EP1181992A2 - Système de contrôle de la planéité à variables multiples - Google Patents

Système de contrôle de la planéité à variables multiples Download PDF

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Publication number
EP1181992A2
EP1181992A2 EP01119908A EP01119908A EP1181992A2 EP 1181992 A2 EP1181992 A2 EP 1181992A2 EP 01119908 A EP01119908 A EP 01119908A EP 01119908 A EP01119908 A EP 01119908A EP 1181992 A2 EP1181992 A2 EP 1181992A2
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EP
European Patent Office
Prior art keywords
flatness
control
account
measuring
strip
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
EP01119908A
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German (de)
English (en)
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EP1181992B1 (fr
EP1181992A3 (fr
Inventor
Jelali Mohieddine
Müller Ullrich
Thiemann Gerd
Wolff Andreas
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.)
BFI VDEH Institut fuer Angewandte Forschung GmbH
Original Assignee
BETRIEBSFORSCHUNGSINSTITUT VDEHINSTITUT fur ANGEWANDTE FORSCHUNG GmbH
BFI VDEH Institut fuer Angewandte Forschung GmbH
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Application filed by BETRIEBSFORSCHUNGSINSTITUT VDEHINSTITUT fur ANGEWANDTE FORSCHUNG GmbH, BFI VDEH Institut fuer Angewandte Forschung GmbH filed Critical BETRIEBSFORSCHUNGSINSTITUT VDEHINSTITUT fur ANGEWANDTE FORSCHUNG GmbH
Publication of EP1181992A2 publication Critical patent/EP1181992A2/fr
Publication of EP1181992A3 publication Critical patent/EP1181992A3/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/28—Control of flatness or profile during rolling of strip, sheets or plates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/20—Calculating means; Controlling methods
    • B65H2557/264—Calculating means; Controlling methods with key characteristics based on closed loop control
    • B65H2557/2644—Calculating means; Controlling methods with key characteristics based on closed loop control characterised by PID control

