effect of a conventional noninteractive interstand tension controller and Figs.
  • a seventh embodiment in accordance with the fourth aspect of the present invention can be constructed in a configuration shown in Fig. 22.
  • a tension/looper controller 74 receives a measured tension ⁇ m provided by a tension detector 30, the deviation of the measured tension ⁇ m from a desired tension ⁇ r given by a host computer 50, a measured looping angle ⁇ m measured by a looping angle detector 40, the deviation of the measured looping angle ⁇ m from a desired looping angle ⁇ r given by the host computer 50, a measured looping speed ⁇ m measured by a looping speed detector 52 and a measured rotating speed VRm measured by a rotating speed detector 72, and calculates a looping torque command gb and a rotating speed command ub to make the actual tension coincide with the desired tension ⁇ r and the actual looping angle coincide with the desired looping angle ⁇ r.
  • a tension disturbance compensator 76 in accordance with the present invention similarly to that employed in the first embodiment, includes a model, estimates a disturbance acting on the tension/looper controller 74 on the basis of the difference between an estimated tension provided by the model and the measured tension ⁇ m measured by the tension detector 30 and calculates a rotating speed correction uf to offset the disturbance.
  • This embodiment differs from the first embodiment in that the tension disturbance compensator 76 need not offset tension variation due to the interference by the looper because the interference between the tension and the looping angle is controlled by the tension/looper controller 74.
  • the measured looping speed ⁇ m measured by the looping speed detector 52 is added to inputs to the model so that the rotating speed correction uf does not include any component to offset tension variation due to the interference by the looper.
  • the looper disturbance compensator 78 similarly to that of the first embodiment, includes a model, estimates a disturbance acting on the tension/looper controller 74 on the basis of the difference between the estimated looping angle provided by the model and the measured tension ⁇ m provided by the looping angle detector 40, and calculates a looping torque correction gf to offset the disturbance.
  • This embodiment differs from the first embodiment in that the looper disturbance compensator 78 need not offset looping angle variation due to the interference by the tension because the tension/looper controller 74 controls the interference between tension and looping angle.
  • the measured tension ⁇ m measured by the tension detector 30 is added to inputs to the model so that the looping torque correction gf does not include any component to offset looping angle variation due to the interference by the tension.
  • looping torque controller 26 of the eighth embodiment controls the looping angle by regulating the looping torque
  • a looping speed control loop including a looping speed controller 54 as shown in Fig. 24 may be employed.
  • the models included in the disturbance compensators employed in the ninth embodiment may use expressions (2) and (3) like the second embodiment.
  • Tenth and eleventh embodiments in accordance with the sixth aspect of the present invention may have a configuration as shown in Figs. 25 and 26.
  • 79 is a looper disturbance compensator of these embodiments.
  • Figs. 27 and 28 are graphs showing the tension and looping angle regulating effects of the interstand tension controllers in the tenth and eleventh embodiment.
  • the control performance of the conventional interstand tension controller provided with two feedback loops to regulate the interstand tension by controlling the looping torque or the looping speed and to regulate the looping angle by controlling the rotating speed of the rolls of the rolling stand can be enhanced by incorporating two disturbance compensators respectively into the two feedback loops.
  • the interstand tension and the looping angle are controlled indirectly through the term of interaction between tension and looping angle, the order of the controlled systems and that of the models increase and hence the interstand tension controller has a complicated configuration, which is undesirable.
  • the tension disturbance compensator 34 and the looper disturbance compensator 44 or 60 may be substituted by a single disturbance compensator provided with a model including a term representing interaction between the tension and the looping angle.
  • the output of the disturbance compensator does not include any component to compensate for the interaction. Therefore, the interstand tension controller must be provided with a part corresponding to a precompensator in addition to the tension feedback controller 32 and the tension controller 42, which complicates the configuration of the interstand tension controller.
  • the filter has a configuration represented by expression (7) including an inverse model 1/G ⁇ as shown in Fig. 29, and the difference between the outputs of a plant P ⁇ and the model G ⁇ is applied to the inverse model 1/G ⁇ .
  • the output of the model P ⁇ may be applied directly to the inverse model G ⁇ as shown in Fig. 30.
  • Fig. 32 shows an interstand tension controller as applied to a hot rolling mill having a plurality of rolling stands and provided with a looper between the adjacent rolling stands.
