EP1624982B1 - Procede de regulation de la temperature d'une bande metallique, en particulier dans un train finisseur pour le laminage a chaud de bandes metalliques - Google Patents

Procede de regulation de la temperature d'une bande metallique, en particulier dans un train finisseur pour le laminage a chaud de bandes metalliques Download PDF

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Publication number
EP1624982B1
EP1624982B1 EP04710836A EP04710836A EP1624982B1 EP 1624982 B1 EP1624982 B1 EP 1624982B1 EP 04710836 A EP04710836 A EP 04710836A EP 04710836 A EP04710836 A EP 04710836A EP 1624982 B1 EP1624982 B1 EP 1624982B1
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European Patent Office
Prior art keywords
temperature
strip
finishing train
metal strip
online
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Expired - Lifetime
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EP04710836A
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German (de)
English (en)
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EP1624982A2 (fr
EP1624982B2 (fr
Inventor
Matthias Kurz
Michael Metzger
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Siemens AG
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Siemens AG
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Priority claimed from DE2003121791 external-priority patent/DE10321791A1/de
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    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D11/00—Process control or regulation for heat treatments
    • 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
    • B21B37/74—Temperature control, e.g. by cooling or heating the rolls or the product
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D11/00—Process control or regulation for heat treatments
    • C21D11/005—Process control or regulation for heat treatments for cooling