Definitions

  • the invention relates to a method for measuring and / or regulating the Flatness of strips during rolling and takes the priority of the German patent application 100 41 181.9 in claim to the content Reference is made.
  • One-sided edge waves on the left or right side of the band are described by the coefficients a 1 and a 3 .
  • the coefficients a 2 and a 4 describe either symmetrical center waves or symmetrical edge waves on the left and right side of the band.
  • the coefficients a 1 and a 3 or a 2 and a 4 thus contain common information components.
  • the manipulated variables of the work roll bend are usually used to regulate components a 2 and a 4 and the hydraulic adjustments on the operator and drive side (swiveling) to eliminate the error components a 1 and a 3 .
  • the coefficients a 1 and a 3 are used for the swiveling and the coefficients a 2 and a 4 are used as the control variable for the bending.
  • the axial displacement of the work rolls is used primarily for presetting the roll gap contour and only occasionally within of the control loop in combination with the bend to correct the Quarter wave.
  • the selective multi-zone cooling of the Work rolls allow the correction of higher order flatness errors.
  • Such a regulation is, for example, from the German one Patent application DE 197 58 466 A1 known.
  • each one is specified by a setup calculation Setting the rolling force and the bending force calculates the manipulated variables.
  • Known PI controllers are used as controllers, but they do Cannot take into account dead times of the route explicitly. Hence must a weak setting of the controller gains, especially the I component, be made to control loop instabilities avoid.
  • This control system can meet the increasing quality requirements not do justice to the flatness, since the flatness control only after reached their target curve for a relatively long time. This has the consequence that a large length of tape must first be accepted, the Flatness is out of tolerance. Often, however, the target curve not at all, but only approximated, so that large marginal or Center waves can arise.
  • the components a 0 , a 1 , a 2 , a 3 and a 4 influence one another and the dead times are not taken into account, ie are not compensated for.
  • the actuator characteristics (influencing functions) are only calculated once per band and assumed to be constant, since iterative model equations are used for the calculation.
  • measurement values become predetermined sampling times supplied.
  • time-discrete Controllers for example PI controllers
  • the Sampling time is constant. If the sampling time is not kept constant, it deteriorates the control result or the control loop even becomes unstable.
  • the invention is therefore based on the object of a method to provide that the measuring and / or regulating the flatness of a Reliably enables strip during rolling. Furthermore, a device be provided for performing this method.
  • the invention is based on the idea of flatness control according to the state of the art through an orthogonal model-based Multi-size flatness control system with detection of flatness and to improve their decomposition into orthogonal components.
  • Prefers the multivariate flatness control system has a determination of Control variables by means of dynamic online optimization taking into account of manipulated variable restrictions on and a prediction of the Control variables (flatness values) based on dynamic optimization is included.
  • the prediction of the controlled variables goes beyond the dead time out.
  • the model-based predictive approach uses a prediction of the controlled variables from the first sampling step after the dead time to used for a prediction horizon. This will make everyone Optimal manipulated variables are calculated at the time, even if the time constants the individual actuators are very different. This information also advantageously go into dynamic optimization on.
  • the components can advantageously be compared with values, which provides an online-capable model of the plant.
  • the resulting one Difference can serve as a control variable and then with that in independent Components broken down flatness curve are compared.
  • the resulting system deviation can be optimally decoupled be fed to a multivariable controller.
  • the dead time is taken into account by the Internal Model Control (IMC) approach can be. This can shorten the settling time and the belt length can be reduced, which is outside the tolerance range.
  • IMC Internal Model Control
  • the method according to the invention further enables consideration the change in rolling force, thermal crowning and the incoming strip properties at each time step by a Feedforward control.
  • the method and the associated system flatness measuring systems with time-variant sampling time through an IMC (Internal Model Control) approach with a Event generator and event-triggered sample and hold elements.
  • IMC Internal Model Control
  • the components can advantageously be dismantled using orthogonal ones Polynomials, for example with the help of Chebyshew polynomials or Gram polynomials are carried out as described in W.H. Press, S.A. Teukolsky, W.T. Vetterling, B.P. Flannery: Numerical Recipies in C, Cambridge University Press (1992) or A. Ralston, P. Rabinowitz: A first course in numerical analysis, International series in pure applied mathematics, McGraw-Hill (1978).
  • the flatness of the leaking sheet can be done by bending, swiveling and axial displacement of the rolls as well as by selective multi-zone cooling to be influenced.
  • the individual manipulated variables can be used with the help a multivariable controller from the control difference described above be determined.
  • the influence of the rolling force, the incoming Band properties and the thermal crowning by a Feedforward control can be compensated.
  • the flatness deviation is measured using a measuring system determined and then in orthogonal (independent) components disassembled.
  • the components are compared with values that a online-capable model of the plant delivers.
  • the resulting difference is called Controlled variable used.
  • This is then independent with the Components decomposed target flatness curve compared and the resulting Control difference is a multi-size controller, consisting of an online-capable Model and dynamic optimization with the inclusion of Manipulated variable restrictions and predicted controlled variable curve, fed.
  • variable Sampling time is an event-triggered sampling system with one with two Sample hold elements cooperating event generator provided.
  • the flatness of the leaking sheet is made by bending, swiveling and Axial displacement of the rollers and through selective multi-zone cooling affected.
  • the individual manipulated variables are controlled using a multivariable controller determined from the control difference described above.
  • the Influence of the rolling force, the incoming strip properties and the thermal Bombing compensated by a feedforward control.
  • FIG. 4b The course of the manipulated variables in FIG. 4b shows that the Multi-size flatness system according to the invention first of all bending or Swiveling appeals and then the slow cone rollers follows up to correct the flatness errors and thus at any time optimal control variables determined.
  • the current concept creates it doesn't address the tapered rollers at the necessary speed and thus correct the flatness error.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Metal Rolling (AREA)
  • Feedback Control In General (AREA)
  • Instruments For Measurement Of Length By Optical Means (AREA)
  • Vehicle Body Suspensions (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Length Measuring Devices By Optical Means (AREA)
EP01119908A 2000-08-18 2001-08-17 Système de contrôle de la planéité à variables multiples Revoked EP1181992B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10041181 2000-08-18
DE10041181A DE10041181A1 (de) 2000-08-18 2000-08-18 Mehrgrößen-Planheitsregelungssystem