  • a tension detector 30 receives a signal representing a reaction force of a workpiece 10 acting on the looper 16 from a load cell, not shown, installed in the looper 16 and calculates a measured interstand tension ⁇ m of the workpiece 10, a tension model 82 calculates an estimated tension ⁇ p on the basis of a rotating speed command u given to a roll speed controller 22, a subtracter 84 calculates the difference ⁇ between the estimated tension ⁇ p and a measured interstand tension ⁇ m provided by the tension detector 30, a subtracter 86 subtracts the difference ⁇ from a desired tension ⁇ r provided by a host computer 50, and gives a signal representing the result of subtraction to a filter 88, and the filter 88 calculates a rotating speed command u to offset disturbance included in the input signal.
  • a looping angle detector 40 detects the looping angle and provides a measured looping angle ⁇ m
  • a looper model 92 estimates an estimated looping angle ⁇ p on the basis of a looping torque command g given to a looping torque controller 26
  • a subtracter 94 calculates the difference ⁇ between the estimated looping angle ⁇ p and the measured looping angle ⁇ m provided by the looping angle detector 40
  • a subtracter 96 subtracts the difference ⁇ from a desired looping angle ⁇ r provided by a host computer 50 and gives a signal representing the result of subtraction to a filter 98
  • the filter 98 calculates a looping torque command g necessary for offsetting a disturbance.
  • the interstand tension controller regulates the looping angle by controlling the looping torque by the looping torque controller 26.
  • an interstand tension controller in a thirteenth embodiment according to the present invention shown in Fig. 33 is provided with a looping speed control loop including a looping speed detector 52 to feed back a detected looping speed to a looping speed controller 54.
  • Models 82 and 92 and filters 88 and 98 included in the interstand tension controller in the thirteenth embodiment will be described in detail.
  • the characteristics of the interstand tension of a workpiece on a hot rolling mill and the looper of the hot rolling mill, a tension model (expression (2)), and a looper model (expression (3)) are the same as those of the second embodiment.
  • the difference ⁇ between the output of the model 82 and a measured interstand tension is expressed by expression (4).
  • the disturbance suppressing characteristics and the response characteristics of the looper system can be determined by the filter 98.
  • a looping speed detector 52 detects the looping speed
  • a looper model 110 estimates an estimated looping speed ⁇ p on the basis of a looping torque command g given to a looping torque controller 26
  • a subtracter 112 calculates the difference ⁇ between the estimated looping speed ⁇ p and a measured looping speed ⁇ m provided by the looping speed detector 52 and gives the same to a filter 114
  • the filter 114 calculates a looping torque command g necessary for offsetting a disturbance on the basis of the input signal.
  • the interstand tension controller in the fourteenth embodiment regulates the looping angle by controlling the looping torque by the looping torque controller 26.
  • An interstand tension controller in a fifteenth embodiment according to the present invention shown in Fig. 35 is provided with a looping speed control loop including a looping speed detector 52 to feed back a detected looping speed to a looping speed controller 54.
  • the interstand tension controller in the fifteenth embodiment is provided with a looper model which is the same as the looper model of the fourth embodiment represented by expression (8).
  • An interstand tension controller in a sixteenth embodiment according to the ninth aspect of the present invention shown in Fig. 36 transfers the output of a looping speed detector 52 through an interaction gain regulator 70 to a tension model 82.
  • Part of the signal representing a looping speed to be given to the tension model 82 can be controlled by the interaction gain regulator 70 and the same is not estimated and not offset as a disturbance.
  • the interstand tension controller in the sixteenth embodiment regulates the looping angle by controlling the looping torque by the looping torque controller 26.
  • An interstand tension controller in a seventeenth embodiment according to the present invention shown in Fig. 37 is provided with a looping speed control loop including a looping speed detector 52 to feed back a detected looping speed to a looping speed controller 54.
  • Fig. 38 shows an interstand tension controller in a eighteenth embodiment according to the tenth aspect of the present invention.
  • the effects of the interstand tension controller in the tenth embodiment confirmed through simulation were substantially the same as those of the interstand tension controller in the sixteenth embodiment.
  • the interstand tension of the workpiece may be estimated on the basis of a component of a detected looping torque due to the interstand tension of the workpiece.
  • the control performance of the conventional interstand tension controller that employs a control loop that regulates the interstand tension by controlling the looping torque or the looping speed, and a control loop that regulates the looping angle by controlling the rotating speed of the rolls of the rolling stand, by estimating an interaction between the two control loops as a disturbance and compensating for the interaction.
  • the interstand tension and the looping angle are controlled indirectly through the term of interaction between tension and looping angle, the order of the controlled systems and that of the models increase and hence the interstand tension controller has a complicated configuration, which is undesirable.
  • the interstand tension controllers in the twelfth to the eighteenth embodiment, the tension model 82, the looper model 92 or 110 may be substituted by a single model capable of dealing with interaction between the interstand tension and the looping angle.
