EP1986795B1 - Method for suppressing the influence of roll eccentricities - Google Patents
Method for suppressing the influence of roll eccentricities Download PDFInfo
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- EP1986795B1 EP1986795B1 EP07703793.5A EP07703793A EP1986795B1 EP 1986795 B1 EP1986795 B1 EP 1986795B1 EP 07703793 A EP07703793 A EP 07703793A EP 1986795 B1 EP1986795 B1 EP 1986795B1
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- rolling
- roll
- tensile force
- run
- thickness
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- 238000000034 method Methods 0.000 title claims description 44
- 238000005096 rolling process Methods 0.000 claims description 75
- 230000008569 process Effects 0.000 claims description 27
- 238000004590 computer program Methods 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims 1
- 238000011144 upstream manufacturing Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 6
- 230000000737 periodic effect Effects 0.000 description 4
- 230000001629 suppression Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
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- 230000000694 effects Effects 0.000 description 2
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- 241001136792 Alle Species 0.000 description 1
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
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- 230000008859 change Effects 0.000 description 1
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- 239000010959 steel Substances 0.000 description 1
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Images
Classifications
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- 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
- B21B37/58—Roll-force control; Roll-gap control
- B21B37/66—Roll eccentricity compensation systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2261/00—Product parameters
- B21B2261/02—Transverse dimensions
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B27/00—Rolls, roll alloys or roll fabrication; Lubricating, cooling or heating rolls while in use
- B21B27/02—Shape or construction of rolls
- B21B27/03—Sleeved rolls
- B21B27/032—Rolls for sheets or strips
-
- 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
- B21B38/06—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product for measuring tension or compression
-
- 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
- B21B38/08—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product for measuring roll-force
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/45—Scale remover or preventor
- Y10T29/4517—Rolling deformation or deflection
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49462—Gear making
- Y10T29/49467—Gear shaping
- Y10T29/49471—Roll forming
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49481—Wheel making
- Y10T29/49492—Land wheel
- Y10T29/49524—Rim making
- Y10T29/49531—Roller forming
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5197—Multiple stations working strip material
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5198—Continuous strip
Definitions
- the invention relates to a method for suppressing the influence of roll eccentricities on the outlet thickness of a rolling stock which passes through a roll stand, wherein the roll eccentricities are identified using a process model and taken into account in determining a correction signal for at least one control device for an actuator of the rolling stand.
- the frequency spectrum of the eccentricities and the disturbances they cause in the band essentially comprises the fundamental frequencies of the upper and lower support rollers; but there are also higher harmonic harmonics, but often occur only with reduced amplitudes in appearance. Due to slightly different diameters and speeds of the upper and lower support roller, the frequencies assigned to the support rollers may differ from one another.
- the EP 0 170 016 B1 describes a method of the type mentioned above, wherein the influence of roll eccentricities in the position or thickness control of rolling stands is compensated, wherein the roll eccentricities are identified on the basis of a measurement of the rolling force in the roll stand.
- oil pressure sensors are usually used, the measured values are significantly distorted by friction influences. This requires that no sufficient Reliable and effective suppression of the influence of roller eccentricities can be done with the help of the measuring instruments. More reliable and accurate measuring methods for the rolling force are too expensive and too expensive.
- JP 04 200 915 A Of the JP 04 200 915 A a similar disclosure can be found.
- the object of the invention is to provide a method for suppressing the influence of roller eccentricities, which avoids the known from the prior art and in particular the disadvantages described above.
- the object is achieved by a method for suppressing the influence of Walzenexzentrizticianen on the outlet thickness of a rolling stock having the features of claim 1.
- Advantageous embodiments of this method are the subject of the dependent claims 2 to 5.
- FIG. 1 shows schematically and by way of example a rolling mill 1 of a rolling train for rolling a rolled material 10.
- the rolling mill for rolling the rolling stock 10 has one or more such rolling stands 1 on.
- a further roll stand, a reel device, a cooling device and / or another device, for example for thermal and / or mechanical Walzgutbeein kgung and / or means for transporting the rolling stock 10 may be provided.
- the rolling stock 10 is preferably a band, a profile, a wire or a slab.
- the rolling stock 10 may be a metal strip, for example a steel strip, a non-ferrous metal strip or an aluminum strip.