Publications (3)

Publication Number Publication Date
EP1181992A2 true EP1181992A2 (fr) 2002-02-27
EP1181992A3 EP1181992A3 (fr) 2003-05-02
EP1181992B1 EP1181992B1 (fr) 2005-10-19

Family

ID=7653388

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01119908A Revoked EP1181992B1 (fr) 2000-08-18 2001-08-17 Système de contrôle de la planéité à variables multiples

Country Status (5)

Country Link
US (1) US6721620B2 (fr)
EP (1) EP1181992B1 (fr)
JP (1) JP2002153909A (fr)
AT (1) ATE306991T1 (fr)
DE (2) DE10041181A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003078086A1 (fr) * 2002-03-15 2003-09-25 Siemens Aktiengesellschaft Procede de determination assiste par ordinateur pour des valeurs de consigne destinees a des actionneurs de profil et de planeite
EP1488863A2 (fr) * 2003-06-20 2004-12-22 ABB PATENT GmbH Système et procédé pour l'optimisation du réglage de la qualité de l'épaisseur dans un processus de laminage
DE102004005011A1 (de) * 2004-01-30 2005-09-15 Betriebsforschungsinstitut VDEh - Institut für angewandte Forschung GmbH Regelverfahren und Regler für ein Walzgerüst
CN103406364A (zh) * 2013-07-31 2013-11-27 渤海大学 一种基于改进型偏鲁棒m回归算法的热轧带钢厚度预测方法
CN107138540A (zh) * 2017-04-06 2017-09-08 首钢总公司 一种带钢断面板廓形状的拟合方法及评价方法

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4348177B2 (ja) * 2002-11-20 2009-10-21 ポスココーポレーションリミテッド 仕上圧延異常診断装置及び方法
CN100333845C (zh) * 2004-08-30 2007-08-29 宝山钢铁股份有限公司 一种辊形设计方法和抑制高次浪形的轧辊
FR2879486B1 (fr) * 2004-12-22 2007-04-13 Vai Clecim Sa Regulation de la planeite d'une bande metallique a la sortie d'une cage de laminoir
SE529074C2 (sv) * 2005-06-08 2007-04-24 Abb Ab Förfarande och anordning för optimering av planhetsstyrning vid valsning av ett band
DE102005053489C5 (de) * 2005-11-09 2008-11-06 Siemens Ag Regelungssystem und Regelungsverfahren für eine industrielle Einrichtung
DK1914875T3 (da) * 2006-10-20 2019-10-14 Abb Schweiz Ag Fremgangsmåde til styring og motorstarteranordning
US7823428B1 (en) 2006-10-23 2010-11-02 Wright State University Analytical method for use in optimizing dimensional quality in hot and cold rolling mills
JP4854602B2 (ja) * 2007-06-15 2012-01-18 株式会社神戸製鋼所 圧延材の形状検出方法
JP5207858B2 (ja) * 2008-07-08 2013-06-12 株式会社神戸製鋼所 圧延材の先端部の温度予測方法
DE102008035639A1 (de) * 2008-07-31 2010-02-04 Robert Bosch Gmbh Verfahren zur Modellierung eines Regelkreises für eine Bearbeitungsmaschine
CN102500624B (zh) * 2011-10-18 2014-09-10 中冶南方工程技术有限公司 一种冷轧带钢平直度的鲁棒优化控制系统及方法
DE102014007381A1 (de) 2014-05-20 2015-07-23 Asinco GmbH Verfahren zum Messen und Regeln der Ebenheit eines durch Bandwalzen erzeugten Bandes
EP3461567A1 (fr) * 2017-10-02 2019-04-03 Primetals Technologies Germany GmbH Dispositif de réglage de planéité doté du dispositif d'optimisation
CN109604348B (zh) * 2019-01-11 2023-11-03 中冶赛迪工程技术股份有限公司 板带轧机液压弯辊装置模拟加载及集成测试系统和方法

