EP0992295A2 - Verfahren und Vorrichtung zur aktiven Kompensation periodischer Störungen beim Warm- oder Kaltwalzen - Google Patents

Verfahren und Vorrichtung zur aktiven Kompensation periodischer Störungen beim Warm- oder Kaltwalzen Download PDF

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Publication number
EP0992295A2
EP0992295A2 EP99119817A EP99119817A EP0992295A2 EP 0992295 A2 EP0992295 A2 EP 0992295A2 EP 99119817 A EP99119817 A EP 99119817A EP 99119817 A EP99119817 A EP 99119817A EP 0992295 A2 EP0992295 A2 EP 0992295A2
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EP
European Patent Office
Prior art keywords
variable
roll
lms
controlled system
compensation signal
Prior art date
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Granted
Application number
EP99119817A
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English (en)
French (fr)
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EP0992295B1 (de
EP0992295A3 (de
Inventor
Andreas Kugi
Helge Frank
Karl Aistleitner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SIEMENS VAI METALS TECHNOLOGIES GMBH
Original Assignee
Voest Alpine Industrienlagenbau GmbH
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Application filed by Voest Alpine Industrienlagenbau GmbH filed Critical Voest Alpine Industrienlagenbau GmbH
Publication of EP0992295A2 publication Critical patent/EP0992295A2/de
Publication of EP0992295A3 publication Critical patent/EP0992295A3/de
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Publication of EP0992295B1 publication Critical patent/EP0992295B1/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
    • B21B37/58—Roll-force control; Roll-gap control
    • B21B37/66—Roll eccentricity compensation systems