- a rolling stand 1 has at least one upper support roller 4 with a radius R o and at least one lower support roller 5 with a radius R u .
- the rolling stand 1 shown has at least one upper work roll 2 and at least one lower work roll 3, wherein the diameter of the work rolls 2 and 3 is usually smaller than the diameter of the support rollers 4 and 5.
- an actuatable via a control valve 6 hydraulic adjusting device 7 is provided.
- an electromechanical adjusting system can also be provided.
- the adjusting device 7 and the Anstellsystem not shown serve to adjust the roller adjustment s.
- the hydraulic adjustment 7 is supported on the scaffolding frame.
- the elastic scaffolding is symbolically represented by a spring with the spring constant C G.
- the rolling stand 1 is traversed by the rolling stock 10, wherein the thickness of the rolling stock 10 is reduced when passing through the roll gap with the aid of the work rolls 2, 3 of the inlet thickness h e to the outlet thickness h a .
- the rolling stock 10, which is assigned an equivalent material spring with the spring constant C M in the roll gap, enters the roll gap at the entry speed v SE and leaves the roll gap at the exit speed v SL .
- the roll eccentricities of the upper back-up roll 4 and the lower back-up roll 5, respectively, may be due to uneven roll wear, deformation due to thermal stresses, and / or the deviations of the geometric cylinder axis of the rolls from the operationally-setting rotation axes.
- the roll eccentricities are denoted by ⁇ R o or ⁇ R u , ie deviations from the ideal back-up roll radii R o or R u .
- the measurement of the rolling speed n o or n u of the upper and lower support rollers 4 and 5 is used to determine the fundamental vibration of Walzenexzentrizticianen. Under the simplifying condition that the upper and lower rollers of the roll stand 1 rotate at the same speed, it is sufficient to detect the speed of only one driven roller, eg the lower work roll 3, by means of a tachometer 11.
- the support rollers 4 and 5, the eccentricity-bearing rollers so in at least one conversion unit 14 and 12, the measured speed of the work roll 2 and 3 on the ratio of the diameter of the Work roll 2 or 3 to the diameter of the support roller 4 and 5 in the speed n o or n u of the support roller 4 and 5 converted. Since in general the speeds of the upper rollers 4, 2 and the lower rollers 5, 3 are different due to slightly different diameters, in the embodiment shown, both a tachometer 13 above the rolling stock 10 and a tachometer 11 below the rolling stock 10, respectively subordinate conversion unit 14 or 12 for detecting the rotational speed n o or n u provided.
- the roll adjustment s is measured with a position sensor 9 on the adjusting device 7 or on the positioning system.
- the roller adjustment s is fed to a control device 18.
- the control device 18 is supplied with at least one roller speed n o or n u .
- a tension measuring device 8 for measuring the tensile force F z prevailing in the rolling stock 10 is provided in front of the rolling stand 1.
- the tension measuring device 8 can, as in FIG. 1 indicated, have a measuring roller for tension measurement. This measuring roller may preferably be formed segmented.
- the tension measuring device 8 can also be designed as a contact-free tension measuring device.
- a corresponding device for non-contact measurement of the tensile force F z in a rolling stock 10 designed as a metal strip is shown for example in US Pat DE 198 39 286 B4 described.
- the control device 18 has a process model 27.
- the process model 27 is based on an observer and models the behavior of the roll gap and the rolls 2 to 5.
- the process model 27 is frequency guided by means of the rolling speed, ie, for example, using the determined rolling speeds n o or n u .
- the time course of the disturbances to be modeled is periodic, but not purely sinusoidal. This means that the vibration to be modeled consists of a fundamental vibration and several harmonics.
- sinusoidal correction target values assigned to the eccentricity frequencies are calculated for an actuator of the roll stand 1 with the appropriate phase position and amplitude for the position of the roll gap control.
- the correction setpoint values can be given via a control device 19 and optionally via a control valve 6 to the adjusting device 7 or to a positioning system.
- the required strip thickness ie the outlet thickness h a of the rolling stock 10
- Thickness deviations caused by the roll eccentricity ⁇ R o or ⁇ R u can thus be avoided.
- the thickness of the rolling stock 10, for example the outlet thickness h a can be measured by means of a thickness gauge 16.