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JPS5775214A (en) 1980-10-30 1982-05-11 Mitsubishi Electric Corp Controlling system for shape of strip
JPS57109512A (en) * 1980-12-26 1982-07-08 Nippon Steel Corp Rolling method
JPS6133708A (ja) * 1984-07-26 1986-02-17 Mitsubishi Electric Corp 連続圧延機のドラフトスケジユ−ル決定方法
SE500100C2 (sv) * 1992-06-22 1994-04-18 Asea Brown Boveri Förfarande och anordning vid planhetsreglering av band i valsverk
DE19758466B4 (de) 1997-03-11 2007-10-04 Betriebsforschungsinstitut VDEh - Institut für angewandte Forschung GmbH Planheits-Regelungssystem für Metallband

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A. RALSTON; P. RABINOWITZ: "International series in pure applied mathematics", 1978, MCGRAW-HILL, article "A first course in numerical analysis"
PU, H. ET AL.: "The Hardware-in-Loop simulations and on-line tests of an integrated thickness and flatness control system for the 20 rolls sendzimir cold rolling mill", PROC. INTERN. CONF. ON MODELLING OF METAL ROLLING PROCESSES, 13 December 1999 (1999-12-13), pages 208 - 16
SODA, K. ET AL.: "Improvement in Flatness Control Response for Tandem Cold Strip Mill", PROC. INTERN. CONF. ON STEEL ROLLING (STEEL ROLLING '98), 9 November 1998 (1998-11-09), pages 760 - 765
W.H. PRESS ET AL., NUMERICAL RECIPIES IN C
W.H. PRESS ET AL.: "Numerical Recipies", 1992, C, CAMBRIDGE UNIVERSITY PRESS

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003078086A1 (fr) * 2002-03-15 2003-09-25 Siemens Aktiengesellschaft Procede de determination assiste par ordinateur pour des valeurs de consigne destinees a des actionneurs de profil et de planeite
US7031797B2 (en) 2002-03-15 2006-04-18 Siemens Aktiengesellschaft Computer-aided method for determining desired values for controlling elements of profile and surface evenness
CN1311922C (zh) * 2002-03-15 2007-04-25 西门子公司 确定额定值和中间量的计算机辅助方法及轧机机列
EP1488863A2 (fr) * 2003-06-20 2004-12-22 ABB PATENT GmbH Système et procédé pour l'optimisation du réglage de la qualité de l'épaisseur dans un processus de laminage
EP1488863A3 (fr) * 2003-06-20 2006-03-15 ABB PATENT GmbH Système et procédé pour l'optimisation du réglage de la qualité de l'épaisseur dans un processus de laminage
DE102004005011A1 (de) * 2004-01-30 2005-09-15 Betriebsforschungsinstitut VDEh - Institut für angewandte Forschung GmbH Regelverfahren und Regler für ein Walzgerüst
DE102004005011B4 (de) * 2004-01-30 2008-10-02 Betriebsforschungsinstitut VDEh - Institut für angewandte Forschung GmbH Regelverfahren und Regler für ein Walzgerüst
CN103406364A (zh) * 2013-07-31 2013-11-27 渤海大学 一种基于改进型偏鲁棒m回归算法的热轧带钢厚度预测方法
CN107138540A (zh) * 2017-04-06 2017-09-08 首钢总公司 一种带钢断面板廓形状的拟合方法及评价方法

Also Published As

Publication number Publication date
DE10041181A1 (de) 2002-05-16
US6721620B2 (en) 2004-04-13
EP1181992B1 (fr) 2005-10-19
US20020050070A1 (en) 2002-05-02
ATE306991T1 (de) 2005-11-15
JP2002153909A (ja) 2002-05-28
DE50107738D1 (de) 2005-11-24
EP1181992A3 (fr) 2003-05-02

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