EP1278606B1 - Method and device for reeling up in the proper position a hot-rolled strip in a reeling installation - Google Patents

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

The invention relates to a method for positionally correct winding a Metal strip, in particular a rolled hot strip in a reel device, wherein the hot strip via a drive device with drive rollers the reel device is fed, via a regulator, the drive rollers by means of actuators for a change of the driving roller gap and the As a result, influencing the lateral position of the hot strip are tilted relative to each other and the controller as a measured variable and as a reference command variable the position of the edge of the hot strip in front of the driving device is supplied and takes the priority of the German patent application 100 14 813.1-32, the content of which is incorporated by reference.

Furthermore, the invention relates to a device for positional Winding a rolled hot strip in a coiler, with one of the reel device supplying the hot strip driving device with drive rollers, with actuators and a regulator for this purpose Change in the drive roller gap and the resulting influence 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, whose measured values are fed to the controller.

It is well known that in hot strip rolling the finish rolled Hot strip after leaving the last frame of the finishing train from the outlet roller table through a cooling section, preferably a system of Spray water nozzles, is transported to a reel device. Of the Coiler, the hot strip is wound into coils (coils). in the Area in front of the reel device, the hot strip on the outlet roller table by hydraulically laterally adjustable to the strip edges side guide rulers be led to the rolled hot strip for shrinking align with the reel device. Correspondingly, the side guide rulers are during the reeling process in contact with the band edges of the hot strip.

At the end of the outlet roller table a driving device is arranged, which in essentially from a lower drive roller, in the frame of the reel device is stored, and an upper drive roller, which is in a driver swing is stored. The upper drive roller is via hydraulic cylinder to Einund Adjustment of the gap between the drive rollers pivotable. With the goal of a strip stabilization are primarily domed lower Drive rollers or drive rollers with cylindrical middle part and respectively conical roller ends used. The essential functions of Propulsion device including their drives are from the finishing train the beginning of the rolled strip, the incoming To guide the tape tip in the direction of the reel device and the Retraction against the reel device during the winding process to guarantee.

The essential components of the reel device are a spreadable 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 removal side) generally becomes Reels supported by a swivel mandrel bearing.

To initiate the winding process coming from the finishing stand Tip of the hot strip of the pair of driving wheels from the plane the outlet roller table deflected down to the winding mandrel. Then lead the pressure rollers and the guide shells of the reel device the beginning of the tape several times around the spinning mandrel. The thorn consists of several segments shortly after the arrival of the band lace be spread continuously until the tape is too tight wound on superimposed turns. The essential functions the reel device are the non-positive connection of tape start and dome to ensure that the coil formed during winding too Wear and tape during winding with defined tape tension apply.

Furthermore, from German patent application DE 38 28 356 A1 already a method of influencing the location of hot strip, over a pair of driving wheels is fed to a reel device, and a Driving device for carrying out this method known. In this Bandlageregelverfahren the tape guide for the reel device exclusively via an asymmetrical adjustment of the drive roller gap by means of a pivotable upper drive roller. This is the upper drive roller stored in a driver's swingarm, which via a hydraulic adjustment and balancing features. Also, it follows that during the Coiler operation, the side guide rulers are open.

The actuating effect of this driving device with respect to the hot strip is based on a local displacement of the point of application of the belt tension and the resulting non-uniform elastic band elongation (bending) due to a pivoting of the upper drive roller. A panning 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, the apply the drive rollers to the belt. The force application point, the symmetrical Driver gap in the middle of the plant is now a distance from the center of the plant towards the unopened side of the driver gap relocated. As a result, engages the from the braking torque of the Driving device resulting belt retraction force also at a distance from Plant center at the hitherto still centered band on. From this caused by the pivoting / tilting of the upper drive roller induced force application situation This results in a movement on the still centered belt Moment that causes an elastic transverse bending of the band. As a result of this band deformation, the band longitudinal fibers are in the Driving device at an angle to the plant center axis or under oriented at an angle to the driving roller axes. Thus, a frictional tends Tape guided over a drive roller to the trajectories of Follow roller sheath points in the contact area. That means in the present Case that the tape is not following the tape fiber longitudinal direction through the propulsion device, but that currently in the contact area located band point in the direction of the roller peripheral speed vector at the contact point so in the direction of the plant axis is transported. This results in a transverse displacement of the band in the Blowing device. Through this shift of the band also occurs a gradual Increase of the distance between the force application point of the Driver retraction force and the traction center at the tape cradle at Coil up. However, if the upper drive roller inclines too much, the distance will be be significantly greater than the occurring tape transverse displacements to the plant center, so the influence of the resulting change of the Distance to the plant center can be neglected.