- FIG. 2 shows schematically and exemplarily the structure used for the identification of roll eccentricities according to the observer principle.
- a desired value s * of the setting position both a real process 29, as it expires, for example, in one of a rolling stock 10 continuous rolling stand 1 (see FIG. 1 ), as well as an observer module 30 supplied.
- the observer module 30 has the process model 27, by means of which roll eccentricities can be identified and with the aid of which the identified roll eccentricities ⁇ R i can be provided for compensation purposes.
- an identified run-out thickness h ai can preferably be determined, which can be linked to the measured tensile force F z to determine an observer error e.
- the measured tensile force F z is first fed to a module 21 in the measuring channel, which takes into account the transmission behavior from the outlet thickness to the strip tension inverse. With the aid of the module 21, the measured value of the tensile force F z is thus converted to the outlet thickness and compared with the identified outlet thickness h ai determined with the aid of the process model 27. The difference e resulting from this comparison constitutes the observer error e.
- the states of the process model 27 are corrected, taking account of the observer error e, until the measurement and the model at least largely coincide and the observer error e is sufficiently low or zero. Then, the roll eccentricities ⁇ R i identified in the process model 27 also agree with those actually in the roll stand 1 (see FIG FIG. 1 ) match existing roll eccentricities.
- the identified by the observer module 30 identified Walzenexzentrizmaschineen .DELTA.R i allow extremely reliable and accurate eccentricity compensation.
- FIG. 3 shows by way of example how the transmission behavior from the setting position to the strip tension can be taken into account when using the tensile force F z for identifying and suppressing roll eccentricities.
- a module 21 is preferably provided in the measuring channel, which takes into account the transmission behavior from the outlet thickness to the strip tension inverse.
- the measured values of the tensile force F z are linked to the corresponding transfer function H yak . This can be done, for example, by multiplication with a factor which corresponds to the inverse transfer function H zug .
- an adaptation circuit can be provided which takes into account the dependence on the rolling stock speed V B.
- the process model 27 is preferably the behavior of the process 29 of the setting position s or from the setpoint s * the setting position to the outlet thickness h a after. If, alternatively or in addition to the tensile force F z, the rolling force F w is to be taken into account in the process model 27, then it is expedient to provide a module 28 in the measuring channel of the rolling force F w , which has a suitable transfer characteristic.
- FIG. 4 shows an example of the use of an inlet thickness compensation in connection with the method according to the invention.
- a thickness gauge 17 is provided in front of the roll stand 1, by means of which a measured inlet thickness h em is detected.
- the shown inlet thickness compensation module 22 has a tape tracking module 23.
- the tape tracking module 23 By means of the tape tracking module 23, the measured inlet thickness h em is traced to the mill stand 1. With the aid of the inlet velocity v SE , a tracked inlet thickness h ev is determined.
- the tape tracking module 23 preferably operates model-based.
- the inlet thickness compensation module 22 has at least one compensation model 24, 25, 26 with the aid of which the influence of the inlet thickness h e on the outlet thickness h a is determined as a function of the measured variable m E or the corresponding measured value. Since the quality of the inlet thickness compensation depends essentially on the compensation model (s) 24, 25, 26 used, in the example shown a compensation model 24 for the use of the outlet thickness h a as the measured variable m E , a compensation model 25 for the use of the rolling force F w as the measured variable m E and a compensation model 24 for the use of the tensile force F z as the measured variable m E provided.
- the compensation signal given by the inlet thickness compensation module 22 is included in FIG the corresponding measured value of the measured variable m E linked to form a compensated measured variable m K.
- Periodic thickness variations resulting from the inlet thickness with frequencies nearly equal to the eccentricity frequencies can disturb the identification of the roll eccentricities. Therefore, it is possible to provide an inlet thickness compensation which determines and compensates the influence of the inlet thickness fluctuations on the measured variable m E used and thus eliminates this type of disturbance.