Definitions

  • US 6,220,067 B1 describes a method which determines the temperature of a metal strip on the exit side of a mill train, i. the final rolling temperature, regulates. With such a method, phase transformations of the steel in the rolling train, which are particularly important in the case of two-phase rolling for the material properties of the rolled metal strip, can not be sufficiently influenced in a targeted manner.
  • a comparable method, which is used to calculate a pass schedule, is described in EP 1 014 239 A1.
  • the material properties and the structure of a rolled metal strip are determined by chemical composition and process parameters, in particular during the rolling process, such as e.g. determines the load distribution and the temperature control.
  • Actuators for the rolling temperature, in particular the final rolling temperature are, depending on the type of plant and operating mode usually belt speed and interstand cooling.
  • the object according to the invention is achieved by a method for controlling and / or regulating the temperature of a metal strip in a finishing train, a setpoint temperature profile being compared with an actual temperature profile for determining setting signals, wherein a temperature profile for individual strip points of the metal strip is determined , and wherein, taking into account side conditions, at least one target function for actuators of the plant is formed in the finishing train.
  • the path and preferably additionally properties such as the temperature of individual band points are advantageously tracked. In this way, the accuracy of the control or regulation is significantly improved.
  • the objective function is solved by solving an optimization problem.
  • technical boundary conditions such as in particular control limits of the actuators are taken into account in extremely favorable manner, whereby in particular the largest possible space for changing the actuators is ensured that the computing time required for the control or regulation is kept very low.
  • a target temperature is specified at the end of the finishing train.
  • at least one desired temperature is predetermined in the finishing train. The control or regulation is thus substantially improved with regard to the material properties of the metal strip and with regard to its structural composition.
  • the actual temperature profile of the metal strip is determined with the aid of at least one model.
  • an improved control or regulation of the temperature of the metal strip is made possible, even if the actual strip temperature at locations relevant for the control, especially in the finishing mill, can not be measured.
  • the model is adapted online.
  • an existing system drift can be taken into account and realistic results, in particular for the metal strips to be rolled next, can be determined.
  • control signals for the coolant flow are determined.
  • control signals for the mass flow are determined.
  • an optimization problem with linear constraints online i. especially in real time, solved.
  • Adjustment limits are set up in particular in the form of equation or inequality constraints.
  • the optimization solution advantageously delivers the values of the manipulated variables for a next controller cycle.
  • a quadratic optimization problem is solved.
  • the optimization problem can be solved very quickly.
  • the optimization problem is solved by means of an active-set strategy.
  • the optimization problem can be solved very effectively in real time.
  • an online capable stitching algorithm is precalculated by non-linear optimizations with constraints.
  • the duration of the stitch plan calculation is thus kept extremely low.
  • the stitch plan calculation optimally provides for the controller working online Set-up values.
  • the controller has sufficient degrees of freedom for belt temperature control.
  • the inventive method for controlling or regulating the temperature of a metal strip is particularly suitable for rolling strips with a thickness wedge, as used for example in semi-endless rolling at finished strip thicknesses below 1 mm.
  • a thickness wedge as used for example in semi-endless rolling at finished strip thicknesses below 1 mm.
  • FIG. 1 shows a system for producing metal strip 6, which comprises a roughing line 2, a finishing line 3 and a cooling section 4. Such systems are typical for the steel and metal industry. Behind the cooling section 4, a reel device 5 is arranged. From her is rolled down in the streets 2 and 3 preferably hot rolled and cooled in the cooling section 4 metal strip 6. The streets 2 and 3, a band source 1 is arranged upstream, for example, as an oven in the Metal slabs are heated, or, for example, as a continuous casting, is produced in the metal strip 6 is formed.
  • the metal strip 6 is made of aluminum or steel, for example.
  • the system and in particular the roads 2, 3 and the cooling section 4 and the at least one reel device 5 are controlled by means of a control method which is carried out by a computing device 13.
  • the computing device 13 is coupled with the individual components 1 to 5 of the plant for steel or aluminum production control technology.
  • the computing device 13 is programmed with a computer program designed as a control program, based on which it carries out the inventive method for controlling or regulating the temperature of the metal strip 6.
  • the metal strip or slab 6 leaves the strip source 1 and is then first rolled in the roughing train 2 to an input thickness for the finishing train 3. Within the finishing train, the belt 6 is then rolled by means of the rolling stands 3 'to its final thickness. The subsequent cooling section 4 cools the belt 6 to a predetermined reel temperature.
  • FIG. 2 shows the finishing train 3 with its rolling stands 3 'closer and illustrates the inventive model-predictive control of the finishing train 3.
  • the finishing train 3 is limited by its beginning x A and its end x E.
  • the system dynamics in the finishing train 3 is characterized in terms of Temperatur. trim relatively large dead times 105.
  • the influence of a change in the coolant flow 8 to the temperature at the end x A of the finishing train 3 can only be observed when the first belt point P 0 , P 1, which was influenced by this change, leaves the last rolling stand 3 '.
  • the strip temperature control 17 is designed as a model-predictive control.
  • the computing device 13 for controlling the plant of the steel industry and in particular for controlling the finishing train 3 has a belt temperature model 12 and a belt temperature control 17.
  • the belt temperature model 12 and the belt temperature control 17 preferably operate cyclically in control steps.
  • the strip temperature control 17 has a control device 14 which controls or regulates the coolant flow 8 of the intermediate-frame cooling devices 7 and the mass flow 16 of the metal strip 6, that is, in particular its speed v.
  • the control device 14 is preceded by a linearized model 15, which is processed by means of a quadratic programming.
  • the online monitor 9 uses a model for determining the current strip temperature and preferably the phase state of the metal strip 6 within the finishing train 3.
  • the module 12 for online determination of the strip temperature therefore has a not shown in detail in the drawing belt temperature model.
  • the band temperature model makes it possible, for example, to predict the final temperature of band points P 0 , P 1 , ie in particular the temperature of the band points PO, P1, at location x E. Based on this, a linearized model 15 is created, which determines the strip temperature for an operating point of the finishing train 3 for a given change in the coolant flow 8 and / or given change in the mass flow 16.
  • new correction values for coolant 8 and mass flow 16 are determined, taking into account setpoint values for strip intermediate temperatures, preferably within the finishing train, or given setpoint values for the final temperature of the strip 6 in the finishing train 3 become.
  • the linearization of the belt temperature model results in a quadratic programming problem that can be solved sufficiently fast for on-line control of the belt temperature.