  • the interstand tension controller since the outputs of the filters 88, 98 and 114 do not include any component to compensate for the interaction, the interstand tension controller must be provided with a precompensator, so that the two loops cannot be formed separately and the configuration is complicated. If precompensation is not performed, the control performance will be enhanced when the term of interaction is omitted from the model and the interaction is compensated for as a disturbance.
  • the difference between the output of the tension model and the measured interstand tension, and the difference between the output of the looper model and the measured looping angle are passed through the filters to obtain signals for compensating for the disturbance.
  • the filter of the tension model employs the inverse model 1/G ⁇ as expressed by expression (11); that is, the difference between the plant model P ⁇ and the model G ⁇ is applied to the inverse model 1/G ⁇ as shown in Fig. 39.
  • the output of the plant model P ⁇ may be applied to the inverse model 1/G ⁇ as shown in Fig. 40.
  • the present invention is not limited in its application to the interstand tension controller for the hot rolling mill.

Claims (12)

  1. Verfahren zum Reglieren des Zugs eines Werkstücks (10) zwischen Walzgerüsten, wobei das Werkstück in einem kontinuierlichen Walzwerk gewalzt wird, das eine Anzahl Walzgerüste aufweist und zwischen benachbarten Walzgerüsten (12, 13) mit einem Schlingenheber (16) versehen ist, und zwar auf einen gewünschten Zug (σr) zwischen den Gerüsten durch das Regeln einer Drehgeschwindigkeit (u) von Walzen des Walzgerüsts und durch das Regeln eines Schlingenwinkels (8) auf einen gewünschten Schlingenwinkel (r), indem man ein Schlingendrehmoment (g) oder eine Schlingengeschwindigkeit (omega) des Schlingenhebers regelt, und das Verfahren die Schritte umfaßt:
    das Schätzen einer Störung, die auf ein erstes geregeltes System einwirkt, in dem die Walzendrehgeschwindigkeit eine Stellgröße ist und der Zug des Werkstücks zwischen den Gerüsten eine geregelte Variable ist, und zwar ausgehend von dem Unterschied zwischen i) einem geschätzten Zug (σp) zwischen den Gerüsten, den man durch Anlegen von zumindest einem Drehgeschwindigkeitsbefehl (u) für die Walzen des Walzgerüsts an zumindest ein erstes Model (82, 88) erzielt, das zumindest den Drehgeschwindigkeitsbefehl (u) erhält, und ii) einem gemessenen oder geschätzten Arbeitszug (σm) zwischen den Gerüsten;
    das Berechnen eines Drehgeschwindigkeitsbefehls (u) zum Ausgleichen der geschätzten Störung;
    das Regeln der Drehgeschwindigkeit gemäß dem be rechneten Drehgeschwindigkeitsbefehl (u);
    das Schätzen einer Störung, die auf ein zweites geregeltes System einwirkt, in dem das Schlingendrehmoment oder die Schlingengeschwindigkeit des Schlingenhebers (16) eine Stellgröße ist und der Schlingenwinkel des Schlingenhebers (16) eine geregelte Variable ist, und zwar ausgehend von dem Unterschied zwischen i) einer geschätzten Schlingenregelvariablen (p, ωp), die man durch Ausgeben eines Schlingendrehmomentbefehls (g) oder eines Schlingengeschwindigkeitsbefehls (u) an zumindest ein zweites Modell (92, 98, 110, 114) erzielt, das den Schlingendrehmomentbefehl (g) oder den Schlingengeschwindigkeitsbefehl empfängt, und ii) einer gemessenen Schlingenheber-Regelvariablen (m, ωm);
    das Berechnen eines Schlingendrehmomentbefehls (g) oder eines Schlingengeschwindigkeitsbefehls zum Ausgleichen der geschätzten Störung; und
    das Regeln des Schlingendrehmoments oder der Schlingengeschwindigkeit gemäß dem berechneten Schlingendrehmomentbefehl (g) oder dem berechneten Schlingengeschwindigkeitsbefehl.
  2. Verfahren nach Anspruch 1, wobei die vom zweiten Modell (92) gelieferte Schlingenregelvariable der Schlingenwinkel ist, und die auf das zweite geregelte System einwirkende Störung geschätzt wird aufgrund des Unterschieds zwischen einem geschätzten Schlingenwinkel ( p), den das zweite Modell (92) liefert, und dem gemessenen Schlingenwinkel (m).