Definitions

  • the invention relates to a method for the active compensation of periodic disturbances of known frequency during hot or cold rolling, such as roll eccentricities, by means of a control system, and to a corresponding device for carrying out such a method.
  • the roll eccentricities In order to achieve a satisfactory quality of the rolled product, such as strips, for example, in rolling mills on the basis of the existing eccentricities of the rolls, the roll eccentricities must be compensated.
  • the causes for the occurrence of roll eccentricities are, for example, inexact roll grinding, non-circularities in the roll bearings, non-uniform thermal expansion of the rolls or defects in the barrel surface. This leads to periodic thickness fluctuations in the rolled strip which can sometimes be very considerable (up to 40 ⁇ m in hot-rolling mills).
  • the thickness deviations of the strip caused by the eccentricities can be counted among the limiting factors in complying with the tolerances by stipulating ever narrower thickness tolerances (for example ⁇ 0.8%).
  • the active compensation of eccentricities is particularly in demand whenever the aim, when revamping old rolling mills whose mechanical equipment is not state of the art, is to achieve good strip qualities with new automation systems.
  • One object of the present invention consists in developing a method which overcomes the disadvantages set forth and can be inserted in a simple way into existing control loops for the thickness of the rolled material, the position of the rolls and the roll force, the aim being that the method should not influence the existing control loop to a greater extent.
  • the invention is characterized in that with the aid of a linear dynamic controller which comprises a model that describes one part of the dynamic behaviour of the controlled system, an output variable is determined from an input variable on the basis of a reference variable, and in that a compensation signal is generated on the basis of said output variable and a measured output variable of the controlled system and is impressed on the input variable fed to the controlled system.
  • the tracking control is decoupled from the disturbance control, and the controller according to the invention can be inserted into existing control loops for the thickness of the rolled material and/or for the position of the rolls and/or for the rolling force and/or for the roll bending, because the set-point response is influenced only slightly thereby.
  • the compensation signal is generated without prior identification of the eccentricity, which thus permits a more rapid correction of the disturbances.
  • One refinement of the invention consists in that in the frequency domain of the disturbances the model describes the dynamic behaviour of the undisturbed controlled system. If the model coincides with the actual undisturbed behaviour of the roll stand in the frequency domain of interest, the required decoupling is obtained.
  • a further refinement of the invention consists in that a compensation signal u LMS is generated on the basis of the difference between calculated output variable and measured output variable and on the basis of at least one frequency of a disturbance.
  • the angular velocity of a roll is measured for the purpose of determining the frequency of a disturbance.
  • Use is thereby made of the fact that the frequencies of disturbances on the basis of eccentricities correspond to the frequencies of the roll rotation. It is also ensured thereby that the change in the frequencies of the disturbances is also taken into account when there is a change in the strip speed.
  • the frequencies of other disturbances are determined with the aid of the geometrical data of the rolls from the measured angular velocity of a roll, to be used to determine the frequencies of the disturbance variables with adequate accuracy, even when the diameter of the rolls differ only to a slight extent.
  • One embodiment of the invention provides that the input variable corrected by the compensation signal is additionally subjected to non-linear control. Since the method according to the invention is based on a linear input-output-behaviour of the controlled system, the input-output-behaviour of the controlled system must, if appropriate, be exactly linearized by a non-linear control. This is the case, for example, when the servo current of the servo valve for the hydraulic cylinder of the mill stand is used as input variable for the controlled system.
  • the method can be designed such that the force in the hydraulic cylinder, or the roll force is used as output variable. These forces can be determined simply and with an accuracy which suffices for the method.
  • the force in the hydraulic cylinder can be determined by measuring the pressure (in one chamber of the cylinder piston in a single-acting cylinder) or the pressures (in both chambers of the cylinder in a double-acting cylinder) in the hydraulic cylinder.
  • the roll force can be determined in the stationary state from the force in the hydraulic cylinder, taking account of the weights of the rolls and any forces from the bending cylinders or by a dedicated measuring device.
  • the eccentricities can be rapidly reduced in this way. By contrast with this, there is less advantage in using the strip exit thickness, since there is a relatively large distance between the roll gap and thickness measuring instrument, and the strip exit thickness is detected only with a time delay, the dead time not being constant but depending on the strip exit speed.
  • a further variant of the method can be configured such that use is made as output variable of a relevant signal of at least one bending or balancing cylinder, such as the force in the cylinder or a input signal for the cylinder. If the eccentricities to be suppressed are present in the measurement signals (force, pressures, input signal), by comparison with the force in the hydraulic cylinder or the rolling force this generally permits a reduction in the eccentricities which is larger in absolute terms, but slower.
  • the variant method that a phase shift between the input signal and output signal of more than 90° is prevented serves the purpose of ensuring the mode of operation of the control system and of avoiding a gaining effect of the disturbances by the control system according to the invention.
  • the compensation signal is subjected to a transfer function C d which obeys the condition
  • the method can provide that the model is a mathematical model. This permits individual adaptation to the real behaviour of the mill stand by mathematically taking account of the corresponding effects which occur.
  • Another possibility consists in setting up the model on the basis of an identification method.
  • the behaviour of the mill stand in the frequency band of interest can be determined from measured data such as input and output variables for the roll stand. This does not constitute a disadvantage, since this operation is performed only once to determine the model and need not be repeated continuously during the rolling process, as in the case of the identification of eccentricities.
  • the method can also be configured such that the control system according to the invention is integrated into the control loop for a bending or balancing cylinder.
