EP1278606A1 - Method and device for reeling up in the proper position a hot-rolled strip in a reeling installation - Google Patents

Method and device for reeling up in the proper position a hot-rolled strip in a reeling installation

Info

Publication number
EP1278606A1
EP1278606A1 EP01962413A EP01962413A EP1278606A1 EP 1278606 A1 EP1278606 A1 EP 1278606A1 EP 01962413 A EP01962413 A EP 01962413A EP 01962413 A EP01962413 A EP 01962413A EP 1278606 A1 EP1278606 A1 EP 1278606A1
Authority
EP
European Patent Office
Prior art keywords
strip
controller
drive
hot
rollers
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
EP01962413A
Other languages
German (de)
French (fr)
Other versions
EP1278606B1 (en
Inventor
Ulrich Müller
Andreas Wolff
Gerd Thiemann
Michael Degner
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.)
ThyssenKrupp Steel Europe AG
BFI VDEH Institut fuer Angewandte Forschung GmbH
Original Assignee
ThyssenKrupp Stahl AG
BFI VDEH Institut fuer Angewandte Forschung GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by ThyssenKrupp Stahl AG, BFI VDEH Institut fuer Angewandte Forschung GmbH filed Critical ThyssenKrupp Stahl AG
Publication of EP1278606A1 publication Critical patent/EP1278606A1/en
Application granted granted Critical
Publication of EP1278606B1 publication Critical patent/EP1278606B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
    • B21C47/34—Feeding or guiding devices not specially adapted to a particular type of apparatus
    • 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
    • B21B37/68—Camber or steering control for strip, sheets or plates, e.g. preventing meandering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
    • B21B39/006—Pinch roll sets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
    • B21C47/34—Feeding or guiding devices not specially adapted to a particular type of apparatus
    • B21C47/3408—Feeding or guiding devices not specially adapted to a particular type of apparatus for monitoring the lateral position of the material
    • B21C47/3425—Feeding or guiding devices not specially adapted to a particular type of apparatus for monitoring the lateral position of the material without lateral edge contact
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
    • B21B2015/0057—Coiling the rolled product
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2265/00—Forming parameters
    • B21B2265/02—Tension
    • B21B2265/08—Back or outlet tension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
    • B21B38/02—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product for measuring flatness or profile of strips
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
    • B21B39/14—Guiding, positioning or aligning work

Definitions

  • the invention relates to a method for the correct winding of a metal strip, in particular a rolled hot strip in a reel device, the hot strip being fed to the reel device via a drive device with drive rollers, the drive rollers via a controller by means of actuators for changing the drive roller gap and the consequent influencing of the lateral
  • the position of the hot strip can be inclined relative to one another and the position of the edge of the hot strip in front of the driving device is fed to the controller as a measured variable and as a setpoint and takes up the priority of German patent application 100 14 813.1-32, to which reference is made in terms of content.
  • the invention relates to a device for the correct winding of a rolled hot strip in a reel device, with a drive device for supplying the hot strip to the reel device with drive rollers, with actuators and a controller for changing the drive roller gap and the effects caused thereby.
  • the finished rolled hot strip is transported from the exit roller table through a cooling section, preferably a system of spray water nozzles, to a reel device after it has left the last stand of the finishing train.
  • the hot strip is wound into coils from the coiler.
  • the hot strip can be guided on the outfeed roller table through side guide rulers which can be adjusted hydraulically to the side of the strip edges, in order to align the rolled hot strip for entry into the reel device. Accordingly, the side guide rulers are in contact with the strip edges of the hot strip during the reeling process.
  • a drive device which essentially consists of a lower drive roller which is mounted in the frame of the reel device and an upper drive roller which is mounted in a driver rocker arm.
  • the upper drive roller can be pivoted via hydraulic cylinders to adjust and adjust the gap between the drive rollers.
  • convex lower drive rollers or also drive rollers with a cylindrical middle part and conical roller ends are used.
  • the main functions of the drive device including its drives are to pull the beginning of the rolled strip coming from the finishing train, to guide the incoming strip tip in the direction of the reel device and to ensure the retraction against the reel device during the winding process.
  • the essential components of the reel device are an expandable mandrel for winding the rolled strip, pressure rollers and guide shells for guiding the rolled strip during the winding process and a Mandrel drive.
  • the free end of the mandrel (coil extraction side) is generally supported during reeling by a pivotable mandrel bearing.
  • the tip of the hot strip coming from the finishing stand is deflected downward by the drive roller pair from the plane of the outlet roller table towards the winding mandrel. Then the pressure rollers and the guide shells of the reel device guide the beginning of the band several times around the rotating mandrel.
  • the mandrel consists of several segments, which are spread continuously shortly after the tape tip arrives, until the tape is non-positively wound into tightly lying turns.
  • the main functions of the reel device are to ensure the non-positive connection between the beginning of the band and the mandrel, to carry the coil that is created during winding and to apply a defined band tension to the band during winding.
  • the actuating action of this drive device in relation to the hot strip is based on a local displacement of the point of application of the strip tensile force and the resulting non-uniform elastic strip elongation (bending) as a result of a pivoting of the upper drive roller.
  • a pivoting of the upper roller leads to a one-sided opening of the driver gap and thus to a displacement of the point of application of the pressing force exert the drive rollers on the belt.
  • the force application point which lies in the center of the system in the case of a symmetrical driver gap, is now displaced by a distance from the center of the system in the direction of the non-open side of the driver gap.
  • the belt retraction force resulting from the braking torque of the driving device also acts on the belt which was still running in the center at a distance from the center of the installation.
  • This force introduction situation brought about by the swiveling / tilting of the upper drive roller results in a moment which is exerted on the still running belt and which causes an elastic transverse bending of the belt.
  • the longitudinal strip fibers in the area of the drive device are oriented at an angle to the center axis of the system or at an angle to the drive roller axes.
  • a belt that is frictionally guided over a drive roller tends to follow the trajectory of the roller jacket points in the contact area.
  • this displacement of the strip there is also a gradual increase in the distance between the force application point of the driver retraction force and the center of tension at the strip contact point on the coil. If the upper drive roller is inclined to a large extent, however, the distance to the center of the system will be considerably greater than the transverse belt relocations that occur, so that the influence of the resulting change in the distance to the center of the system can be neglected.
  • the belt position control system known from the aforementioned German published patent application DE 38 28 356 A1 essentially consists of a belt edge detection system, a belt position controller and a hydraulic adjustment of the upper drive roller with force and inclination control.
  • the belt position is influenced by swiveling / tilting the upper drive roller in accordance with the previously described mechanical ones Basics.
  • the control difference for the belt position controller is formed from the current position of the belt edge, which is detected by means of a belt edge scanning, and the position setpoint, which is determined from the belt width and the system dimensions.
  • the output variable of the belt position controller is the setpoint of the drive roller inclination, which is specified for the drive roller adjustment. Since there is no contact between the rulers and the belt when the side guide rulers are open, both the usual wear of the rulers and damage to the belt edges caused by the side guide rulers are avoided.
  • the function of the drive device is essential for the function of the drive device as an actuator for the belt position control to influence the run-out angle of the belt (angle between the belt center line and the drive roller axis).
  • the angle caused by the curvature has the effect of a disturbance variable, i.e. the angle from the band curvature is not taken into account when generating the manipulated variable and falsifies it in an initially unknown quantity.
  • German patent DE 197 09 992 C1 describes a method for measuring the surface geometry of hot strip by generating lines on the strip surface by means of a light source. This method is intended to enable simple and effective detection of the strip flatness in order to use it for a more sensitive control of rolling and reel parameters.
  • a line projector is projected onto the measuring surface, the hot strip or the end face of a coil that is being created, and this pattern is recorded by a CCD camera (charge coupled device).
  • the projector is arranged above the hot strip and projects the line pattern at an angle to the vertical onto the surface of the hot strip, so that the lines preferably extend transversely to the surface of the strip and thus cover the entire bandwidth.
  • the CCD camera captures the lines running across the belt surface. With an absolute band flatness, a uniform pattern of straight lines with unchanged line spacing is created. Deviations of the belt surface from the ideal level cause a change in the line spacing in the area of the unevenness. The camera detects this change and can easily be converted into height differences by comparison with a reference pattern. In a similar way as with flatness measurement on the conveyor belt, the flatness of the end faces can be monitored with the help of the measuring system. The end face of the coil building up in the reel corresponds to the surface of the strip. This measuring method enables a quick on-line determination of the actual height differences of the belt surface and thus enables real-time recording and control of continuous strip sections.
  • the present invention has for its object to provide a method and for the correct winding of a hot strip in a reel device, with which an optimization of the winding result of the rolled strip coil is achieved.
  • the limit dimensions for a coil in the winding state are specified in DIN 1016.
  • This object is achieved with a method for the correct winding of a rolled hot strip in a reel device in that the surface geometry of the rolled strip is determined as a measured variable and is fed to the controller.
  • this object is achieved by the arrangement of a measuring device for determining the surface geometry of the rolled strip in the area in front of the driving device, the measured variable of which is fed to the controller.
