EP1181992A2 - Système de contrôle de la planéité à variables multiples - Google Patents
Système de contrôle de la planéité à variables multiples Download PDFInfo
- 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
- Authority
- 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
Links
- 238000000034 method Methods 0.000 claims abstract description 21
- 238000005096 rolling process Methods 0.000 claims abstract description 21
- 238000005457 optimization Methods 0.000 claims abstract description 15
- 230000001105 regulatory effect Effects 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims abstract description 6
- 238000005070 sampling Methods 0.000 claims description 13
- 238000013459 approach Methods 0.000 claims description 6
- 238000000354 decomposition reaction Methods 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 claims description 5
- 230000015556 catabolic process Effects 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 2
- 238000005452 bending Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000001816 cooling Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- LFYJSSARVMHQJB-QIXNEVBVSA-N bakuchiol Chemical compound CC(C)=CCC[C@@](C)(C=C)\C=C\C1=CC=C(O)C=C1 LFYJSSARVMHQJB-QIXNEVBVSA-N 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000003750 conditioning effect Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 241001136792 Alle Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005097 cold rolling Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Classifications
-
- 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)
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)
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)
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 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
-
2000
- 2000-08-18 DE DE10041181A patent/DE10041181A1/de not_active Withdrawn
-
2001
- 2001-08-17 DE DE50107738T patent/DE50107738D1/de not_active Revoked
- 2001-08-17 US US09/932,696 patent/US6721620B2/en not_active Expired - Fee Related
- 2001-08-17 AT AT01119908T patent/ATE306991T1/de not_active IP Right Cessation
- 2001-08-17 EP EP01119908A patent/EP1181992B1/fr not_active Revoked
- 2001-08-20 JP JP2001249605A patent/JP2002153909A/ja active Pending
Non-Patent Citations (5)
Title |
---|
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)
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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