  3. Verfahren nach Anspruch 1, wobei die vom zweiten Modell (110) gelieferte Schlingenheber-Regelvariable die Schlingengeschwindigkeit ist, und die auf das zweite geregelte System einwirkende Störung geschätzt wird aufgrund des Unterschieds zwischen einer geschätzten Schlingengeschwindigkeit (ωp), die das zweite Modell (110) liefert, und einer gemessenen Schlingengeschwindigkeit (ωm).
  4. Verfahren nach Anspruch 1, 2 oder 3, wobei der geschätzte Zug (σp) zwischen den Gerüsten ausgehend vom Drehgeschwindigkeitsbefehl (u) bestimmt wird.
  5. Verfahren nach Anspruch 1, 2 oder 3, wobei der geschätzte Zug (σp) zwischen den Gerüsten ausgehend vom Drehgeschwindigkeitsbefehl (u) und vom Schlingengeschwindigkeitsbefehl bestimmt wird.
  6. Verfahren nach Anspruch 1, wobei:
    das erste geregelte System einen Zug (σm) eines Werkstücks (10) zwischen den Gerüsten mißt oder schätzt, einen Drehgeschwindigkeitsbefehl berechnet, der eine gewünschte Drehgeschwindigkeit für Walzen des Walzgerüsts ausgehend vom Unterschied zwischen einem gewünschten Zug (σr) zwischen den Gerüsten und dem gemessenen oder geschätzten Arbeitszug (σm) zwischen den Gerüsten festlegt, und den Drehgeschwindigkeitsbefehl (ub) korrigiert;
    das zweite geregelte System einen Schlingenwinkel (m) mißt, einen Schlingendrehmomentbefehl (gb) oder einen Schlingengeschwindigkeitsbefehl aufgrund des Unterschieds zwischen einem gemessenen Schlingenwinkel (m) und einem gewünschten Schlingenwinkel (r) berechnet und den Schlingendrehmomentbefehl (gb) oder den Schlingengeschwindigkeitsbefehl korrigiert;
    man im Schritt des Schätzens der Störung, die auf das erste geregelte System einwirkt, den geschätzten Zug (σp) dadurch erhält, daß man an das erste Modell mindestens die Summe aus dem Drehgeschwindigkeitsbefehl (ub), den das erste geregelte System berechnet hat, und eine berechnete Korrektur (uf) anlegt; und
    man im Schritt des Schätzens der Störung, die auf das zweite geregelte System einwirkt, die geschätzte Schlingenheber-Regelvariable dadurch erhält, daß man die Summe aus dem Schlingendrehmomentbefehl (gb) oder dem Schlingengeschwindigkeitsbefehl, den die zweite Rückkopplungschleife berechnet hat, und einer berechneten Korrektur (gf, Δω) anlegt,
       wobei eine Drehgeschwindigkeit der Walzen ausgehend von dem Wert geregelt wird, den man durch Addieren des Drehgeschwindigkeitsbefehls (ub) zur Drehgeschwindigkeitskorrektur (uf) erhält, und das Schlingendrehmoment oder die Schlingengeschwindigkeit aufgrund eines Werts geregelt wird, den man durch das Addieren des Schlingendrehmomentbefehls (gb) oder des Schlingengeschwindigkeitsbefehls zur Schlingendrehmomentkorrektur (gf) oder zur Schlingengeschwindigkeitskorrektur (Δω) erhält.
  7. Verfahren nach Anspruch 6, wobei der Drehgeschwindigkeitsbefehl (ub) und die Schlingengeschwindigkeit an das erste Modell angelegt werden.
  8. Verfahren nach Anspruch 6, wobei man den geschätzten Zug (σp)durch den Gebrauch des Drehgeschwindigkeitsbefehls (u) für die Walzen des Walzgerüsts erhält.
  9. Verfahren nach Anspruch 6, wobei man den geschätzten Zug (σp) dadurch erhält, daß man nur die Summe aus dem Drehgeschwindigkeitsbefehl (ub) und der Korrektur (uf) anlegt.