  • the method according to the invention for the correct winding of a hot strip in a reel device and its associated device can be represented in a multi-size strip position control system with pilot control, which essentially consists of a measuring system for recording the strip surface geometry and the strip edge position, a multi-size controller for the strip tension and the strip position , a pilot control, which takes into account the influence of the surface geometry of the incoming strip, an observer for estimating the strip position on the coil and the strip tension between the driver and mandrel, and a hydraulic adjustment of the upper drive roller via a force and inclination control.
  • pilot control which essentially consists of a measuring system for recording the strip surface geometry and the strip edge position, a multi-size controller for the strip tension and the strip position , a pilot control, which takes into account the influence of the surface geometry of the incoming strip, an observer for estimating the strip position on the coil and the strip tension between the driver and mandrel, and a hydraulic adjustment of the upper drive roller via a force and inclination control.
  • the method for the correct winding of a hot strip into a reel device and its associated device in existing systems can be retrofitted using the existing actuators (adjustment of the drive rollers, drives of the driving device and mandrel) and the measuring device for determining the strip position and strip surface geometry.
  • the guide variable for the belt tension of the drive device is dimensioned such that the complete retraction by the drive device does not occur suddenly when the rolled strip is pulled out of the last stand of the finishing train, but a steadily differentiable increase even before the end of the belt is pulled out of the finishing stand until the train is fully taken over.
  • winding paragraphs in the coil are successfully avoided.
  • the main advantages of the method of the device according to the invention are that the strip surface geometry in the inlet to the reel device is predictively taken into account by a pilot control, the position of the strip on the coil is estimated by observers using verifiable physical models, and the strip tension taking into account the incoming strip surface geometry and the current band position is optimized.
  • FIG. 1 is a side view of an end portion of an outfeed roller table with subsequent drive and reel device for a hot strip
  • Fig. 2 is a detailed view of the drive rollers of the drive device
  • FIG. 3 shows a block diagram of a control circuit for multi-size control of the strip position of a hot strip in the area of a reel device.
  • FIG. 1 shows a schematic side view of an end section of an outlet roller table 1 which is connected on the input side to a finishing stand (not shown) of a hot strip mill.
  • a finished rolled hot strip 2 is conveyed in the direction of a reel device 3 with an upstream driving device 4 on the outlet roller table 1.
  • the hot strip 2 can be wound up into coils 5 from the reel device.
  • the drive device 4 arranged at the end of the run-out roller table 1 essentially consists of a lower drive roller 6 and an upper drive roller 7.
  • the upper drive roller 7 is via hydraulic piston / cylinder units (not shown) for adjusting and adjusting the gap between the drive rollers 6 and 7 in Direction of the lower drive roller 6 adjustable and laterally tiltable.
  • FIG. 1 shows a schematic side view of an end section of an outlet roller table 1 which is connected on the input side to a finishing stand (not shown) of a hot strip mill.
  • a finished rolled hot strip 2 is conveyed in the direction of a reel device 3 with an upstream driving
  • the driving device 4 including its drives, not shown, has to guide and align the incoming hot strip in the direction of the coiler device 3, the tasks to pull the beginning of the hot strip 2 coming from the finishing train, to guide the incoming strip tip in the direction of the coiler device 3 and to ensure the retraction of the hot strip 2 against the reel device 3 during the winding process.
  • the reel device 3 consists essentially of a driven and expandable mandrel 8 for winding the rolled strip 2 as well as pressure rollers and guide shells (not shown) for guiding the rolled strip 2 during the winding process.
  • the tip of the hot strip 2 is deflected downward by the drive rollers 6 and 7 from the plane of the outlet roller table 1 to the winding mandrel 8.
  • the pressure rollers and the guide shells of the reel device 3 guide the beginning of the strip several times around the rotating mandrel, the segments of the dome 8 being continuously spread until the rolled strip 2 is non-positively wound into coils which lie firmly on one another.
  • the essential functions of the reel device 3 are to ensure the non-positive connection between the beginning of the band and the mandrel 8, to carry the coil 5 which is produced during winding and to apply a defined band tension to the band 2 during winding. Furthermore, in the area of the end of the outlet roller table 1, lateral guide lines 11 are provided on the respective ends of the rollers 9 of the outlet roller table 1 and can be adjusted laterally on the edges 10 of the hot strip 2, around the beginning of the hot strip 2 for entry into the reel device 3 align. The side guide rulers 11 are open during the reeling process.
  • a measuring device 12 for determining the position of the edge of the rolled strip 2 and a further measuring device 13 for determining the surface geometry of the rolled strip 2, in particular for recognizing any “saber shape” of the rolled strip 2, are also arranged in the region of the end of the run-out roller table 1.
  • the measuring devices 12 and 13 are preferably arranged in front of the side guide rulers 11 and after the cooling section (not shown) in the course of the run-out roller table 1.
  • the measuring device 13 for determining the surface geometry of the rolled strip 2 has a projector 18 and a camera 19 and their function has already been explained in connection with the assessment of the German patent DE 197 09 992 C1, which hereby becomes part of the description.
  • FIG. 3 shows a block diagram of a control circuit for a multi-size control of the strip position of a hot strip 2 in the area of a reel device 3.
  • the manipulated variables for the drive roller setting (target drive roller inclination) and the drive roller drive (target strip tension torque) with the aid of a Multi-size controller 14 can be determined.
  • the influence of the strip surface geometry, in particular the so-called “saber” shape, is compensated for by a pilot control 15.
  • a fictitious transverse bending moment is determined from the result of the strip surface geometry measurement 13 and the strip tension, which is compensated for by a corresponding inclination of the upper drive roller 6 in order to avoid lateral displacement of the rolled strip 2 due to the strip surface geometry.
  • the strip position on the coil for the measurement of which no processes that can be implemented in rolling operation are known to date, and the strip tension between the driving device 5 and the mandrel 8 are estimated with the help of observers 16 (model-based determination of non-measurable variables from measured variables) and fed back to the formation of the control differences ,
  • the strip edge position in front of the driver is determined by means of the measuring device 12.
  • the target strip edge position and the target strip tension are fed to the multivariable controller 14 as reference variables.
  • the guide variable for the belt tension of the driving device 5 is designed in such a way that the complete retraction by the driving device 5 does not occur abruptly when the rolled strip 2 is pulled out of the last stand of the finishing train, but instead a steadily differentiable increase takes place until the full tension acceptance begins, which before the tape end is unthreaded.
  • the contact pressure of the driver rollers are preferably used and the bending moment of the belt around the drive rollers.
  • the strip tension, the drive roll inclination, strip speed, strip position in front of the driver and surface geometry of the rolled strip are preferably used.
  • the control of the drive of the dome 8 takes place via a speed control with subordinate torque and current control.
  • the specific belt data are specified to control the engine torque. This ensures that the strip tension is adapted to the strip cross-section and is constant over the strip length.
  • the regulation of the drives of the drive rollers 6 and 7 takes place via a speed control with subordinate current control.
  • the hydraulic adjustment of the upper drive roller 7 takes place via a force and inclination control.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Winding, Rewinding, Material Storage Devices (AREA)

Abstract

The invention relates to a method and to a device for reeling up in the proper position a metal strip (2) in a reeling installation (3), wherein said hot-rolled strip (2) is fed to the reeling installation (3) via a drive unit (4) with drive rolls (6, 7), said drive rolls (6, 7) being inclinable towards each other via a controller (14) by means of adjusting elements in order to modify the gap between the drive rolls. The position of the edge (10) of the hot-rolled strip upstream of the drive unit is input to the controller as a measured variable and as a desired reference variable. The reeling result of the hot-rolled coil (5) is optimized by determining the surface geometry of the hot-rolled strip as the measured variable and feeding said measured variable to the controller.

Description

"Verfahren und Vorrichtung zum lagegerechten Aufwickeln eines gewalzten Warmbandes in einer Haspelvorrichtung""Method and device for the correct winding of a rolled hot strip in a reel device"
Die Erfindung betrifft ein Verfahren zum lagegerechten Aufwickeln eines Metallbandes insbesondere eines gewalzten Warmbandes in einer Haspelvorrichtung, wobei das Warmband über eine Treibvorrichtung mit Treibrollen der Haspelvorrichtung zugeführt wird, über einen Regler die Treibrollen mittels Stellgliedern für eine Veränderung des Treibrollenspaltes und der hierdurch bedingten Beeinflussung der seitlichen Lage des Warmbandes relativ zueinander neigbar sind und dem Regler als Messgröße und als Soll- Führungsgröße die Lage der Kante des Warmbandes vor der Treibvorrichtung zugeführt wird und nimmt die Priorität der deutschen Patentanmeldung 100 14 813.1-32 in Anspruch, auf die inhaltlich Bezug genommen wird.The invention relates to a method for the correct winding of a metal strip, in particular a rolled hot strip in a reel device, the hot strip being fed to the reel device via a drive device with drive rollers, the drive rollers via a controller by means of actuators for changing the drive roller gap and the consequent influencing of the lateral The position of the hot strip can be inclined relative to one another and the position of the edge of the hot strip in front of the driving device is fed to the controller as a measured variable and as a setpoint and takes up the priority of German patent application 100 14 813.1-32, to which reference is made in terms of content.