From the aforementioned German patent application DE 38 28 356 A1 The known tape position control system consists essentially of a tape edge detection system. a belt positioner and a hydraulic Adjustment of upper drive roller with power and tilt control. The Influencing the band position is done by pivoting / tilting the top Driving roller according to the mechanical described above Basics. From the current position of the band edge, by means of a Band edge scan is detected, and the position setpoint, which from the Bandwidth and plant dimensions is determined, the control difference formed for the band position controller. Output size of the band position controller is the nominal value of the driving roller inclination, which is for the driving roller adjustment is given. There is no contact when the side guide rulers are open between the rulers and the band occurs, both the usual Wear of the rulers as well as band edge damage by the Side guide rulers avoided.

Operating tests have shown that the tape guide through the propulsion device with opened side guide rulers in hot rolled strips up to a thickness of about 5 mm is basically possible. However, the Quality requirements for the winding condition with this method yet not completely fulfilled. The contour of the coil face showed limited but impermissible residual ripples (fluctuation range approx. ± 10 mm). At the Threading out of the finishing stand, winding offsets occur. Decisive for these errors, i. for the lateral shearing of coil turns are the following causes:

Essential for the function of the driving device as an actuator for the band position control is the influence of the outlet angle of the band (angle between the strip center line and the driving roller axis). For curved bands ("Saber shape"), the angle caused by the curvature has the effect a disturbance, i. the angle from the ribbon curvature is at the Generation of the manipulated variable not taken into account and falsifies this in initially unknown size.

Since the armature current of the drive roller drives from the parent Drive control is controlled and thus can be limited, is at Specification of too low current limit of the resulting train in the band between the mandrel and the driving device the desired actuating action by pivoting the upper drive pulley to move the belt to the desired position drive, not reachable.

Also occurs when unthreading the tape from the finishing stand an erratic Strain relief of the tape on, the sliding in the driver gap can cause and thus cause a winding paragraph in the coil.

Furthermore, German Patent DE 197 09 992 C1 discloses a method for measuring the surface geometry of hot strip to produce of lines on the strip surface by means of a light source. With This method aims at a simple and effective capture of the band flatness These are made possible for a finer control of rolling and To use reel parameters. On the measurement surface, the Hot strip or the face of a nascent coil is Projected via a slide projector, a line pattern, the via a CCD camera (charge coupled device) is detected. The projector is above arranged the hot strip and projects the line pattern in one Angle to the vertical on the surface of the hot strip, so that the Lines preferably extend transversely to the strip surface and thus the record entire bandwidth.

The CCD camera detects the transversely across the belt surface running Lines. An absolute band flatness creates a uniform pattern straight lines with unchanged line spacing. Deviations of the Band surface from the ideal plane cause a change in line spacing in the area of unevenness. This change captures the camera and can be calculated by a comparison with a reference pattern Convert easily into height differences. In a similar way while measuring flatness continuously, can be with the help of Monitor the flatness of the faces during reeling. The End face of the coil building up in the reel corresponds to the Strip surface. This measurement method enables a fast on-line determination the actual height differences of the belt surface and thus allows real-time detection and control of continuous tape sections. This has the advantage that the measurement results adapt the Rolling and / or coiler parameters immediately after the occurrence of a Allow unevenness. A transverse curvature of the band is hereby too determine. Conventional measuring systems only detect the band fiber length. The measuring lines can also be compared in terms of their intensity and Adjust line thickness to different conditions.