  • the task of the online monitor 9 is to determine the current state, ie in particular all intermediate temperatures required for the control or regulation, of the metal strip 6 of the finishing train 3.
  • the data 102 present at the output of the online monitor 9 preferably also include real-time model corrections.
  • Tape data 101 actually measured in the finishing line and in particular temperatures may not always be present and as a rule only at a few specific locations, sometimes only at the locations x A and x E.
  • the online adaptation 10 uses data 102 calculated by the online monitor 9, in particular temperatures determined by the online monitor 9, and preferably measured temperatures 101.
  • correction factors are determined, which are used in particular for the correction of model errors in the online monitor 9.
  • actually measured temperatures 101 are compared with calculated temperatures 102.
  • the online adaptation 10 is coupled both to the online monitor 9 and to the module 11 for the prediction of the temperature of selected band points.
  • data originating from the output side of the online adaptation 10 is present at the input side of the module 11 for prediction of the strip temperature.
  • the module 11 can further process data determined by the online monitor 9.
  • the belt temperature calculated by the module 11 is forwarded to the belt temperature control 17.
  • the belt temperature prediction module 11 also uses the belt temperature model of the belt temperature online module 12.
  • Input variables of the strip temperature control 17 or of the linearized model 15 are the actual temperature profile determined by the strip temperature model and a predetermined target temperature profile.
  • the desired temperature profile is specified depending on the type of installation, the operating mode, the respective job and the desired properties of the metal strip 6.
  • the belt temperature control 17 uses input data 103 calculated by the belt temperature model 12. In this case, control specifications can be used particularly flexibly since the online monitor 9 can determine any intermediate temperature of the belt 6 within the finishing mill 3, even if no corresponding measured values are available.
  • Figure 3 illustrates schematically problems relevant to model-predictive control, such as arise when metal is to be rolled in the ferrite phase state region.
  • T d 2 at the end X E of the finishing train 3 is preferably used further temperature setpoints T d 0 , T d 1 within the finishing mill 3. If, for example, the rolling operations of the two first rolling stands 3 'of the finishing train 3 in austenite region, the remaining rolling operations, that is, the rolling operations of the downstream roll stands 3 ', however, be carried out in the ferrite region needed to at least three as shown in Figure 3 target temperatures T d 0, T d 1, T d. 2
  • the first setpoint temperature T d 0 after the second rolling stand is to ensure that the temperature of the rolling operations in the first two rolling stands is above the transition temperature between the phase state areas.
  • the second temperature setpoint T d 1 is to ensure the phase transition before the third rolling stand of the finishing train 3. If possible, a final temperature T d 2 at the end X E of the finishing train 3 should be maintained.
  • the belt temperature control 17 can also respond to short-term temperature fluctuations, which are caused for example by the oven automation. However, this is preferably done by changing the coolant flow 8, and not by changing the belt speed v or the mass flow 16. Short-term temperature fluctuations, for example, local unevenness or folds of the metal strip 6 condition.
  • a coolant flow Q 0 , Q 1 or Q 2 collectively referred to as 8 causes, as far as possible from the technical limits of the inter-frame cooling devices 7, which are preferably designed as coolant or water valves 7 , lies away.
  • the greatest possible freedom is achieved at the inter-frame cooling devices 7 to later, ie in subsequent control steps, to be able to respond to short-term temperature fluctuations.
  • the coolant flow Q 0 , Q 1 , Q 2 of a valve 7 can only be changed at a speed which corresponds to the dynamics of the respective valve 7 and must not outside technically conditioned minimum Q. max i or maximum values Q max i are.
  • the mass flow 16 must also be within technical limits, which are determined in particular by a maximum or minimum speed of the metal strip when leaving the finishing train 3. With regard to the mass flow, a lower and an upper limit of the acceleration a of the metal strip 6 must also be taken into account.
  • a prediction temperature T j k for given coolant flow 8 and mass flow 16 and for an adaptation coefficient given for the corresponding control step are calculated with the aid of the belt temperature model.
  • the adaptation coefficient is preferably frozen.
  • the current coolant flow 8 and the current mass flow 16 are set as the operating point.
  • the new forecast temperature T ⁇ k j can then be expressed as T k j + ⁇ ⁇ T k j .
  • ⁇ ⁇ T k j ⁇ ⁇ T k j ⁇ ⁇ ⁇ u i j . ⁇ ⁇ u i j + 1 j . ... ⁇ ⁇ u j kj j . ⁇ ⁇ a . ⁇ ⁇ s ,
  • the strip temperature is predicted so far into the future until a strip point P 0 reaches the last temperature setpoint T d 2 .
  • this is at the end x E of the finishing train 3, where preferably a not shown in detail in the drawing pyrometer measures the actual temperature of the metal strip 6.
  • the model-predictive prediction always takes place for individual control steps .DELTA.t.
  • Figures 4 and 5 illustrate the different setting horizon for the coolant flow (see Figure 4) and the Mass flow (see Figure 5).
  • the abscissa represents a time axis.
  • the mass flow 16 is preferably influenced by the belt speed v, wherein the control horizon is preferably limited to a single control step. Subsequently, offset ⁇ s and acceleration change ⁇ a are preferably assumed to be constant (see FIG. 5). On the other hand, short-term temperature fluctuations are preferably influenced by the coolant flow Q j .
  • temperature prediction values are preferably used for band points P j , which lie in front of the corresponding intermediate-frame cooling device 7 in the mass flow direction, so that the band points P j reach the corresponding intermediate-frame cooling device only after the dead time 105 of the corresponding valve 7 plus the computing time has expired ,
  • Minimizing the equation (II) taking into account the corresponding control limits, especially those mentioned above, means solving a problem of non-linear programming, which is usually extremely computationally intensive and needs to be accelerated in order to be on-line.
  • Control steps .DELTA.t can take place according to the invention, for example, every 200 milliseconds.
  • Q i j act ⁇ S ⁇ k j T k 0 ⁇
  • a act ⁇ S ⁇ k j T k 0 ⁇
  • f is a scalar
  • H a symmetric, positive semidefinite NxN matrix, which is positive definite, if the positive parameters ⁇ , ⁇ , and ⁇ are chosen to be sufficiently large.
  • the remaining variables are n-dimensional column vectors.
  • the inequality (IX) is to be understood component by component.
  • an active set strategy is preferably used.
  • travel diagrams for the rolling speed v and / or for the water ramps or coolant ramps of the interstand cooling (7) are particularly advantageously calculated and maintained with particularly high accuracy.
  • a flexible control method which is also applicable to other parts of the plant, such as e.g. in particular the roughing 2 or the cooling section 4, can be used.
  • a more than one part of the system 1 to 5 cross-application of the invention is possible.
  • Particularly advantageous is the use of the invention in two-phase rolling and driving a thickness wedge during the rolling of a semi-endless slab.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Crystallography & Structural Chemistry (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (AREA)
  • Organic Chemistry (AREA)
  • Control Of Metal Rolling (AREA)
  • Metal Rolling (AREA)
  • Control Of Heat Treatment Processes (AREA)