Weiterhin bezieht sich die Erfindung auf eine Vorrichtung zum lagegerechten Aufwickeln eines gewalzten Warmbandes in einer Haspelvorrichtung, mit einer der Haspelvorrichtung das Warmband zuführenden Treibvorrichtung mit Treibrollen, mit Stellgliedern und einem Regler hierfür für eine Veränderung des Treibrollenspaltes und der hierdurch bewirkten Beeinflus-Furthermore, the invention relates to a device for the correct winding of a rolled hot strip in a reel device, with a drive device for supplying the hot strip to the reel device with drive rollers, with actuators and a controller for changing the drive roller gap and the effects caused thereby.
BESTATIGUNGSKOPIE sung der seitlichen Lage des Warmbandes und mit einer Messvorrichtung zur Ermittlung der Lage der Kante des Warmbandes vor der Treibvorrichtung, deren Messwerte dem Regler zugeführt werden.BESTATIGUNGSKOPIE solution of the lateral position of the hot strip and with a measuring device for determining the position of the edge of the hot strip in front of the driving device, the measured values of which are fed to the controller.
Es ist allgemein bekannt, dass beim Warmbandwalzen das fertiggewalzte Warmband nach dem Auslaufen aus dem letzten Gerüst der Fertigstraße vom Auslaufrollgang durch eine Kühlstrecke, vorzugsweise ein System von Spritzwasserdüsen, zu einer Haspelvorrichtung transportiert wird. Von der Haspelvorrichtung wird das Warmband zu Bunden (Coils) aufgewickelt. Im Bereich vor der Haspelvorrichtung kann das Warmband auf dem Auslaufrollgang durch hydraulisch seitlich an die Bandkanten anstellbare Seitenführungslineale geführt werden, um das gewalzte Warmband für das Einlaufen in die Haspelvorrichtung auszurichten. Entsprechend sind die Seitenführungslineale während des Haspelvorganges im Kontakt mit den Bandkanten des Warmbandes.It is generally known that in hot strip rolling, the finished rolled hot strip is transported from the exit roller table through a cooling section, preferably a system of spray water nozzles, to a reel device after it has left the last stand of the finishing train. The hot strip is wound into coils from the coiler. In the area in front of the reel device, the hot strip can be guided on the outfeed roller table through side guide rulers which can be adjusted hydraulically to the side of the strip edges, in order to align the rolled hot strip for entry into the reel device. Accordingly, the side guide rulers are in contact with the strip edges of the hot strip during the reeling process.
Am Ende des Auslaufrollganges ist eine Treibvorrichtung angeordnet, die im wesentlichen aus einer unteren Treibrolle, die im Gestell der Haspelvorrichtung gelagert ist, und einer oberen Treibrolle besteht, die in einer Treiber- schwinge gelagert ist. Die obere Treibrolle ist über Hydraulikzylinder zur Ein- und Verstellung des Spaltes zwischen den Treibrollen verschwenkbar. Mit dem Ziel einer Bandlaufstabilisierung werden vorrangig bombierte untere Treibrollen oder auch Treibrollen mit zylindrischem Mittelteil und jeweils konische Rollenenden verwendet. Die wesentlichen Funktionen der Treibvorrichtung einschließlich deren Antriebe sind, den von der Fertigstraße kommenden Anfang des Walzbandes strammzuziehen, die einlaufende Bandspitze in Richtung der Haspelvorrichtung zu leiten und den Rückzug gegen die Haspelvorrichtung während des Wickelvorganges zu gewährleisten.At the end of the outfeed roller table there is a drive device which essentially consists of a lower drive roller which is mounted in the frame of the reel device and an upper drive roller which is mounted in a driver rocker arm. The upper drive roller can be pivoted via hydraulic cylinders to adjust and adjust the gap between the drive rollers. With the aim of stabilizing the belt run, primarily convex lower drive rollers or also drive rollers with a cylindrical middle part and conical roller ends are used. The main functions of the drive device including its drives are to pull the beginning of the rolled strip coming from the finishing train, to guide the incoming strip tip in the direction of the reel device and to ensure the retraction against the reel device during the winding process.
Die wesentlichen Komponenten der Haspelvorrichtung sind ein spreizbarer Dorn zum Aufwickeln des Walzbandes, Andrückrollen und Führungsschalen zur Führung des Walzbandes während des Wickelvorganges sowie ein Dornantrieb. Das freie Dornende (Coilabziehseite) wird im allgemeinen beim Haspeln durch ein einschwenkbares Dornlager unterstützt.The essential components of the reel device are an expandable mandrel for winding the rolled strip, pressure rollers and guide shells for guiding the rolled strip during the winding process and a Mandrel drive. The free end of the mandrel (coil extraction side) is generally supported during reeling by a pivotable mandrel bearing.
Zur Einleitung des Wickelvorganges wird die von dem Fertiggerüst kom- mende Spitze des Warmbandes von dem Treibrollenpaar aus der Ebene des Auslaufrollganges nach unten zum Wickeldorn hin abgelenkt. Dann führen die Andrückrollen und die Führungsschalen der Haspelvorrichtung den Bandanfang mehrere Male um den sich drehenden Dorn. Der Dorn besteht aus mehreren Segmenten, die kurz nach dem Eintreffen der Band- spitze kontinuierlich gespreizt werden, bis das Band kraftschlüssig zu fest aufeinanderliegenden Windungen gewickelt wird. Die wesentlichen Funktionen der Haspelvorrichtung sind, die kraftschlüssige Verbindung von Bandanfang und Dorn zu gewährleisten, das beim Wickeln entstehende Coil zu tragen und das Band während das Wickeins mit definiertem Bandzug zu beaufschlagen.To initiate the winding process, the tip of the hot strip coming from the finishing stand is deflected downward by the drive roller pair from the plane of the outlet roller table towards the winding mandrel. Then the pressure rollers and the guide shells of the reel device guide the beginning of the band several times around the rotating mandrel. The mandrel consists of several segments, which are spread continuously shortly after the tape tip arrives, until the tape is non-positively wound into tightly lying turns. The main functions of the reel device are to ensure the non-positive connection between the beginning of the band and the mandrel, to carry the coil that is created during winding and to apply a defined band tension to the band during winding.
Des weiteren ist aus der deutschen Offenlegungsschrift DE 38 28 356 A1 bereits ein Verfahren zur Beeinflussung der Lage von Warmband, das über ein Treibrollenpaar einer Haspelvorrichtung zugeführt wird, sowie eine Treibvorrichtung zur Durchführung dieses Verfahrens bekannt. Bei diesem Bandlageregelverfahren erfolgt die Bandführung für die Haspelvorrichtung ausschließlich über eine asymmetrische Verstellung des Treibrollenspaltes mittels einer schwenkbaren oberen Treibrolle. Hierfür ist die obere Treibrolle in einer Treiberschwinge gelagert, die über eine hydraulische Anstellung und Ausbalancierung verfügt. Auch ergibt sich hieraus, dass während des Haspelvorganges die Seitenführungslineale geöffnet sind.Furthermore, a method for influencing the position of hot strip, which is fed to a reel device via a pair of drive rollers, and a drive device for carrying out this method are already known from German published patent application DE 38 28 356 A1. In this belt position control method, the belt guide for the reel device is carried out exclusively via an asymmetrical adjustment of the drive roller gap by means of a pivotable upper drive roller. For this purpose, the upper drive roller is mounted in a swing arm, which has hydraulic adjustment and balancing. It also follows from this that the side guide rulers are open during the reeling process.