  • the device for the active compensation of periodic disturbances of known frequency during hot or cold rolling, such as roll eccentricities, using a control unit is characterized in that the control unit has a linear dynamic controller which comprises a model that describes one part of the dynamic behaviour of the controlled system and which determines an output variable from an input variable on the basis of a reference variable, and in that the controller is connected to a disturbance controller which generates a compensation signal from the difference between a measured output variable of the controlled system and the determined output variable, and in that the disturbance controller is connected to the input of the controlled system for the purpose of feeding the compensation signal to the input variable.
  • the decoupling of the tracking control from the disturbance control is thereby achieved.
  • a non-linear controller is additionally arranged at the input of the controlled system serves the purpose of exactly linearizing the input-output-behaviour of the controlled system in the entire operating range.
  • a device for determining the angular velocity of at least one roll is connected to the disturbance controller permits the generation of a compensation signal taking account of the frequency of the disturbance, which corresponds to the frequency of rotation of the roll.
  • Illustrated in Figure 1 are the input variable u, which represents the manipulated variable or input variable acting on the system 1, and the disturbance variable d, which represents a harmonic disturbance of known frequency but unknown phase and amplitude.
  • the input variable u is subjected to a transfer function P u
  • the disturbance variable d is subjected to a transfer function P d , the result being the measured variable or the variable to be controlled or the output variable y.
  • the transfer function P u can be assumed as known in the frequency domain of interest from a mathematical model or from an identification method. Since it is generally not possible to determine exactly at which point in the system 1 the disturbance acts, it must be assumed in the case of the disturbance transfer function P d that the latter is unknown, or can even change during the process.
  • P, PI, PD, PID controllers P, PI, PD, PID controllers
  • the control can be effected by the control concept according to the invention as described below.
  • the design of a four-high stand is shown diagrammatically in Figure 2.
  • the hydraulic piston 3 of the hydraulic cylinder 4 acts in accordance with the arrow on the axis of the upper backup roll 5.
  • the backup rolls 5 engage with the work rolls 6.
  • the variables named below are fed to the automation system 8, p h1 , p h2 and s h denoting the pressures and the position of the hydraulic cylinder 4, x spool denoting the position of the servo valve 7, ⁇ roll denoting the angular velocity of one of the rolls, in this case the upper work roll 6, and h ex denoting the strip exit thickness of the strip 17.
  • the servo current i servo is prescribed for the servo valve 7 by the automation system 8.
  • the force acting on the hydraulic cylinder 4 is represented as F h and is calculated from the measured pressures p h1 , p h2 of the two chambers of the hydraulic cylinder 4.
  • the force F h corresponds in the stationary state to the rolling force corrected for weights and possible forces of bending cylinders. The force thus measured is available with sufficient accuracy despite the occurrence of the effects of hysteresis and friction, and of quantization errors.
  • FIG. 3 Represented in Figure 3 is the position or force control loop, which comprises an inner control loop for the servo valve with the servo controller 10, and an outer control loop with a non-linear controller 9 for compensating the non-linearity of the hydraulic cylinder, and a linear dynamic controller 2.
  • the servo controller 10 prescribes the servo current i servo , which acts on the system 15.
  • the eccentricity force F ecc reproduces the influence of the eccentricity on the system 15.
  • the system 15 takes account of the operations 11 in conjunction with the servo valve, the operations 12 in conjunction with the hydraulic cylinder, the stand dynamics 13 and deformation processes 14.
  • the system 15 delivers as measurement results the pressures and the position of the hydraulic cylinder, which are fed to the non-linear controller 9.
  • One of the two variables is fed to the linear dynamic controller 2 as output variable y.
  • a possible further output variable y would be the pressure in a bending or balancing cylinder.
  • the variable x spool denotes the position of the servo valve, and ⁇ roll denotes the angular velocity of one of the rolls.
  • P u is a model of the transfer function P u , it being possible to decouple the tracking control and disturbance control in the frequency domain of interest given agreement between P u and P u .
  • K and Q are controllers whose properties are calculated from the controllers used.
  • the suppression of the periodic disturbances d is performed with the aid of a control concept which is based on the projection theorem in Hilbert space (see, for example, D.G. Luenberger, "Optimization by Vector Space Methods", John Wiley & Sons, 1968).
  • the application of the projection theorem leads to the disturbance controller 16 in Figure 4 with the input variables y LMS and ⁇ roll and the output variable u LMS .
  • the transfer function C d is fixed in this case so as to fulfil the condition
  • the output variable y is compared to the corresponding values calculated by the model P u , the difference being fed to the controller K as P d d ⁇ and the disturbance controller 16 as y LMS .
  • Figure 5 shows the strip exit thickness deviation (in metres) with eccentricity compensation according to the invention (thick line) and without it (thin line), as a function of time t, the force F h of the hydraulic cylinder serving here as compensation variable.
  • the deviation ⁇ F h (in newtons) of the force F h from the set point is represented as a function of time t, respectively with eccentricity compensation according to the invention (thick line) and without it (thin line).
  • the upper illustration once again shows the deviation ⁇ F h (in Newtons) of the force F h from the set-point, as a function of time t, respectively with eccentricity compensation according to the invention (thick line) and without it (thin line).
  • Figure 7 shows the strip exit thickness deviation (in metres), with eccentricity compensation according to the invention (thick line) and without it (thin line), as a function of time t, and, here again, the force F h of the hydraulic cylinder serving as compensation variable.
  • the deviation ⁇ F h (in newtons) of the force F h from the set-point is represented as a function of time t, respectively with eccentricity compensation according to the invention (thick line) and without it (thin line).
  • Figure 8 shows the associated time characteristic of the position s h of the hydraulic cylinder, and in the lower illustration the time characteristic of the position x spool of the servo valve, respectively with eccentricity compensation according to the invention (thick line) and without it (thin line).
  • the invention is not limited to the application in four-high stands, but can be used for any type of roll stands in the case of cold-rolling or hot-rolling mills, plus also for two-high roll stands.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Metal Rolling (AREA)
  • Crystals, And After-Treatments Of Crystals (AREA)
  • Steroid Compounds (AREA)
EP99119817A 1998-10-08 1999-10-07 Verfahren und Vorrichtung zur aktiven Kompensation periodischer Störungen beim Warm- oder Kaltwalzen Revoked EP0992295B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT168298 1998-10-08
AT0168298A AT408035B (de) 1998-10-08 1998-10-08 Verfahren zur aktiven kompensation periodischer störungen