Claims (15)

  1. Procédé de commande et/ou de régulation de la température d'une bande métallique (6) dans un train finisseur (3), procédé dans lequel, pour déterminer des signaux de consigne, on compare une courbe de température de consigne à une courbe de température effective, et, en prenant en compte des conditions secondaires, on forme au moins une fonction de performance pour des éléments de commande de l'installation dans le train finisseur (3), caractérisé en ce que l'on détermine une courbe de température pour les points (P0, P1, P2, ou Pj) individuels de la bande (6) métallique.
  2. Procédé selon la revendication 1, caractérisé en ce que la fonction de performance est résolue par résolution d'un problème d'optimisation.
  3. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'une température de consigne (Td 2) est prédéfinie à l'extrémité du train finisseur (3).
  4. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'au moins une température de consigne (Td 0, Td 1) est prédéfinie dans le train finisseur (3).
  5. Procédé selon l'une des revendications précédentes, caractérisé en ce que la courbe de température effective de la bande métallique (6) est déterminée à l'aide d'au moins un modèle (9 ou 12).
  6. Procédé selon la revendication 5, caractérisé en ce que le modèle (9) est adapté en ligne.
  7. Procédé selon l'une des revendications précédentes, caractérisé en ce que les signaux de commande sont déterminés pour le débit du réfrigérant (8).
  8. Procédé selon l'une des revendications précédentes, caractérisé en ce que les signaux de commande sont déterminés pour le débit massique (16).
  9. Procédé selon l'une des revendications précédentes, caractérisé en ce que, pour résoudre la fonction de performance, on résout en ligne un problème d'optimisation avec des conditions secondaires linéaires.
  10. Procédé selon la revendication 9, caractérisé en ce que c'est un problème d'optimisation quadratique qui est résolu.
  11. Procédé selon la revendication 9 ou 10, caractérisé en ce que le problème d'optimisation est résolu à l'aide d'une stratégie Active-Set (à ensemble actif).
  12. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'un algorithme de séquence des passes, pouvant fonctionner en ligne, est calculé au préalable par une optimisation non linéaire avec des conditions secondaires.
  13. Produit de programme informatique comportant des moyens de code de programme appropriés pour effectuer les stades d'un procédé selon l'une des revendications précédentes lorsque le produit de programme informatique est réalisé sur un dispositif de calcul.
  14. Dispositif de calcul (13) pour la mise en oeuvre du procédé selon l'une des revendications 1 à 12, dans lequel le dispositif (13) de calcul influe directement et/ou indirectement sur la température de la bande métallique (6), caractérisé en ce que le dispositif de calcul est programmé par un produit de programme informatique suivant la revendication 13.
  15. Dispositif de calcul (13) selon la revendication 14, caractérisé en ce qu'il comprend un module (12) destiné à déterminer en ligne la température de la bande à l'aide d'un modèle, et un module (17) pour la régulation de la température de la bande.
EP04710836A 2003-02-25 2004-02-13 Procede de regulation de la temperature d'une bande metallique, en particulier dans un train finisseur pour le laminage a chaud de bandes metalliques Expired - Lifetime EP1624982B2 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10308222 2003-02-25
DE2003121791 DE10321791A1 (de) 2003-05-14 2003-05-14 Verfahren zur Regelung der Temperatur eines Metallbandes, insbesondere in einer Fertigstraße zum Walzen von Metall-Warmband
PCT/EP2004/001366 WO2004076086A2 (fr) 2003-02-25 2004-02-13 Procede de regulation de la temperature d'une bande metallique, en particulier dans un train finisseur pour le laminage a chaud de bandes metalliques