Die Stellwirkung dieser Treibvorrichtung in Bezug auf das Warmband beruht auf einer örtlichen Verlagerung des Angriffspunktes der Bandzugkraft und der daraus resultierenden ungleichförmigen elastischen Bandlängung (Biegung) infolge eines Verschwenkens der oberen Treibrolle. Ein Verschwenken der oberen Rolle führt zu einem einseitigen Öffnen des Treiberspaltes und somit zu einer Verlagerung des Angriffspunktes der Andrückkraft, die die Treibrollen auf das Band ausüben. Der Kraftangriffspunkt, der bei symmetrischem Treiberspalt in der Anlagenmitte liegt, ist nun um einen Abstand aus der Anlagenmitte in Richtung der nicht geöffneten Seite des Treiberspaltes verlagert. Infolgedessen greift die aus dem Bremsmoment der Treibvorrichtung resultierende Bandrückzugskraft ebenfalls im Abstand zur Anlagenmitte an dem bis dahin noch mittig laufenden Band an. Aus dieser durch das Schwenken/Neigen der oberen Treibrolle herbeigeführten Krafteinleitungssituation resultiert ein auf das noch mittig laufende Band ausgeübtes Moment, das eine elastische Querbiegung des Bandes verursacht. Infolge dieser Bandverformung sind die Bandlängsfasern im Bereich der Treibvorrichtung unter einem Winkel zur Anlagenmittelachse bzw. unter einem Winkel zu den Treibrollenachsen orientiert. Somit tendiert ein reibschlüssig über eine Treibrolle geführtes Band dazu, den Bahnkurven der Rollenmantelpunkte im Kontaktbereich zu folgen. Das bedeutet im vorlie- genden Fall, dass das Band nicht etwa der Bandfaserlängsrichtung folgend durch die Treibvorrichtung läuft, sondern dass der momentan im Kontaktbereich befindliche Bandpunkt in Richtung des Rollenumfangsgeschwindigkeitsvektors an der Kontaktstelle also in Richtung der Anlagenlängsachse transportiert wird. Daraus resultiert eine Querverlagerung des Bandes in der Treibvorrichtung. Durch diese Verlagerung des Bandes tritt auch eine allmähliche Vergrößerung des Abstandes zwischen dem Kraftangriffspunkt der Treiberrückzugskraft und dem Zugmittelpunkt an der Bandauflaufstelle am Coil auf. Bei großer Neigung der oberen Treibrolle wird jedoch der Abstand zur Anlagenmitte erheblich größer sein als die auftretenden Bandquerverla- gerungen, so dass der Einfluss der daraus sich ergebenden Änderung des Abstandes zur Anlagenmitte vernachlässigt werden kann.The actuating action of this drive device in relation to the hot strip is based on a local displacement of the point of application of the strip tensile force and the resulting non-uniform elastic strip elongation (bending) as a result of a pivoting of the upper drive roller. A pivoting of the upper roller leads to a one-sided opening of the driver gap and thus to a displacement of the point of application of the pressing force exert the drive rollers on the belt. The force application point, which lies in the center of the system in the case of a symmetrical driver gap, is now displaced by a distance from the center of the system in the direction of the non-open side of the driver gap. As a result, the belt retraction force resulting from the braking torque of the driving device also acts on the belt which was still running in the center at a distance from the center of the installation. This force introduction situation brought about by the swiveling / tilting of the upper drive roller results in a moment which is exerted on the still running belt and which causes an elastic transverse bending of the belt. As a result of this strip deformation, the longitudinal strip fibers in the area of the drive device are oriented at an angle to the center axis of the system or at an angle to the drive roller axes. Thus, a belt that is frictionally guided over a drive roller tends to follow the trajectory of the roller jacket points in the contact area. In the present case, this means that the tape does not run through the drive device following the tape fiber longitudinal direction, but that the tape point currently in the contact area is transported in the direction of the roll circumferential speed vector at the contact point in the direction of the system longitudinal axis. This results in a transverse displacement of the belt in the drive device. As a result of this displacement of the strip, there is also a gradual increase in the distance between the force application point of the driver retraction force and the center of tension at the strip contact point on the coil. If the upper drive roller is inclined to a large extent, however, the distance to the center of the system will be considerably greater than the transverse belt relocations that occur, so that the influence of the resulting change in the distance to the center of the system can be neglected.
Das aus der vorgenannten deutschen Offenlegungsschrift DE 38 28 356 A1 bekannte Bandlageregelsystem besteht im wesentlichen aus einem Band- kantenerfassungssystem, einem Bandlageregler und einer hydraulischen Anstellung der oberen Treibrolle mit Kraft- und Neigungsregelung. Die Beeinflussung der Bandlage erfolgt durch das Schwenken/Neigen der oberen Treibrolle entsprechend den zuvor beschriebenen mechanischen Grundlagen. Aus der momentanen Lage der Bandkante, die mittels einer Bandkantenabtastung erfasst wird, und dem Lage-Sollwert, der aus der Bandbreite und den Anlagenabmessungen ermittelt wird, wird die Regeldifferenz für den Bandlageregler gebildet. Ausgangsgröße des Bandlagereglers ist der Sollwert der Treibrollenneigung, die für die Treibrollenanstellung vorgegeben wird. Da bei geöffneten Seitenführungslinealen kein Kontakt zwischen den Linealen und dem Band auftritt, werden sowohl der übliche Verschleiß der Lineale als auch Bandkantenbeschädigungen durch die Seitenführungslineale vermieden.The belt position control system known from the aforementioned German published patent application DE 38 28 356 A1 essentially consists of a belt edge detection system, a belt position controller and a hydraulic adjustment of the upper drive roller with force and inclination control. The belt position is influenced by swiveling / tilting the upper drive roller in accordance with the previously described mechanical ones Basics. The control difference for the belt position controller is formed from the current position of the belt edge, which is detected by means of a belt edge scanning, and the position setpoint, which is determined from the belt width and the system dimensions. The output variable of the belt position controller is the setpoint of the drive roller inclination, which is specified for the drive roller adjustment. Since there is no contact between the rulers and the belt when the side guide rulers are open, both the usual wear of the rulers and damage to the belt edges caused by the side guide rulers are avoided.
Betriebsversuche haben gezeigt, dass die Bandführung durch die Treibvorrichtung bei geöffneten Seitenführungslinealen bei Warmwalzbändern bis zu einer Dicke von etwa 5 mm grundsätzlich möglich ist. Jedoch wurden die Qualitätsanforderungen an den Wickelzustand mit diesem Verfahren noch nicht vollständig erfüllt. Die Kontur der Coilstirnfläche zeigte begrenzte aber unzulässige Restwelligkeiten (Schwankungsbreite rd. ± 10 mm). Beim Ausfädeln aus dem Fertiggerüst treten Wickelabsätze auf. Maßgeblich für diese Fehler, d.h. für das seitliche Ausscheren von Coil-Windungen, sind folgende Ursachen:Operational tests have shown that it is basically possible to guide the strip through the drive device with the side guide rulers open in hot-rolled strips up to a thickness of approximately 5 mm. However, the quality requirements for the winding condition have not yet been fully met with this method. The contour of the coil face showed limited but impermissible residual ripples (fluctuation range around ± 10 mm). Wrapping shoulders occur when threading out of the finishing stand. Relevant for these errors, i.e. The following causes for the lateral deflection of coil turns:
Wesentlich für die Funktion der Treibvorrichtung als Stellglied für die Bandlageregelung ist die Beeinflussung des Auslaufwinkels des Bandes (Winkel zwischen Bandmittenlinie und Treibrollenachse). Bei gekrümmten Bändern ("Säbel-Form") hat der durch die Krümmung verursachte Winkel die Wirkung einer Störgröße, d.h. der Winkel aus der Bandkrümmung wird bei der Erzeugung der Stellgröße nicht berücksichtigt und verfälscht diese in zunächst unbekannter Größe.It is essential for the function of the drive device as an actuator for the belt position control to influence the run-out angle of the belt (angle between the belt center line and the drive roller axis). In the case of curved bands ("saber shape"), the angle caused by the curvature has the effect of a disturbance variable, i.e. the angle from the band curvature is not taken into account when generating the manipulated variable and falsifies it in an initially unknown quantity.
Da der Ankerstrom der Treibrollenantriebe von der übergeordneten Antriebsregelung gesteuert wird und somit auch begrenzt sein kann, ist beiSince the armature current of the drive roller drives is controlled by the higher-level drive control and can therefore also be limited,
Vorgabe einer zu geringen Stromgrenze der resultierende Zug im Band zwischen dem Dorn und der Treibvorrichtung die angestrebte Stellwirkung durch Schwenken der oberen Treibrolle, um das Band in die Sollposition zu treiben, nicht erreichbar.Specification of a current limit that is too low, the resulting tension in the strip between the mandrel and the drive device, the desired positioning effect cannot be reached by swiveling the upper drive roller to drive the belt into the desired position.
Auch tritt beim Ausfädeln des Bandes aus dem Fertiggerüst eine sprung- hafte Zugentlastung des Bandes auf, die Rutschvorgänge im Treiberspalt verursachen kann und damit einen Wickelabsatz im Coil verursachen kann.When the strip is pulled out of the finishing stand, there is a sudden strain relief of the strip, which can cause slipping in the driver gap and thus can cause a winding step in the coil.
Ferner ist in der deutschen Patentschrift DE 197 09 992 C1 ein Verfahren zum Messen der Oberflächengeometrie von Warmband unter Erzeugung von Linien auf der Bandoberfläche mittels einer Lichtquelle beschrieben. Mit diesem Verfahren soll ein einfaches und effektives Erfassen der Bandplan- heit ermöglicht werden, um diese für eine feinfühligere Regelung von Walz- und Haspelparametern zu verwenden. Auf der Messoberfläche, dem Warmband bzw. der Stirnfläche eines im Entstehen begriffenen Coils wird über einen Diaprojektor ein Linienmuster projiziert, das über eine CCD- Kamera (Charge coupled device) erfasst wird. Der Projektor ist dabei oberhalb des Warmbandes angeordnet und projiziert das Linienmuster in einem Winkel zur Vertikalen auf die Oberfläche des Warmbandes, so dass sich die Linien vorzugsweise quer zur Bandoberfläche erstrecken und somit die ganze Bandbreite erfassen.Furthermore, the German patent DE 197 09 992 C1 describes a method for measuring the surface geometry of hot strip by generating lines on the strip surface by means of a light source. This method is intended to enable simple and effective detection of the strip flatness in order to use it for a more sensitive control of rolling and reel parameters. A line projector is projected onto the measuring surface, the hot strip or the end face of a coil that is being created, and this pattern is recorded by a CCD camera (charge coupled device). The projector is arranged above the hot strip and projects the line pattern at an angle to the vertical onto the surface of the hot strip, so that the lines preferably extend transversely to the surface of the strip and thus cover the entire bandwidth.