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Description
Die Erfindung betrifft ein Verfahren zur Unterdrückung des Einflusses von Walzenexzentrizitäten auf die Auslaufdicke eines Walzgutes, welches ein Walzgerüst durchläuft, wobei die Walzenexzentrizitäten unter Verwendung eines Prozessmodells identifiziert werden und bei der Ermittlung eines Korrektursignals für mindestens eine Steuervorrichtung für ein Stellglied des Walzgerüstes berücksichtigt werden.The invention relates to a method for suppressing the influence of roll eccentricities on the outlet thickness of a rolling stock which passes through a roll stand, wherein the roll eccentricities are identified using a process model and taken into account in determining a correction signal for at least one control device for an actuator of the rolling stand.
In Walzgerüsten finden sich häufig beispielsweise durch ungenau gearbeitete Stützwalzen oder durch nicht exakte Lagerung der Stützwalzen bedingte Exzentrizitäten der Walzen, die die Qualität des gewalzten Bandes beeinträchtigen, wobei sich je nach Steifigkeit des Walzgerüstes und des Walzgutes die Walzenexzentrizitäten mit der Drehzahl der exzentrizitätsbehafteten Walzen, in der Regel der Stützwalzen, in dem Band abbilden. Das Frequenzspektrum der Exzentrizitäten und der von ihnen hervorgerufenen Störungen im Band beinhaltet im Wesentlichen die Grundfrequenzen der oberen und unteren Stützwalzen; es sind aber auch höhere harmonische Oberschwingungen vorhanden, die allerdings häufig nur mit verminderten Amplituden in Erscheinung treten. Aufgrund geringfügig unterschiedlicher Durchmesser und Drehzahlen der oberen und unteren Stützwalze können die den Stützwalzen zugeordneten Frequenzen voneinander abweichen.In rolling stands are often found, for example, by inaccurately machined support rollers or by non-exact storage of the support rollers conditional eccentricities affecting the quality of the rolled strip, depending on the rigidity of the rolling mill and the rolling Walzenxzentrizitäten with the speed of the eccentric rollers, in the rule of the backup rolls, in the tape map. The frequency spectrum of the eccentricities and the disturbances they cause in the band essentially comprises the fundamental frequencies of the upper and lower support rollers; but there are also higher harmonic harmonics, but often occur only with reduced amplitudes in appearance. Due to slightly different diameters and speeds of the upper and lower support roller, the frequencies assigned to the support rollers may differ from one another.
Die
Aus der
Aus der
Der
Aufgabe der Erfindung ist es, ein Verfahren zur Unterdrückung des Einflusses von Walzenexzentrizitäten bereitzustellen, welches die aus dem Stand der Technik bekannten und insbesondere die vorangehend beschriebenen Nachteile vermeidet.The object of the invention is to provide a method for suppressing the influence of roller eccentricities, which avoids the known from the prior art and in particular the disadvantages described above.
Die Aufgabe wird durch ein Verfahren zur Unterdrückung des Einflusses von Walzenexzentrizitäten auf die Auslaufdicke eines Walzgutes mit den Merkmalen des Anspruchs 1 gelöst. Vorteilhafte Ausgestaltungen dieses Verfahrens sind Gegenstand der abhängigen Ansprüche 2 bis 5.The object is achieved by a method for suppressing the influence of Walzenexzentrizitäten on the outlet thickness of a rolling stock having the features of
Die der Erfindung zugrunde liegende Aufgabe wird auch gelöst durch ein Computerprogrammprodukt gemäß Patentanspruch 6.The object underlying the invention is also achieved by a computer program product according to claim 6.
Nachfolgend werden Vorteile und Einzelheiten der Erfindung beispielhaft und mit Bezug auf die Zeichnungen beschrieben. Es zeigen:
- FIG 1
- ein Walzgerüst in Verbindung mit einer Regelvorrichtung mit einem Prozessmodell,
- FIG 2
- eine schematische Darstellung des zum Identifizieren der Walzenexzentrizitäten verwendeten Beobachter-Prinzips,
- FIG 3
- die Ankopplung der Zugmessung an das Prozessmodell,
- FIG 4
- eine Einlaufdickenkompensation für die verwendeten Messwerte.
- FIG. 1
- a rolling stand in conjunction with a control device with a process model,
- FIG. 2
- a schematic representation of the observer principle used to identify the roller eccentricities,
- FIG. 3
- the coupling of the tension measurement to the process model,
- FIG. 4
- an inlet thickness compensation for the measured values used.