In summary, it follows that continue to coax when Rolled strip as a result of transverse movements of the rolled strip to be wound up lateral deflections of coil turns occur that are too uneven Lead the end faces of the coil. In the course of further processing and promotion of such coils, the protruding band edges are prone to Damage. As a result of these damages can be additional Costs incurred during further processing or revenue losses occur. In addition, the conventional guide described above of the rolled strip during reeling by side guide rulers with a relative high maintenance costs associated with the side guide rulers Increased abrasive wear due to leading to strip edges subject to the rolled strip.

The present invention has for its object a method and for positionally winding a hot strip in a reel device to create, with which an optimization of the winding result of Walzbandcoils is achieved. Preceding are lateral deflections of the individual coil windings of the rolled strip are avoided during reeling and the wrapped coils tightly wrapped around the DIN requirements, as round as possible and as straight as possible. The limit measures for a Coil in the winding state are specified in DIN 1016.

This object is achieved with a method for positionally winding a rolled hot strip in a coiler thereby solved that determines the surface geometry of the rolled strip as a measured variable and supplied to the controller. With regard to the device for positional Winding a hot strip in a reel device is this object by the arrangement of a measuring device for the determination the surface geometry of the rolled strip in the area in front of Driving device, the measured variable is supplied to the controller solved. In the dependent claims 2 to 6 and 8 to 10 are advantageous embodiments of the method or the device specified.

The inventive method for positionally correct winding a Hot strip in a reel device and its associated device can be mapped in a multi-size belt position control system with feedforward control be that essentially from a measuring system for detecting the Belt surface geometry and belt edge position, a multi-variable controller for the tape tension and the tape position, a feedforward that the influence takes into account the surface geometry of the incoming strip, an observer to estimate the tape position on the coil and the tape train between driver and mandrel and a hydraulic adjustment of upper drive roller via a force and tilt control.

Advantageously, the method for positionally correct winding a Hot strip in a reel device and its associated device in existing plants using existing actuators (employment the drive rollers, drives of Treibapparat and thorn) and the Metrological device for determining band position and band surface geometry retrofitted.

It is particularly advantageous that the reference variable for the strip tension of Driving device is sized so that the complete withdrawal takeover by the driving device during the unthreading of the rolled strip The last scaffolding of the finishing train is not broken, but already before Ausfädelung the end of the tape from the finishing stand a continuously differentiable Increase until full takeover takes place. This will be successful winding heels avoided in the coil.

The main advantages of the inventive method of the device are that the band surface geometry in the inlet to the reel device is predicted by a feedforward, the location of the Bandes on the coil by observers using physical verifiable Models is estimated as well as the strip tension under consideration the incoming belt surface geometry and the current one Bandlage is optimized.

Fig. 1

eine Seitenansicht eines Endabschnittes eines Auslaufrollganges mit anschließender Treib- und Haspelvorrichtung für ein Warmband,

Fig. 2

eine Detailansicht der Treibrollen der Treibvorrichtung und

Fig. 3

ein Blockschema eines Regelkreises für eine Mehrgrößenregelung der Bandlage eines Warmbandes im Bereich einer Haspelvorrichtung.

In the following the invention will be explained with reference to an embodiment shown in the drawing of the closer. In the drawing show:

Fig. 1

a side view of an end portion of an exit roller table with subsequent drive and reel device for a hot strip,

Fig. 2

a detailed view of the drive rollers of the driving device and

Fig. 3

a block diagram of a control loop for a multi-size control of the band position of a hot strip in the field of a reel device.

FIG. 1 shows a schematic side view of an end section an outlet roller table 1, the input side with a not shown Finishing scaffold is connected to a hot strip mill. On the exit roller table 1 is a finish-rolled hot strip 2 in the direction of a reel device 3 promoted with an upstream drive device 4. Of the Reel device is the hot strip 2 to coils 5 wound up. The am End of the outlet roller table 1 arranged driving device 4 is in essentially from a lower drive roller 6 and an upper drive roller. 7 The upper drive roller 7 is not shown hydraulic piston / cylinder units for the adjustment and adjustment of the gap between the drive rollers 6 and 7 in the direction of the lower drive roller 6 adjustable and laterally tiltable. In the figure 2, a detailed view of the driving rollers 6 and 7 of Driving device 4 shows, is an inclined upper drive roller 7 and a wedge-shaped Driving roller gap 17 shown. The orientation of the incoming Walzbandes 2 in the direction of the reel device 3 exclusively based the inclination adjustment of the drive rollers 6 and 7 to each other and the mechanical Fundamentals of the hereby effected transverse displacement of Hot strip in the Treibrollenenspalt is already extensively in the appreciation of German Offenlegungschrift DE 38 28 356 A1 which is herewith part of the description. In addition to strip stabilization the lower drive roller 6 is cambered.