Die CCD-Kamera erfasst die quer über die Bandoberfläche verlaufenden Linien. Bei einer absoluten Bandplanheit entsteht ein gleichmäßiges Muster gerader Linien mit unverändertem Linienabstand. Abweichungen der Bandoberfläche von der idealen Ebene bewirken eine Änderung des Linienabstandes im Bereich der Unebenheit. Diese Änderung erfasst die Kamera und lässt sich rechnerisch durch einen Vergleich mit einem Referenzmuster auf einfache Weise in Höhendifferenzen umrechnen. In ähnlicher Weise wie beim Planheitsmessen am laufenden Band, lässt sich mit Hilfe des Meßsystems die Planheit der Stirnflächen beim Haspeln überwachen. Die Stirnfläche des sich im Haspel aufbauenden Coils entspricht dabei der Bandoberfläche. Dieses Messverfahren ermöglicht eine schnelle On-Iine- Ermittlung der tatsächlichen Höhendifferenzen der Bandoberfläche und erlaubt so eine Echtzeiterfassung und -regelung fortlaufender Bandabschnitte. Dies hat den Vorteil, dass die Messergebnisse ein Anpassen der Walz- und/oder Haspelparameter unmittelbar nach dem Auftreten einer Unebenheit erlauben. Auch eine Querwölbung des Bandes ist hiermit zu bestimmen. Konventionelle Meßsysteme erfassen lediglich die Bandfaserlänge. Die Messlinien lassen sich zudem bezüglich ihrer Intensität und Liniendicke unterschiedlichen Bedingungen anpassen.The CCD camera captures the lines running across the belt surface. With an absolute band flatness, a uniform pattern of straight lines with unchanged line spacing is created. Deviations of the belt surface from the ideal level cause a change in the line spacing in the area of the unevenness. The camera detects this change and can easily be converted into height differences by comparison with a reference pattern. In a similar way as with flatness measurement on the conveyor belt, the flatness of the end faces can be monitored with the help of the measuring system. The end face of the coil building up in the reel corresponds to the surface of the strip. This measuring method enables a quick on-line determination of the actual height differences of the belt surface and thus enables real-time recording and control of continuous strip sections. This has the advantage that the measurement results allow the rolling and / or reel parameters to be adjusted immediately after an unevenness has occurred. A transverse curvature of the belt can also be determined with this. Conventional measuring systems only measure the length of the ribbon fiber. The measuring lines can also be adapted to different conditions with regard to their intensity and line thickness.
Zusammenfassend ergibt sich somit, dass weiterhin beim Aufhaspeln von Walzband infolge von Querbewegungen des aufzuhaspelnden Walzbandes seitliche Ausscherungen von Coilwindungen auftreten, die zu unebenen Stirnflächen des Coils führen. Im Zuge der weiteren Verarbeitung und Förderung derartiger Coils sind die hervortretenden Bandkanten anfällig für Beschädigungen. Infolge dieser Beschädigungen können zusätzliche Kosten bei der Weiterverarbeitung entstehen bzw. Erlösseinbußen auftreten. Darüber hinaus ist die eingangs beschriebene konventionelle Führung des Walzbandes beim Haspeln durch Seitenführungslineale mit einem relativ hohen Instandhaltungsaufwand verbunden, da die Seitenführungslineale einem erhöhten abrasiven Verschleiß durch die zu führenden Bandkanten des Walzbandes unterliegen.In summary, it follows that lateral reeving of coil windings, which lead to uneven end faces of the coil, continue to occur during reeling of the rolled strip as a result of transverse movements of the rolled strip to be reeled. In the course of further processing and conveying such coils, the protruding strip edges are susceptible to damage. As a result of this damage, additional costs can arise during further processing or loss of revenue. In addition, the conventional guidance of the rolled strip described at the outset is associated with a relatively high level of maintenance when winding through side guide rulers, since the side guide rulers are subject to increased abrasive wear due to the strip edges of the rolled strip to be guided.
Der vorliegenden Erfindung liegt die Aufgabe zugrunde ein Verfahren und zum lagegerechten Aufwickeln eines Warmbandes in eine Haspelvorrichtung zu schaffen, mit denen eine Optimierung des Wickelergebnisses des Walzbandcoils erreicht wird. Voranging sollen seitliche Ausscherungen der einzelnen Coilwindungen des Walzbandes beim Haspeln vermieden werden und die gewickelten Coils den DIN-Anforderungen wie fest gewickelt, möglichst rund sowie kantengerade entsprechen. Die Grenzmaße für ein Coil im Wickelzustand sind in der DIN 1016 festgelegt.The present invention has for its object to provide a method and for the correct winding of a hot strip in a reel device, with which an optimization of the winding result of the rolled strip coil is achieved. First of all, lateral reeving of the individual coil turns of the rolled strip during reeling should be avoided and the wound coils should correspond to the DIN requirements as tightly wound, as round as possible and as straight as possible. The limit dimensions for a coil in the winding state are specified in DIN 1016.
Diese Aufgabe wird mit einem Verfahren zum lagegerechten Aufwickeln eines gewalzten Warmbandes in einer Haspelvorrichtung dadurch gelöst, dass die Oberflächengeometrie des Walzbandes als Messgröße ermittelt und dem Regler zugeführt wird. In Bezug auf die Vorrichtung zum lagegerechten Aufwickeln eines Warmbandes in einer Haspelvorrichtung wird diese Aufgabe durch die Anordnung einer Messvorrichtung für die Ermittlung der Oberflächengeometrie des Walzbandes im Bereich vor der Treibvorrichtung, deren Messgröße dem Regler zugeführt wird, gelöst. In den Unteransprüchen 2 bis 6 und 8 bis 10 sind vorteilhafte Ausgestaltungen des erfindungsgemäßen Verfahrens bzw. der Vorrichtung angegeben.This object is achieved with a method for the correct winding of a rolled hot strip in a reel device in that the surface geometry of the rolled strip is determined as a measured variable and is fed to the controller. With regard to the device for the correct winding of a hot strip in a reel device, this object is achieved by the arrangement of a measuring device for determining the surface geometry of the rolled strip in the area in front of the driving device, the measured variable of which is fed to the controller. Advantageous refinements of the method and the device according to the invention are specified in subclaims 2 to 6 and 8 to 10.
Das erfindungsgemäße Verfahren zum lagegerechten Aufwickeln eines Warmbandes in einer Haspelvorrichtung und deren zugehörige Vorrichtung kann in einem Mehrgrößen-Bandlageregelsystem mit Vorsteuerung abgebildet werden, dass im wesentlichen aus einem Meßsystem zur Erfassung der Bandoberflächengeometrie und der Bandkantenlage, einem Mehrgrößen- Regler für den Bandzug und die Bandlage, einer Vorsteuerung, die den Ein- fluss der Oberflächengeometrie des einlaufenden Bandes berücksichtigt, einem Beobachter zur Schätzung der Bandlage auf dem Coil und des Bandzuges zwischen Treiber und Dorn sowie einer hydraulischen Anstellung der oberen Treibrolle über eine Kraft- und Neigungsregelung besteht.The method according to the invention for the correct winding of a hot strip in a reel device and its associated device can be represented in a multi-size strip position control system with pilot control, which essentially consists of a measuring system for recording the strip surface geometry and the strip edge position, a multi-size controller for the strip tension and the strip position , a pilot control, which takes into account the influence of the surface geometry of the incoming strip, an observer for estimating the strip position on the coil and the strip tension between the driver and mandrel, and a hydraulic adjustment of the upper drive roller via a force and inclination control.
Vorteilhafterweise ist das Verfahren zum lagegerechten Aufwickeln eines Warmbandes in eine Haspelvorrichtung und deren zugehörige Vorrichtung in bestehende Anlagen unter Ausnutzung der vorhandenen Stellglieder (Anstellung der Treibrollen, Antriebe von Treibapparat und Dorn) und der messtechnischen Vorrichtung zur Ermittlung von Bandlage und Bandober- flächengeometrie nachrüstbar.Advantageously, the method for the correct winding of a hot strip into a reel device and its associated device in existing systems can be retrofitted using the existing actuators (adjustment of the drive rollers, drives of the driving device and mandrel) and the measuring device for determining the strip position and strip surface geometry.