Ein Walzgerüst 1 weist mindestens eine obere Stützwalze 4 mit einem Radius Ro und mindestens eine untere Stützwalze 5 mit einem Radius Ru auf. Das gezeigte Walzgerüst 1 weist mindestens eine obere Arbeitswalze 2 und mindestens eine untere Arbeitswalze 3 auf, wobei der Durchmesser der Arbeitswalzen 2 bzw. 3 in der Regel kleiner ist als der Durchmesser der Stützwalzen 4 bzw. 5. Im gezeigten Beispiel ist zur Regelung der Anstellposition des Walzgerüsts 1 eine über ein Steuerventil 6 betätigbare hydraulische Anstellvorrichtung 7 vorgesehen. Alternativ oder zusätzlich kann auch ein elektromechanisches Anstellsystem vorgesehen sein. Die Anstellvorrichtung 7 bzw. das nicht näher dargestellte Anstellsystem dienen zur Einstellung der Walzenanstellung s. Die hydraulische Anstellung 7 stützt sich auf dem Gerüstrahmen ab. Der elastische Gerüstrahmen ist symbolisch durch eine Feder mit der Federkonstanten CG dargestellt.A rolling
Das Walzgerüst 1 wird von dem Walzgut 10 durchlaufen, wobei die Dicke des Walzgutes 10 beim Durchlaufen des Walzspalts unter Zuhilfenahme der Arbeitswalzen 2, 3 von der Einlaufdicke he auf die Auslaufdicke ha verringert wird. Das Walzgut 10, dem im Walzspalt eine äquivalente Materialfeder mit der Federkonstanten CM zugeordnet wird, läuft mit der Einlaufgeschwindigkeit vSE in den Walzspalt ein und verlässt den Walzspalt mit der Auslaufgeschwindigkeit vSL.The rolling
Die Walzenexzentrizitäten der oberen Stützwalze 4 bzw. der unteren Stützwalze 5 können ihre Ursache in ungleichmäßiger Walzenabnutzung, Verformungen durch Wärmespannungen und/oder den Abweichungen der geometrischen Zylinderachse der Walzen von den betrieblich sich einstellenden Rotationsachsen haben. Die Walzenexzentrizitäten sind mit ΔRo bzw. ΔRu, d.h. als Abweichungen von den idealen Stützwalzenradien Ro bzw. Ru bezeichnet.The roll eccentricities of the upper back-up roll 4 and the lower back-
Die Messung der Walzendrehzahl no bzw. nu der oberen bzw. der unteren Stützwalze 4 bzw. 5 dient zur Ermittlung der Grundschwingung der Walzenexzentrizitäten. Unter der vereinfachenden Voraussetzung, dass sich die Ober- und Unterwalzen des Walzgerüsts 1 gleich schnell drehen, genügt es, die Drehzahl lediglich einer angetriebenen Walze, z.B. der unteren Arbeitswalze 3 mittels eines Drehzahlmessers 11 zu erfassen.The measurement of the rolling speed n o or n u of the upper and
Sind, wie in den meisten Fällen, die Stützwalzen 4 und 5 die exzentrizitätsbehafteten Walzen, so wird in mindestens einer Umrechnungseinheit 14 bzw. 12 die gemessene Drehzahl der Arbeitswalze 2 bzw. 3 über das Verhältnis des Durchmessers der Arbeitswalze 2 bzw. 3 zum Durchmesser der Stützwalze 4 bzw. 5 in die Drehzahl no bzw. nu der Stützwalze 4 bzw. 5 umgerechnet. Da in der Regel die Drehzahlen der oberen Walzen 4, 2 und der unteren Walzen 5, 3 aufgrund geringfügig verschiedener Durchmesser unterschiedlich sind, ist bei dem gezeigten Ausführungsbeispiel sowohl ein Drehzahlmesser 13 oberhalb des Walzgutes 10 als auch ein Drehzahlmesser 11 unterhalb des Walzgutes 10 mit jeweils nachgeordneter Umrechnungseinheit 14 bzw. 12 zur Erfassung der Drehzahl no bzw. nu vorgesehen.Are, as in most cases, the