The driving device 4 including their unillustrated drives has in addition to the task described above, the incoming hot strip in Direction of the reel device 3 to guide and align the tasks, to tighten the beginning of the hot strip 2 coming from the finishing line, the incoming tape tip in the direction of the reel device. 3 to guide and the withdrawal of the hot strip 2 against the reel device 3 to ensure during the winding process.

The reel device 3 consists essentially of a driven and expandable mandrel 8 for winding the rolled strip 2 and not shown Pressure rollers and guide shells for guiding the rolled strip 2 during the winding process. To initiate the winding process is the tip of the hot strip 2 of the drive rollers 6 and 7 from the Level of the outlet roller table 1 down to the winding mandrel 8 deflected out. Then lead the pressure rollers and the guide shells of the reel device 3 the beginning of the tape several times around the rotating mandrel wherein the segments of the mandrel 8 are continuously spread until the Rolled strip 2 frictionally connected to tightly wound turns is wound. The essential functions of the reel device 3 are, to ensure the frictional connection of the strip beginning and mandrel 8, to carry the coil 5 formed during winding and the band 2 during to apply the winding with a defined strip tension.

Furthermore, in the region of the end of the outlet roller table 1 to the respective ends of the rollers 9 of the outlet roller table 1 and arranged laterally to the edges 10 of the hot strip 2 adjustable side guide rulers 11 provided to the beginning of the hot strip 2 for shrinking to align with the reel device 3. The side guide rulers 11 are opened during the reeling process.

Also in the region of the end of the outlet roller table 1 is 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 Rolled strip 2, in particular for detecting a possible "saber shape" of Rolled strip 2, arranged. The measuring devices 12 and 13 are preferably in front of the side guide rulers 11 and after the not shown Cooling section arranged in the course of the outlet 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 is already initially connected with the appreciation of the German Patent DE 197 09 992 C1 has been explained in more detail herewith Part of the description will be.

FIG. 3 shows a block diagram of a control loop for a multi-variable control the band layer of a hot strip 2 in the region of a reel device 3. It can be seen that the manipulated variables for the driving roller adjustment (Nominal drive roller inclination) and the drive roller drive (target belt tension torque) be determined by means of a multi-variable controller 14. there becomes the influence of the band surface geometry, in particular the so-called "Saber" shape, compensated by a pilot control 15. For this Feedforward control 15 becomes the result of belt surface geometry measurement 13 and the strip tension a fictitious transverse bending moment determined, the is compensated by appropriate inclination of the upper drive roller 6 to a lateral displacement of the rolled strip 2 due to the strip surface geometry to avoid.

The tape layer on the coil, for their measurement so far none in rolling operation feasible methods are known, and the strip tension between the driving device 5 and 8 thorn with the help of observers 16 (model-based determination of non-measurable quantities from measured quantities) estimated and attributed to the formation of regulatory differences. For this is the tape edge position before the driver by means of the measuring device 12 certainly.

As a guide variables, the multisize controller 14, the desired band edge position and the desired strip tension supplied. The reference variable for the Bandzug the driving device 5 is designed so that the complete Return takeover by the driving device 5 during the unthreading of the rolled strip 2 from the last frame of the finishing train is not abruptly but a steadily differentiable increase until full takeover takes place, which already begins before the end of the tape is threaded out.

For the model-based determination (observer 16) of the actual strip 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 band around the driver rollers used.

For the model-based determination (observer 16) of the actual position of the band edges is preferably the strip tension, the driver roll inclination, belt speed, Tape layer in front of the driver and surface geometry of the Rolled strip used.

The control of the drive of the mandrel 8 via a speed control with subordinate torque and current control. For the regulation of Engine torques are given the specific belt data. This will be be achieved that the strip tension adapted to the tape cross-section and is constant over the tape length. The regulation of the drives of the drive rollers 6 and 7 are via a speed control with subordinate Current control. The hydraulic adjustment of the upper drive roller 7 takes place via a force and tilt control.