Besonders vorteilhaft ist, dass die Führungsgröße für den Bandzug der Treibvorrichtung so bemessen wird, dass die vollständige Rückzugübernahme durch die Treibvorrichtung beim Ausfädeln des Walzbandes aus dem letzten Gerüst der Fertigstraße nicht sprunghaft erfolgt, sondern bereits vor Ausfädelung des Bandendes aus dem Fertiggerüst ein stetig differenzierbarer Anstieg bis zur vollen Zugübernahme stattfindet. Hierdurch werden erfolgreich Wickelabsätze im Coil vermieden. Die wesentlichen Vorteile des erfindungsgemäßen Verfahrens der Vorrichtung sind, dass die Bandoberflächengeometrie im Einlauf zur Haspelvorrichtung durch eine Vorsteuerung prädiktiv berücksichtigt wird, die Lage des Bandes auf dem Coil durch Beobachter unter Nutzung überprüfbarer physikalischer Modelle geschätzt wird sowie der Bandzug unter Berücksichtigung der einlaufenden Bandoberflächengeometrie und der momentanen Bandlage optimiert wird.It is particularly advantageous that the guide variable for the belt tension of the drive device is dimensioned such that the complete retraction by the drive device does not occur suddenly when the rolled strip is pulled out of the last stand of the finishing train, but a steadily differentiable increase even before the end of the belt is pulled out of the finishing stand until the train is fully taken over. As a result, winding paragraphs in the coil are successfully avoided. The main advantages of the method of the device according to the invention are that the strip surface geometry in the inlet to the reel device is predictively taken into account by a pilot control, the position of the strip on the coil is estimated by observers using verifiable physical models, and the strip tension taking into account the incoming strip surface geometry and the current band position is optimized.
Im Folgenden wird die Erfindung anhand eines in der Zeichnung dargestellten Ausführungsbeispieles des näheren erläutert. In der Zeichnung zeigen:The invention is explained in more detail below on the basis of an exemplary embodiment shown in the drawing. The drawing shows:
Fig. 1 eine Seitenansicht eines Endabschnittes eines Auslaufrollganges mit anschließender Treib- und Haspelvorrichtung für ein Warmband,1 is a side view of an end portion of an outfeed roller table with subsequent drive and reel device for a hot strip,
Fig. 2 eine Detailansicht der Treibrollen der Treibvorrichtung undFig. 2 is a detailed view of the drive rollers of the drive device and
Fig. 3 ein Blockschema eines Regelkreises für eine Mehrgrößenrege- lung der Bandlage eines Warmbandes im Bereich einer Haspelvorrichtung.3 shows a block diagram of a control circuit for multi-size control of the strip position of a hot strip in the area of a reel device.
Die Figur 1 zeigt eine schematische Seitenansicht eines Endabschnittes eines Auslaufrollganges 1 , der eingangsseitig mit einem nicht dargestellten Fertiggerüst einer Warmbandstrasse verbunden ist. Auf dem Auslaufrollgang 1 wird ein fertiggewalztes Warmband 2 in Richtung einer Haspelvorrichtung 3 mit einer vorgeschalteten Treibvorrichtung 4 gefördert. Von der Haspelvorrichtung ist das Warmband 2 zu Coils 5 aufwickelbar. Die am Ende des Auslaufrollganges 1 angeordnete Treibvorrichtung 4 besteht im wesentlichen aus einer unteren Treibrolle 6 und einer oberen Treibrolle 7. Die obere Treibrolle 7 ist über nicht dargestellte hydraulische Kolben- /Zylindereinheiten zur Ein- und Verstellung des Spaltes zwischen den Treibrollen 6 und 7 in Richtung der unteren Treibrolle 6 anstellbar sowie seitlich neigbar. In der Figur 2, die eine Detailansicht der Treibrollen 6 und 7 der Treibvorrichtung 4 zeigt, ist eine geneigte obere Treibrolle 7 sowie ein keilförmiger Treibrollenspalt 17 dargestellt. Die Ausrichtung des einlaufenden Walzbandes 2 in Richtung der Haspelvorrichtung 3 ausschließlich anhand der Neigungsverstellung der Treibrollen 6 und 7 zueinander sowie die mechanischen Grundlangen der hierdurch bewirkbaren Querverschiebung des Warmbandes im Treibrollenspalt ist bereits ausführlich in der Würdigung der eingangs angegebenen deutschen Offenlegungschrift DE 38 28 356 A1 erfolgt, die hiermit Bestandteil der Beschreibung wird. Zusätzlich zur Band- laufstabilisierung ist die untere Treibrolle 6 bombiert ausgebildet.FIG. 1 shows a schematic side view of an end section of an outlet roller table 1 which is connected on the input side to a finishing stand (not shown) of a hot strip mill. A finished rolled hot strip 2 is conveyed in the direction of a reel device 3 with an upstream driving device 4 on the outlet roller table 1. The hot strip 2 can be wound up into coils 5 from the reel device. The drive device 4 arranged at the end of the run-out roller table 1 essentially consists of a lower drive roller 6 and an upper drive roller 7. The upper drive roller 7 is via hydraulic piston / cylinder units (not shown) for adjusting and adjusting the gap between the drive rollers 6 and 7 in Direction of the lower drive roller 6 adjustable and laterally tiltable. FIG. 2, which shows a detailed view of the drive rollers 6 and 7 of the drive device 4, shows an inclined upper drive roller 7 and a wedge-shaped drive roller gap 17. The alignment of the incoming rolling strip 2 in the direction of the reel device 3 solely on the basis of the inclination adjustment of the drive rollers 6 and 7 to one another and the mechanical basic lengths of the transverse displacement of the hot strip in the drive roller gap which can thereby be achieved have already been made in detail in the assessment of the German published patent application DE 38 28 356 A1 specified at the outset , which hereby becomes part of the description. In addition to the belt run stabilization, the lower drive roller 6 is designed cambered.
Die Treibvorrichtung 4 einschließlich deren nicht dargestellter Antriebe hat neben der zuvor beschriebenen Aufgabe das einlaufende Warmband in Richtung der Haspelvorrichtung 3 zu leiten und auszurichten die Aufgaben, den von der Fertigstraße kommenden Anfang des Warmbandes 2 strammzuziehen, die einlaufende Bandspitze in Richtung der Haspelvorrichtung 3 zu leiten und den Rückzug des Warmbandes 2 gegen die Haspelvorrichtung 3 während des Wickelvorganges zu gewährleisten.In addition to the previously described task, the driving device 4 including its drives, not shown, has to guide and align the incoming hot strip in the direction of the coiler device 3, the tasks to pull the beginning of the hot strip 2 coming from the finishing train, to guide the incoming strip tip in the direction of the coiler device 3 and to ensure the retraction of the hot strip 2 against the reel device 3 during the winding process.
Die Haspelvorrichtung 3 besteht im wesentlichen aus einem angetrieben und spreizbaren Dorn 8 zum Aufwickeln des Walzbandes 2 sowie nicht dargestellten Andrückrollen und Führungsschalen zur Führung des Walzbandes 2 während des Wickelvorganges. Zur Einleitung des Wickelvorganges wird die Spitze des Warmbandes 2 von den Treibrollen 6 und 7 aus der Ebene des Auslaufrollganges 1 nach unten zum Wickeldorn 8 hin abgelenkt. Dann führen die Andrückrollen und die Führungsschalen der Haspelvorrichtung 3 den Bandanfang mehrere Male um den sich drehenden Dorn wobei die Segmente des Doms 8 kontinuierlich gespreizt werden, bis das Walzband 2 kraftschlüssig zu fest aufeinanderliegenden Windungen gewickelt wird. Die wesentlichen Funktionen der Haspelvorrichtung 3 sind, die kraftschlüssige Verbindung von Bandanfang und Dorn 8 zu gewährleisten, das beim Wickeln entstehende Coil 5 zu tragen und das Band 2 während das Wickeins mit definiertem Bandzug zu beaufschlagen. Des Weiteren sind im Bereich des Endes des Auslaufrollganges 1 an den jeweiligen Enden der Rollen 9 des Auslaufrollganges 1 angeordnete und seitlich an die Kanten 10 des Warmbandes 2 anstellbare Seitenführungsli- neale 11 vorgesehen, um den Anfang des Warmbandes 2 für das Einlaufen in die Haspelvorrichtung 3 auszurichten. Die Seitenführungslineale 11 sind während des Haspelvorganges geöffnet.The reel device 3 consists essentially of a driven and expandable mandrel 8 for winding the rolled strip 2 as well as pressure rollers and guide shells (not shown) for guiding the rolled strip 2 during the winding process. To initiate the winding process, the tip of the hot strip 2 is deflected downward by the drive rollers 6 and 7 from the plane of the outlet roller table 1 to the winding mandrel 8. Then the pressure rollers and the guide shells of the reel device 3 guide the beginning of the strip several times around the rotating mandrel, the segments of the dome 8 being continuously spread until the rolled strip 2 is non-positively wound into coils which lie firmly on one another. The essential functions of the reel device 3 are to ensure the non-positive connection between the beginning of the band and the mandrel 8, to carry the coil 5 which is produced during winding and to apply a defined band tension to the band 2 during winding. Furthermore, in the area of the end of the outlet roller table 1, lateral guide lines 11 are provided on the respective ends of the rollers 9 of the outlet roller table 1 and can be adjusted laterally on the edges 10 of the hot strip 2, around the beginning of the hot strip 2 for entry into the reel device 3 align. The side guide rulers 11 are open during the reeling process.
