EP1181992B1 - 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
EP1181992B1
EP1181992B1 EP01119908A EP01119908A EP1181992B1 EP 1181992 B1 EP1181992 B1 EP 1181992B1 EP 01119908 A EP01119908 A EP 01119908A EP 01119908 A EP01119908 A EP 01119908A EP 1181992 B1 EP1181992 B1 EP 1181992B1
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EP
European Patent Office
Prior art keywords
flatness
band
control
account
planarity
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.)
Revoked
Application number
EP01119908A
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German (de)
English (en)
Other versions
EP1181992A3 (fr
EP1181992A2 (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
BETR FORSCH INST ANGEW FORSCH
BFI VDEH Institut fuer Angewandte Forschung GmbH
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Publication date
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Application filed by BETR FORSCH INST ANGEW FORSCH, BFI VDEH Institut fuer Angewandte Forschung GmbH filed Critical BETR FORSCH INST ANGEW FORSCH
Publication of EP1181992A2 publication Critical patent/EP1181992A2/fr
Publication of EP1181992A3 publication Critical patent/EP1181992A3/fr
Application granted granted Critical
Publication of EP1181992B1 publication Critical patent/EP1181992B1/fr
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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.
  • the length distribution of the rolled sheet by means a Planheitsmeßsystems to determine (see Figure 1).
  • the different Types of errors - e.g. Center waves, edge waves, quarter waves or unevennesses of higher order - are determined by a mathematical Analysis of the measured length distribution determined to specifically the to use suitable actuators for error correction.
  • 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 sides 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 bending for the compensation of the components a 2 and a 4 and the hydraulic positions on the operator and drive side (panning) are used to eliminate the error components a 1 and a 3 .
  • the coefficients a 1 and a 3 are used for the pivoting
  • the coef fi cients a 2 and a 4 are used as the controlled 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 Work rolls allow the correction of the flatness errors higher order.
  • Such a regulation is for example from the German Patent application DE 197 58 466 A1 known.
  • This control system can meet the increasing quality requirements to the flatness do not do justice, since the flatness regulation only after relatively high time reaches its target curve. This has the consequence that First, a large tape length must be taken into account, whose Flatness lies outside the tolerance. Often, however, the setpoint curve not at all, but achieved only in approximation, 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 do not take into account the dead times, ie they are not compensated.
  • the actuator characteristics (influence functions) are calculated and assumed to be constant only once per band since iterative model equations are used for the calculation.
  • the Smith predicator is a classic one Multi-variable controller (PID controller) integrated. It lacks a dynamic Optimization with prediction beyond the dead time Controlled variable course. Here is a rule predicted, the occurs immediately after the dead time in the first scanning step.
  • the invention is therefore based on the object to provide a method that measuring and / or regulating the flatness of a band reliable when rolling.
  • the invention is based on the idea, the flatness control in the prior art by an orthogonal model-based Multi-size flatness control system with registration of flatness and their decomposition into orthogonal components to improve and the Stability of the control loop through consideration of measuring systems with time-variant sampling time using an IMC (Internal Model Control) approach is improved with event-triggered scanning elements.
  • IMC Internal Model Control
  • the multi-size flatness control system has a determination the manipulated variables by means of a dynamic online optimization under consideration of manipulated variables restrictions on and a prediction of the controlled variables (flatness values), which result in a dynamic optimization is included. The prediction of the controlled variables goes beyond the Dead time out.
  • the model-based predictive approach becomes a Prediction of the controlled variables from the first sampling step to the dead time used up to a prediction horizon. This will become everyone Time optimal manipulated variables calculated, even if the time constants the individual actuators are very different. This information advantageously also participate in dynamic optimization one.
  • the components can be compared with values which provides an online-capable model of the plant.
  • the resulting Difference can serve as a control variable and then with the in unabracee Components decomposed Sollplanheitskurve be compared.
  • the resulting control difference can be achieved via optimal decoupling fed to a multi-variable controller.
  • Dead time taken into account by the Internal Model Control (IMC) approach can be. This can shorten the settling time and the tape length be reduced, which is outside the tolerance range.
  • IMC Internal Model Control
  • the inventive method further allows the consideration the change of rolling force, thermal crowning and the incoming tape properties at each time step by a Feedforward.
  • the decomposition of the components may advantageously be orthogonal Polynomials, for example with the help of Chebyshev polynomials or Gram polynomials, as described in W.H. Press, S.A. Teukolsky, W.T. Vetterling, B.P. Flannery: Numerical Recipes at 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 achieved by bending, swiveling and axial displacement of the rolls and by selective multi-zone cooling to be influenced.
  • the individual manipulated variables can help with a multivariable controller from the above-described control difference be determined. In this case, the influence of the rolling force, the incoming Band properties and thermal crowning by a Feedforward control can be compensated.
  • the flatness deviation by means of a measuring system determined and then into orthogonal (independent) components disassembled.
  • the components are compared with values that a online-enabled model of the plant supplies.
  • the resulting difference is called Controlled variable used.
  • This is then used in independent Components decomposed Sollplanheitskurve and the resulting Control difference is a multi-variable controller, consisting of an online-enabled Model and a dynamic optimization involving Manipulated variable restrictions and predicted control variable course, fed.
  • variable Sampling time is an event-triggered sampling system with one with two Abtasthaltegliedem cooperating event generator provided.
  • the flatness of the leaking sheet is determined by bending, swiveling and Axial displacement of the rollers as well as through selective multi-zone cooling affected.
  • the individual manipulated variables are calculated using a multivariable controller determined from the above-described control difference. It is the Influence of rolling force, incoming strip properties and thermal Camber compensated by a feedforward control.