Publications (3)

Publication Number Publication Date
EP1624982A2 EP1624982A2 (fr) 2006-02-15
EP1624982B1 true EP1624982B1 (fr) 2007-04-25
EP1624982B2 EP1624982B2 (fr) 2011-06-15

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EP04710836A Expired - Lifetime EP1624982B2 (fr) 2003-02-25 2004-02-13 Procede de regulation de la temperature d'une bande metallique, en particulier dans un train finisseur pour le laminage a chaud de bandes metalliques

Country Status (7)

Country Link
US (1) US7310981B2 (fr)
EP (1) EP1624982B2 (fr)
JP (1) JP2006518670A (fr)
AT (1) ATE360483T1 (fr)
DE (1) DE502004003617D1 (fr)
NO (1) NO20054156L (fr)
WO (1) WO2004076086A2 (fr)

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EP2280323A1 (fr) 2009-07-08 2011-02-02 Siemens Aktiengesellschaft Procédé de commande pour un dispositif d'influence destiné à un produit de laminage
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EP3089833B2 (fr) 2013-12-20 2022-08-10 Novelis Do Brasil LTDA. Changement dynamique de réduction (dsr) pour réguler la température dans des laminoirs en tandem
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EP3599037A1 (fr) * 2018-07-25 2020-01-29 Primetals Technologies Germany GmbH Section de refroidissement à réglage de flux de liquide de refroidissement à l'aide des pompes
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JP7368729B2 (ja) * 2020-02-14 2023-10-25 日本製鉄株式会社 圧延装置の制御装置、圧延装置の制御方法、及び圧延装置の制御プログラム
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WO2011009819A1 (fr) * 2009-07-23 2011-01-27 Siemens Aktiengesellschaft Procédé de commande et/ou de régulation d’un four à induction pour une installation de laminage, dispositif de commande et/ou de régulation pour une installation de laminage et installation de laminage pour la fabrication d’un produit de laminage
EP2287345A1 (fr) * 2009-07-23 2011-02-23 Siemens Aktiengesellschaft Procédé de commande et/ou de réglage d'un four à induction pour un laminoir, dispositif de commande et/ou de réglage pour un laminoir et laminoir destiné à la fabrication d'un produit de laminage

Also Published As

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US7310981B2 (en) 2007-12-25
EP1624982A2 (fr) 2006-02-15
ATE360483T1 (de) 2007-05-15
NO20054156L (no) 2005-09-07
EP1624982B2 (fr) 2011-06-15
DE502004003617D1 (de) 2007-06-06
JP2006518670A (ja) 2006-08-17
US20060156773A1 (en) 2006-07-20
WO2004076086A2 (fr) 2004-09-10
WO2004076086A3 (fr) 2004-11-18

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