Auch im Bereich des Endes des Auslaufrollganges 1 ist eine Messvorrich- tung 12 zur Bestimmung der Lage der Kante des Walzbandes 2 sowie eine weitere Messvorrichtung 13 zur Bestimmung der Oberflächengeometrie des Walzbandes 2, insbesondere zum Erkennen einer etwaigen "Säbelform" des Walzbandes 2, angeordnet. Die Messvorrichtungen 12 und 13 sind vorzugsweise vor den Seitenführungslinealen 11 und nach der nicht darge- stellten Kühlstrecke im Verlauf des Auslaufrollganges 1 angeordnet. Die Messvorrichtung 13 zur Bestimmung der Oberflächengeometrie des Walzbandes 2 weist einen Projektor 18 und eine Kamera 19 auf und deren Funktion ist bereits eingangs im Zusammenhang mit der Würdigung der deutschen Patentschrift DE 197 09 992 C1 näher erläutert worden, die hiermit Bestandteil der Beschreibung wird.A measuring device 12 for determining the position of the edge of the rolled strip 2 and a further measuring device 13 for determining the surface geometry of the rolled strip 2, in particular for recognizing any “saber shape” of the rolled strip 2, are also arranged in the region of the end of the run-out roller table 1. The measuring devices 12 and 13 are preferably arranged in front of the side guide rulers 11 and after the cooling section (not shown) in the course of the run-out roller table 1. The measuring device 13 for determining the surface geometry of the rolled strip 2 has a projector 18 and a camera 19 and their function has already been explained in connection with the assessment of the German patent DE 197 09 992 C1, which hereby becomes part of the description.
Die Figur 3 zeigt ein Blockschema eines Regelkreises für eine Mehrgrößenregelung der Bandlage eines Warmbandes 2 im Bereich einer Haspelvorrichtung 3. Es ist ersichtlich, dass die Stellgrößen für die Treibrollenanstel- lung (Soll-Treibrollenneigung) und den Treibrollenantrieb (Soll-Bandzugmoment) mit Hilfe eines Mehrgrößen-Reglers 14 bestimmt werden. Dabei wird der Einfluss der Bandoberflächengeometrie, insbesondere die sogenannte "Säbel"-Form, durch eine Vorsteuerung 15 kompensiert. Für diese Vorsteuerung 15 wird aus dem Ergebnis der Bandoberflächengeometrie- messung 13 und dem Bandzug ein fiktives Querbiegemoment ermittelt, das durch entsprechende Neigung der oberen Treibrolle 6 kompensiert wird, um ein seitliches Vertreiben des Walzbandes 2 aufgrund der Bandoberflächengeometrie zu vermeiden. Die Bandlage auf dem Coil, für deren Messung bisher keine im Walzbetrieb realisierbaren Verfahren bekannt sind, und der Bandzug zwischen Treibvorrichtung 5 und Dorn 8 werden mit Hilfe von Beobachtern 16 (modellgestützte Ermittlung nicht messbarer Größen aus gemessenen Größen) geschätzt und zur Bildung der Regeldifferenzen zurückgeführt. Hierzu wird mittels der Messvorrichtung 12 die Bandkantenlage vor dem Treiber bestimmt.FIG. 3 shows a block diagram of a control circuit for a multi-size control of the strip position of a hot strip 2 in the area of a reel device 3. It can be seen that the manipulated variables for the drive roller setting (target drive roller inclination) and the drive roller drive (target strip tension torque) with the aid of a Multi-size controller 14 can be determined. The influence of the strip surface geometry, in particular the so-called “saber” shape, is compensated for by a pilot control 15. For this pilot control 15, a fictitious transverse bending moment is determined from the result of the strip surface geometry measurement 13 and the strip tension, which is compensated for by a corresponding inclination of the upper drive roller 6 in order to avoid lateral displacement of the rolled strip 2 due to the strip surface geometry. The strip position on the coil, for the measurement of which no processes that can be implemented in rolling operation are known to date, and the strip tension between the driving device 5 and the mandrel 8 are estimated with the help of observers 16 (model-based determination of non-measurable variables from measured variables) and fed back to the formation of the control differences , For this purpose, the strip edge position in front of the driver is determined by means of the measuring device 12.
Als Führungsgrößen werden dem Mehrgrößen-Regler 14 die Soll-Bandkantenlage sowie der Soll-Bandzug zugeführt. Die Führungsgröße für den Bandzug der Treibvorrichtung 5 ist so konzipiert, dass die vollständige Rückzugübernahme durch die Treibvorrichtung 5 beim Ausfädeln des Walzbandes 2 aus dem letzten Gerüst der Fertigstraße nicht sprunghaft erfolgt, sondern ein stetig differenzierbarer Anstieg bis zur vollen Zugübernahme stattfindet, der bereits beginnt, bevor das Bandende ausgefädelt wird.The target strip edge position and the target strip tension are fed to the multivariable controller 14 as reference variables. The guide variable for the belt tension of the driving device 5 is designed in such a way that the complete retraction by the driving device 5 does not occur abruptly when the rolled strip 2 is pulled out of the last stand of the finishing train, but instead a steadily differentiable increase takes place until the full tension acceptance begins, which before the tape end is unthreaded.
Für die modellgestützte Ermittlung (Beobachter 16) des Ist-Bandzuges werden vorzugsweise die Drehzahl der Treiberrollen (6, 7), der Feldstrom und die Feldspannung und der Ankerstrom und die Ankerspannung der die Treiberrollen (6, 7) antreibenden Motoren, die Anpreßkraft der Treiberrollen und das Biegemoment des Bandes um die Treiberrollen herangezogen.For the model-based determination (observer 16) of the actual belt tension, the speed of the driver rollers (6, 7), the field current and the field voltage and the armature current and the armature voltage of the motors driving the driver rollers (6, 7), the contact pressure of the driver rollers are preferably used and the bending moment of the belt around the drive rollers.
Für die modellgestützte Ermittlung (Beobachter 16) der Ist-Lage der Band- kanten wird vorzugsweise der Bandzug, die Treiberrollenneigung, Bandgeschwindigkeit, Bandlage vor dem Treiber und Oberflächengeometrie des Walzbandes herangezogen.For the model-based determination (observer 16) of the actual position of the strip edges, the strip tension, the drive roll inclination, strip speed, strip position in front of the driver and surface geometry of the rolled strip are preferably used.
Die Regelung des Antriebs des Doms 8 erfolgt über eine Drehzahlregelung mit unterlagerter Drehmoment- und Stromregelung. Zur Regelung der Motormomente werden die spezifischen Banddaten vorgegeben. Damit wird erreicht werden, dass der Bandzug dem Bandquerschnitt angepasst und über die Bandlänge konstant ist. Die Regelung der Antriebe der Treibrollen 6 und 7 erfolgt über eine Geschwindigkeitsregelung mit unterlagerter Stromregelung. Die hydraulische Anstellung der oberen Treibrolle 7 erfolgt über eine Kraft- und Neigungsregelung. The control of the drive of the dome 8 takes place via a speed control with subordinate torque and current control. The specific belt data are specified to control the engine torque. This ensures that the strip tension is adapted to the strip cross-section and is constant over the strip length. The regulation of the drives of the drive rollers 6 and 7 takes place via a speed control with subordinate current control. The hydraulic adjustment of the upper drive roller 7 takes place via a force and inclination control.

Claims

Schutzansprüche: Protection claims:
1. Verfahren zum lagegerechten Aufwickeln eines Metallbandes in einer Haspelvorrichtung, wobei das Metallband, insbesondere gewalztes Warmband, über eine Treibvorrichtung mit Treibrollen der Haspelvorrichtung zugeführt wird, über einen Regler die Treibrollen mittels Stellgliedern für eine Veränderung des Treibrollenspaltes relativ zueinander neigbar sind und dem Regler als Messgröße und als Soll-Führungsgröße die Lage der Kante des Metallbandes vor der Treibvor- richtung zugeführt wird, dadurch gekennzeichnet, dass die Oberflä- chengeomethe des Metallbandes (2) als Messgröße ermittelt und dem Regler (14) zugeführt wird.1.Procedure for the correct winding of a metal strip in a reel device, the metal strip, in particular rolled hot strip, being fed to the reel device via a drive device with drive rollers, the drive rollers can be inclined relative to one another by means of actuators for changing the drive roller gap and the controller as Measured variable and the position of the edge of the metal strip in front of the driving device as a reference variable, characterized in that the surface geometry of the metal strip (2) is determined as a measured variable and is fed to the controller (14).