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 By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Claims (10)

  1. Procédé de mesure et/ou de régulation de la planéité d'une bande ou feuillard lors du laminage, comprenant les étapes suivantes :
    détection de valeurs de mesure à l'aide d'un système de mesure, avec un temps d'exploration à variante temporelle;
    décomposition des valeurs de mesure en composantes indépendantes, et
    régulation de grandeurs de réglage, sachant que, pour prendre en considération le système de mesure avec un temps d'exploration à variante temporelle, on utilise une mise en équation de type Internal-Model-Control, avec des éléments de maintien d'exploration, déclenchés par des événements.
  2. Procédé selon la revendication 1, caractérisé par une décomposition des valeurs de mesure à l'aide de polynômes orthogonaux.
  3. Procédé selon l'une des revendications 1 ou 2, caractérisé en ce que les composantes indépendantes sont comparées à des valeurs de consigne, provenant d'un modèle de planéité de consigne.
  4. Procédé selon la revendication 3, caractérisé par la détermination d'une différence de régulation, entre des valeurs de consigne et des composantes indépendantes.
  5. Procédé selon l'une des revendications 1 à 4, caractérisé par une compensation de perturbation.
  6. Procédé selon l'une des revendications 1 à 5, caractérisé par l'utilisation d'un régulateur pour plusieurs grandeurs.
  7. Procédé selon la revendication 6, caractérisé en ce que la différence de régulation est fournie au régulateur pour plusieurs grandeurs par l'intermédiaire d'un désaccouplement.
  8. Procédé selon l'une des revendications 1 à 7, caractérisé en ce que les grandeurs de réglage sont déterminées à l'aide d'une optimisation dynamique, en prenant en considération des limitations.
  9. Procédé selon la revendication 8, caractérisé en ce qu'une prédiction, dépassant le temps mort, des grandeurs de réglage, est introduite dans l'optimisation dynamique.
  10. Procédé selon la revendication 1, caractérisé par l'utilisation
    d'un module de profil et de planéité explicite à possibilité en ligne, qui prend en compte toutes les grandeurs ayant participé au processus de laminage,
    et un modèle explicite à possibilité en ligne, calculant des valeurs de consigne pour la régulation de planéité,
    ainsi qu'une compensation de perturbation, prenant en considération les propriétés de la bande ou feuillard entrant, la variation de la force de laminage et le bombage d'origine thermique.
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 EP1181992A2 (fr) 2002-02-27
EP1181992A3 EP1181992A3 (fr) 2003-05-02
EP1181992B1 true 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 (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014007381A1 (de) 2014-05-20 2015-07-23 Asinco GmbH Verfahren zum Messen und Regeln der Ebenheit eines durch Bandwalzen erzeugten Bandes

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
DE10327663A1 (de) * 2003-06-20 2005-01-05 Abb Patent Gmbh System und Verfahren zur optimierenden Regelung der Dickenqualität in einem Walzprozess
DE102004005011B4 (de) * 2004-01-30 2008-10-02 Betriebsforschungsinstitut VDEh - Institut für angewandte Forschung GmbH Regelverfahren und Regler für ein Walzgerüst
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
EP1914875B8 (fr) * 2006-10-20 2019-09-11 ABB Schweiz AG Méthode de contrôle et dispositif de démarrage de moteur
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
CN103406364B (zh) * 2013-07-31 2015-04-22 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
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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014007381A1 (de) 2014-05-20 2015-07-23 Asinco GmbH Verfahren zum Messen und Regeln der Ebenheit eines durch Bandwalzen erzeugten Bandes

Also Published As

Publication number Publication date
US20020050070A1 (en) 2002-05-02
EP1181992A3 (fr) 2003-05-02
ATE306991T1 (de) 2005-11-15
EP1181992A2 (fr) 2002-02-27
DE10041181A1 (de) 2002-05-16
JP2002153909A (ja) 2002-05-28
US6721620B2 (en) 2004-04-13
DE50107738D1 (de) 2005-11-24

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