Claims (14)

1. Method for correctly positioned winding of a metal band (2) in a reel device (3), whereby the metal band (2), in particular hot-rolled strip, is fed via a drive device (4) with drive rollers (6, 7) of the reel device (3), by means of a controller, the drive rollers may be tilted relative to each other via adjusting members to adjust the drive roller gap and the position of the edge of the metal band (2) in front of the drive device (4) is fed as a measurement variable and as a target guide variable to the controller, characterised in that the surface geometry of the metal band (2) is determined as a measurement variable and fed to the controller (14).
2. Method according to claim 1, characterised in that the surface geometry of the hot-rolled strip (2) as found is fed to a precontroller (15) which is connected downstream of the controller (14) and is connected upstream of the drive of the adjusting members of the drive rollers (6, 7) for adjusting the drive roller gap (17).
3. Method according to claim 1 or 2, characterised in that the surface geometry of the hot-rolled strip (2) is determined before feeding the hot-rolled strip (2) to the drive device (4).
4. Method according to one of the claims 1 to 3, characterised in that the desired belt tension between the drive rollers (6, 7) and the reel device (3) is fed as a further guide variable to the controller formed as a multi-variable controller (14) and with this, the drive roller drive and the setting of the drive roller gap (17) is controlled by the controller (14).
5. Method according to claim 4, characterised in that the desired belt tension is altered in predetermined manner such that before threading the hot-rolled goods (2) out of a finishing roll stand upstream of the drive device (4), the return tensional force of the drive rollers (6, 7) for the metal band (2) wound up by the reel device (3) is constantly increased until complete take-up of the return tensional force after threading out the metal band (2).
6. Method according to claim 4 or 5, characterised in that the actual band tension between the drive rollers (6, 7) and the reel device (3) is determined by means of model-supported detection from measurable variables and is fed to the multi-variable controller (14) as a measurement variable.
7. Method according to claim 6, characterised in that for the model-supported detection (observer 16) of the actual band tension, preferably the rotary speed of the drive rollers (6, 7), the field current and the field voltage and the armature current and the armature voltage of the motors driving the drive rollers (6, 7), the compression force of the driver rollers and the bending moment of the band about the drive rollers is used.
8. Method according to one of the claims 1 to 7, characterised in that the actual position of the edges of the band wound up by the reel device (3) is determined via a model-supported detection (observer 16) from measurable variables and is fed to the multiple-variable controller as a measurement variable.
9. Method according to claim 8, characterised in that for the model-supported detection (observer 16), the actual position of the band edges and preferably the band tension, the drive roller inclination, band speed, band position in front of the driver and the surface geometry of the rolled band are used.
10. Method according to one of the claims 1 to 9, characterised in that the drive roller gap (17) is adjusted by means of force and inclination adjustment of the drive rollers (6, 7).
11. Device for correctly positioned winding of a metal band (2), in particular a hot-rolled strip in a reel device (3), in particular for carrying out a method according to claims 1 to 10, with a drive device (4) feeding the hot-rolled strip to the reel device with drive rollers (6, 7) tiltable relative to each other, with adjusting members and a controller for these for altering the drive roller gap and the influence thereby brought about on the lateral position of the hot-rolled strip (2) and having a measuring device for determining the position of the edge of the hot-rolled strip before the driving device (4), whose measurement values are fed to the controller, characterised in that arranged in the region in front of the drive device (4) is a measuring device (13) for determining the surface geometry of the rolled band (2), whose measurement values are fed to the controller (14).
12. Device according to claim 11, characterised in that the controller is designed as a multi-variable controller (14), to which the target band edge position and the target band tension are fed.
13. Device according to claim 12, characterised in that the controller (14) is linked to an observer building block (16) by means of which, with model support, the actual band tension between the driver rollers (6, 7) and the reel device (3) may be determined from measurable variables.
14. Device according to one of the claims 11 to 13, characterised in that the controller (14) is linked to an observer building block (16) by means of which, with model support, the actual position of the edges (10) of the band (2) wound by the reel device (3) may be determined from measurable variables.

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