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass die ermittelte Oberflächengeometrie des Warmbandes (2) eine Vorsteuerung (15) zugeführt wird, die dem Regler (14) nachgeschaltet und der Ansteuerung der Stellglieder der Treibrollen (6, 7) für die Änderung des Treibrollenspaltes (17) vorgeschaltet ist.2. The method according to claim 1, characterized in that the determined surface geometry of the hot strip (2) is fed to a pilot control (15) which is connected downstream of the controller (14) and the control of the actuators of the drive rollers (6, 7) for changing the Driving roller gap (17) is connected upstream.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Oberflächengeometrie des Warmbandes (2) vor der Zuführung des Warmbandes (2) zu der Treibvorrichtung (4) ermittelt wird.3. The method according to claim 1 or 2, characterized in that the surface geometry of the hot strip (2) is determined before the supply of the hot strip (2) to the driving device (4).
4. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeich- net, dass dem als Mehrgrößen-Regler (14) ausgebildeten Regler als weitere Führungsgröße der Soll-Bandzug zwischen den Treibrollen (6, 7) und der Haspelvorrichtung (3) zugeführt wird und von dem Regler (14) hiermit der Treibrollenantrieb und die Einstellung des Treibrollenspaltes (17) angesteuert wird.4. The method according to any one of claims 1 to 3, characterized in that the controller designed as a multivariable controller (14) is fed as a further guide variable of the desired belt tension between the drive rollers (6, 7) and the reel device (3) and the controller (14) hereby controls the drive roller drive and the setting of the drive roller gap (17).
Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass der Soll- Bandzug derart vorgewählt verändert wird, dass vor Ausfädeln des Warmwalzgutes (2) aus einem der Treibvorrichtung (4) vorgeschalteten Fertigwalzgerüst die Rückzugskraft der Treibrollen (6, 7) für das von der Haspelvorrichtung (3) aufgewickelte Metallband (2) stetig bis zur vollen Übernahme der Rückzugskraft nach Ausfädeln des Metallbandes (2) gesteigert wird.A method according to claim 4, characterized in that the desired strip tension is changed in a preselected manner such that the retracting force of the drive rollers (6, 7) for the. Before the hot rolling stock (2) is unthreaded from a finishing roll stand upstream of the driving device (4) from the reel device (3) coiled metal strip (2) is steadily increased until the retraction force is fully taken over after the metal strip (2) has been unthreaded.
6. Verfahren nach Anspruch 4 oder 5, dadurch gekennzeichnet, dass der Ist-Bandzug zwischen den Treibrollen (6, 7) und der Haspelvorrichtung (3) über eine modellgestützte Ermittlung aus messbaren Größen bestimmt wird und dem Mehrgrößen-Regler (14) als Messgröße zugeführt wird.6. The method according to claim 4 or 5, characterized in that the actual belt tension between the drive rollers (6, 7) and the reel device (3) is determined via a model-based determination from measurable variables and the multivariable controller (14) as a measured variable is fed.
7. Verfahren nach Anspruch 6, dadurch gekennzeichnet, dass für die modellgestützte Ermittlung (Beobachter 16) des Ist-Bandzuges vorzugsweise die Drehzahl der Treiberrollen (6, 7),der Feldstrom und die Feldspannung und der Ankerstrom und die Ankerspannung der die Treiberrollen (6, 7) antreibenden Motoren, die Anpreßkraft der Treiberrollen und das Biegemoment des Bandes um die Treiberrollen herangezogen werden.7. The method according to claim 6, characterized in that for the model-based determination (observer 16) of the actual belt tension preferably the speed of the driver rollers (6, 7), the field current and the field voltage and the armature current and the armature voltage of the driver rollers (6 , 7) driving motors, the contact pressure of the driver rollers and the bending moment of the belt around the driver rollers are used.
8. Verfahren nach einem der Ansprüche 1 bis 7, dadurch gekennzeich- net, dass die Ist-Lage der Bandkanten des von der Haspelvorrichtung8. The method according to any one of claims 1 to 7, characterized in that the actual position of the strip edges of the reel device
(3) aufgewickelten Bandes über eine modellgestützte Ermittlung (Beobachter 16) aus messbaren Größen bestimmt wird und dem Mehrgrößenregler als Messgröße zugeführt wird.(3) wound tape is determined from measurable quantities using a model-based determination (observer 16) and is fed to the multivariable controller as a measured variable.
9. Verfahren nach Anspruch 8, dadurch gekennzeichnet, dass für die modellgestützte Ermittlung (Beobachter 16) der Ist-Lage der Bandkanten vorzugsweise der Bandzug, die Treibrollenneigung, Bandgeschwindigkeit, Bandlage vor dem Treiber und Oberflächengeometrie des Walzbandes herangezogen werden.9. The method according to claim 8, characterized in that for the model-based determination (observer 16) of the actual position of the strip edges, preferably the strip tension, the drive roll inclination, strip speed, strip position in front of the driver and surface geometry of the rolled strip are used.
10. Verfahren nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass der Treibrollenspalt (17) mittels einer Kraft- und Neigungsregelung der Treibrollen (6, 7) eingestellt wird. 10. The method according to any one of claims 1 to 9, characterized in that the drive roller gap (17) by means of a force and inclination control of the drive rollers (6, 7) is set.
11. Vorrichtung zum lagegerechten Aufwickeln eines Metallbandes, insbesondere eines gewalzten Warmbands in einer Haspelvorrichtung, insbesondere zur Durchführung eines Verfahrens gemäß den Ansprüchen 1 bis 10, mit einer der Haspelvorrichtung das Warmband zufüh- renden Treibvorrichtung mit zueinander neigbaren Treibrollen, mit11. Device for the correct winding of a metal strip, in particular a rolled hot strip in a reel device, in particular for carrying out a method according to claims 1 to 10, with a drive device for supplying the hot strip to the reel device with driving rollers that can be tilted relative to one another
Stellgliedern und einem Regler hierfür für eine Veränderung des Treibrollenspaltes und der hierdurch bewirkten Beeinflussung der seitlichen Lage des Warmbandes und mit einer Messvorrichtung zur Ermittlung der Lage der Kante des Warmbandes vor der Treibvorrich- tung, deren Messwerte dem Regler zugeführt werden, dadurch gekennzeichnet, dass im Bereich vor der Treibvorrichtung (4) eine Messvorrichtung (13) für die Ermittlung der Oberflächengeometrie des Walzbandes (2) angeordnet ist, deren Messgröße dem Regler (14) zugeführt wird.Actuators and a controller therefor for changing the drive roller gap and thereby influencing the lateral position of the hot strip and with a measuring device for determining the position of the edge of the hot strip in front of the drive device, the measured values of which are fed to the controller, characterized in that in A measuring device (13) for determining the surface geometry of the rolled strip (2) is arranged in the area in front of the driving device (4), the measured variable of which is fed to the controller (14).
12. Vorrichtung nach Anspruch 11 , dadurch gekennzeichnet, dass der Regler als Mehrgrößen-Regler (14) ausgebildet ist, dem die Soll-Bandkantenlage und der Soll-Bandzug zugeführt werden.12. The apparatus according to claim 11, characterized in that the controller is designed as a multivariable controller (14) to which the desired strip edge position and the desired strip tension are fed.
13. Vorrichtung nach Anspruch 7 oder 12, dadurch gekennzeichnet, dass der Regler (14) mit einem Beobachter-Baustein (16) verknüpft ist, über den modellgestützt aus messbaren Größen der Ist-Bandzug zwischen den Treibrollen (6, 7) und der Haspelvorrichtung (3) bestimmbar ist.13. The apparatus of claim 7 or 12, characterized in that the controller (14) is linked to an observer module (16), via the model-based from measurable quantities of the actual belt tension between the drive rollers (6, 7) and the reel device (3) can be determined.
14. Vorrichtung nach einem der Ansprüche 11 bis 13, dadurch gekennzeichnet, dass der Regler (14) mit einem Beobachter-Baustein (16) verknüpft ist, über den modellgestützt aus messbaren Größen die Ist Lage der Bandkanten (9) des von der Haspelvorrichtung (3) aufgewickelten Bandes (2) bestimmbar ist. 14. Device according to one of claims 11 to 13, characterized in that the controller (14) is linked to an observer module (16) via which the actual position of the strip edges (9) of the reel device (from the reel device ( 3) wound tape (2) can be determined.
EP01962413A 2000-03-27 2001-03-22 Method and device for reeling up in the proper position a hot-rolled strip in a reeling installation Expired - Lifetime EP1278606B1 (en)

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DE10014813 2000-03-27
DE10014813A DE10014813B4 (en) 2000-03-27 2000-03-27 Method and device for positionally winding a rolled hot strip in a coiler
PCT/EP2001/003251 WO2001072444A1 (en) 2000-03-27 2001-03-22 Method and device for reeling up in the proper position a hot-rolled strip in a reeling installation

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US6874724B2 (en) 2005-04-05
EP1278606B1 (en) 2005-02-09
JP2004500245A (en) 2004-01-08
DE10014813B4 (en) 2005-10-06
WO2001072444A1 (en) 2001-10-04
DE10014813A1 (en) 2001-10-11
KR100702745B1 (en) 2007-04-03
JP4842488B2 (en) 2011-12-21
KR20020093862A (en) 2002-12-16
US20030102401A1 (en) 2003-06-05
DE50105307D1 (en) 2005-03-17

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