  10. Verfahren nach Anspruch 6, wobei
    ein Mehrgrößenregler (74) gemeinsam mit den ersten und zweiten geregelten Systemen dazu verwendet wird, den Drehgeschwindigkeitsbefehl für die Walzen des Walzgerüsts zu berechnen sowie den Schlingendrehmomentbefehl oder den Schlingengeschwindigkeitsbefehl ausgehend vom gemessenen oder geschätzten Zug (σm) des Werkstücks (10) zwischen den Walzgerüsten, die Abweichung (Δσ) des gemessenen oder geschätzten Zugs vom gewünschten Zug (σr), des gemessenen Schlingenwinkels (m), der Abweichung (Δ) des gemessenen Schlingenwinkels vom gewünschten Schlingenwinkel (r), der gemessenen Drehgeschwindigkeit (VRm) der Walzen des Walzgerüsts und der gemessenen Schlingengeschwindigkeit (ωm), und zum Korrigieren der Walzendrehgeschwindigkeit und des Schlingendrehmoments und der Schlingengeschwindigkeit,
       wobei man im Schritt des Schätzens der Störung, die auf das erste geregelte System einwirkt, die gemessene Schlingengeschwindigkeit (ωm) und ebenso die Summe aus dem Drehgeschwindigkeitsbefehl (ub) und der Korrektur (uf) verwendet, und wobei man im Schritt des Schätzens der Störung, die auf das zweite geregelte System einwirkt, den gemessenen oder geschätzten Zug (σm) und ebenso die Summe aus dem Schlingendrehmomentbefehl (gb) oder dem Schlingengeschwindigkeitsbefehl und der Korrektur (gf, Δω) verwendet.
  11. Verfahren nach Anspruch 7, wobei man im Schritt des Schätzens der Störung, die auf das zweite geregelte System einwirkt, ein Modell verwendet, das den Schlingenwinkel als Schlingenheber-Regelvariable liefert, und die Störung aufgrund des Unterschieds zwischen einem geschätzten Schlingenwinkel (p), den das Modell bereitstellt, und dem gemessenen Schlingenwinkel (m) geschätzt wird.
  12. Verfahren nach Anspruch 7, wobei man im Schritt des Schätzens der Störung, die auf das zweite geregelte System einwirkt, ein Modell verwendet, das die Schlingengeschwindigkeit als Schlingenheber-Regelvariable liefert, und die Störung aufgrund eines Unterschieds zwischen einer geschätzten Schlingengeschwindigkeit (ωp) und einer gemessenen Schlingengeschwindigkeit (ωm) geschätzt wird.
EP94115882A 1992-11-30 1994-10-07 Zugregelung zwischen den Gerüsten für ein kontinuierliches Walzwerk Expired - Lifetime EP0710513B1 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP05253199A JP3075502B2 (ja) 1992-11-30 1993-10-08 連続圧延機におけるスタンド間張力及びルーパーの制御方法
US08/318,105 US5660066A (en) 1993-10-08 1994-10-05 Interstand tension controller for a continuous rolling mill
EP94115882A EP0710513B1 (de) 1993-10-08 1994-10-07 Zugregelung zwischen den Gerüsten für ein kontinuierliches Walzwerk
DE1994612099 DE69412099T2 (de) 1994-10-07 1994-10-07 Zugregelung zwischen den Gerüsten für ein kontinuierliches Walzwerk

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Application Number Priority Date Filing Date Title
JP05253199A JP3075502B2 (ja) 1992-11-30 1993-10-08 連続圧延機におけるスタンド間張力及びルーパーの制御方法
EP94115882A EP0710513B1 (de) 1993-10-08 1994-10-07 Zugregelung zwischen den Gerüsten für ein kontinuierliches Walzwerk

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EP2277639A1 (de) * 2009-07-15 2011-01-26 Siemens Aktiengesellschaft Bandzug- und Schlingenregelung
EP2671652B1 (de) 2012-06-06 2016-03-16 GE Energy Power Conversion Technology Limited Heißwalzwerksteuerung
EP3231522B1 (de) 2016-04-14 2019-03-27 Primetals Technologies Germany GmbH Robuste bandzugregelung

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JPS51127988A (en) * 1975-04-30 1976-11-08 Ishikawajima Harima Heavy Ind Co Ltd Tension control device having looper and this looper
DE2821396A1 (de) * 1978-05-16 1979-11-29 Hoesch Werke Ag Anordnung zur betriebsmaessigen erfassung der veraenderung der walzlinienhoehe bei einer walzstrasse
JPS58184007A (ja) * 1982-04-23 1983-10-27 Toshiba Corp 連続圧延機のル−パ制御装置
JPS59110410A (ja) * 1982-12-15 1984-06-26 Toshiba Corp 連続熱間圧延機における圧延材張力及びル−パ位置制御方法並びにその装置
JPS59118213A (ja) * 1982-12-22 1984-07-07 Toshiba Corp 連続圧延機のル−パ制御装置
JPS59118214A (ja) * 1982-12-22 1984-07-07 Toshiba Corp 連続圧延機のル−パ制御装置
DE3419697A1 (de) * 1984-05-25 1985-11-28 SMS Schloemann-Siemag AG, 4000 Düsseldorf Einrichtung zur regelung des bandzuges in einer warmbandwalzenstrasse
JPH02207910A (ja) * 1989-02-07 1990-08-17 Toshiba Corp 連続圧延機のルーパ制御装置

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