Publications (3)

Publication Number Publication Date
EP0992295A2 true EP0992295A2 (de) 2000-04-12
EP0992295A3 EP0992295A3 (de) 2002-12-18
EP0992295B1 EP0992295B1 (de) 2004-05-12

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ID=3518720

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Application Number Title Priority Date Filing Date
EP99119817A Revoked EP0992295B1 (de) 1998-10-08 1999-10-07 Verfahren und Vorrichtung zur aktiven Kompensation periodischer Störungen beim Warm- oder Kaltwalzen

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EP (1) EP0992295B1 (de)
AT (2) AT408035B (de)
DE (1) DE69917169T2 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007020126A1 (de) * 2005-08-17 2007-02-22 Voest-Alpine Industrieanlagenbau Gmbh & Co Regelungsverfahren und regler für ein mechanisch-hydraulisches system
CN104923572A (zh) * 2015-06-25 2015-09-23 中色科技股份有限公司 一种冷轧机上游轧机轧辊偏心补偿的方法
CN114643287A (zh) * 2022-05-23 2022-06-21 东北大学 一种基于板形闭环调节量的弯辊力输出控制方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005053489C5 (de) * 2005-11-09 2008-11-06 Siemens Ag Regelungssystem und Regelungsverfahren für eine industrielle Einrichtung
DE102007022241A1 (de) 2007-05-09 2008-11-27 Voith Patent Gmbh Verfahren und Vorrichtung zur Kompensation von periodischen Momentschwankungen

Citations (3)

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Publication number Priority date Publication date Assignee Title
US4685063A (en) * 1984-07-05 1987-08-04 Siemens Aktiengesellschaft Process and device for compensation of the effect of roll eccentricities
EP0424709A2 (de) * 1989-10-25 1991-05-02 Sms Schloemann-Siemag Aktiengesellschaft Verfahren zur Kompensation von durch Walzenexzentrizitäten verursachten Störungen
JPH04157009A (ja) * 1990-10-17 1992-05-29 Nippon Steel Corp 板厚偏差外乱除去制御方法

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US3618348A (en) * 1968-05-21 1971-11-09 Nippon Kokan Kk Method of controlling rolling of metal strips
DE2061695C3 (de) * 1970-12-15 1979-12-20 Vsesojuznyj Nautschno-Issledovatelskij I Proektno-Konstruktorskij Institut Metallurgitscheskogo Maschino-Stroenija Vniimetmasch, Moskau Vorrichtung zur Banddickenregelung für ein Kaltwalzwerk
JPS595364B2 (ja) * 1977-01-07 1984-02-04 株式会社日立製作所 張力制御方法
DE4105321A1 (de) * 1991-02-20 1992-08-27 Siemens Ag Regelung eines warm- und/oder kaltwalzprozesses
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US4685063A (en) * 1984-07-05 1987-08-04 Siemens Aktiengesellschaft Process and device for compensation of the effect of roll eccentricities
EP0424709A2 (de) * 1989-10-25 1991-05-02 Sms Schloemann-Siemag Aktiengesellschaft Verfahren zur Kompensation von durch Walzenexzentrizitäten verursachten Störungen
JPH04157009A (ja) * 1990-10-17 1992-05-29 Nippon Steel Corp 板厚偏差外乱除去制御方法

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007020126A1 (de) * 2005-08-17 2007-02-22 Voest-Alpine Industrieanlagenbau Gmbh & Co Regelungsverfahren und regler für ein mechanisch-hydraulisches system
AT502348B1 (de) * 2005-08-17 2008-09-15 Voest Alpine Ind Anlagen Regelungsverfahren und regler für ein mechanisch- hydraulisches system mit einem mechanischen freiheitsgrad pro hydraulischem aktuator
CN101243362B (zh) * 2005-08-17 2011-11-16 西门子Vai金属技术有限责任公司 用于机械液压系统的控制方法和控制器
US8099196B2 (en) 2005-08-17 2012-01-17 Siemens Vai Metals Technologies Gmbh Control method and controller for a mechanohydraulic system
CN104923572A (zh) * 2015-06-25 2015-09-23 中色科技股份有限公司 一种冷轧机上游轧机轧辊偏心补偿的方法
CN114643287A (zh) * 2022-05-23 2022-06-21 东北大学 一种基于板形闭环调节量的弯辊力输出控制方法
CN114643287B (zh) * 2022-05-23 2022-08-02 东北大学 一种基于板形闭环调节量的弯辊力输出控制方法

Also Published As

Publication number Publication date
EP0992295B1 (de) 2004-05-12
EP0992295A3 (de) 2002-12-18
DE69917169T2 (de) 2005-07-07
DE69917169D1 (de) 2004-06-17
AT408035B (de) 2001-08-27
ATE266483T1 (de) 2004-05-15
ATA168298A (de) 2000-12-15

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