Die Walzenanstellung s wird mit einem Positionsaufnehmer 9 an der Anstellvorrichtung 7 bzw. am Anstellsystem gemessen. Die Walzenanstellung s wird einer Regelvorrichtung 18 zugeführt. Zur Walzenexzentrizitätsidentifizierung und Unterdrückung wird der Regelvorrichtung 18 mindestens eine Walzendrehzahl no oder nu zugeführt. Des Weiteren ist eine Zugmessvorrichtung 8 zur Messung der im Walzgut 10 herrschenden Zugkraft Fz vor dem Walzgerüst 1 vorgesehen. Die Zugmessvorrichtung 8 kann wie in
Zur Identifizierung und/oder Unterdrückung von Walzenexzentrizitäten weist die Regelvorrichtung 18 ein Prozessmodell 27 auf. Das Prozessmodell 27 basiert auf einem Beobachter und modelliert das Verhalten des Walzspaltes und der Walzen 2 bis 5. Das Prozessmodell 27 wird dabei frequenzmäßig mit Hilfe der Walzgeschwindigkeit, d.h. z.B. mit Hilfe der ermittelten Walzendrehzahlen no bzw. nu geführt. Der Zeitverlauf der zu modellierenden Störungen ist zwar periodisch, aber nicht rein sinusförmig. D.h. die zu modellierende Schwingung setzt sich aus einer Grundschwingung und mehreren Oberschwingungen zusammen.For the identification and / or suppression of roll eccentricities, the
Im Prozessmodell 27 werden den Exzentrizitätsfrequenzen zugeordnete sinusförmige Korrektursollwerte für ein Stellglied des Walzgerüstes 1 mit der passenden Phasenlage und Amplitude für die Position der Walzspaltregelung berechnet. Wie in
Alternativ oder zusätzlich ist es möglich, beispielsweise mittels eines Druckfühlers 15 die Walzkraft Fw zu messen und bei der Identifizierung und Unterdrückung von Walzenexzentrizitäten zu berücksichtigen.Alternatively or additionally, it is possible to measure, for example by means of a
Mittels eines Dickenmessgerätes 16 kann alternativ oder zusätzlich die Dicke des Walzgutes 10, beispielsweise die Auslaufdicke ha, gemessen werden.Alternatively or additionally, the thickness of the rolling
Wie im in
Wie auch dem in
Im gezeigten Beispiel weist das Einlaufdickenkompensationsmodul 22 mindestens ein Kompensationsmodell 24, 25, 26 auf, mit Hilfe dessen in Abhängigkeit von der verwendeten Messgröße mE bzw. des entsprechenden Messwerts der Einfluss der Einlaufdicke he auf die Auslaufdicke ha ermittelt wird. Da die Güte der Einlaufdickenkompensation wesentlich von dem oder den verwendeten Kompensationsmodellen 24, 25, 26 abhängt, sind im gezeigten Beispiel ein Kompensationsmodell 24 für die Verwendung der Auslaufdicke ha als Messgröße mE, ein Kompensationsmodell 25 für die Verwendung der Walzkraft Fw als Messgröße mE und ein Kompensationsmodell 24 für die Verwendung der Zugkraft Fz als Messgröße mE vorgesehen. Das vom Einlaufdickenkompensationsmodul 22 gegebene Kompensationssignal wird mit dem entsprechenden Messwert der Messgröße mE zur Bildung einer kompensierten Messgröße mK verknüpft.In the example shown, the inlet
Ein wesentlicher der Erfindung zugrunde liegender Gedanke lässt sich wie folgt zusammenfassen:
- Die Erfindung betrifft ein Verfahren zur Unterdrückung des Einflusses von Walzenexzentrizitäten auf die Auslaufdicke ha eines
Walzgutes 10, welchesein Walzgerüst 1 durchläuft, wobei die Walzenexzentrizitäten unter Verwendung eines Prozessmodells 27 identifiziert werden und bei der Ermittlung eines Korrektursignals für mindestens ein Stellglied, vorzugsweise ein Stellglied für die Anstellposition, desWalzgerüstes 1 berücksichtigt werden, wobei zur Identifizierung derWalzenexzentrizitäten dem Prozessmodell 27 die gemessene Zugkraft Fz im Walzgut 10 zugeführt wird. Erfindungsgemäß werden Zugkraftschwankungen zielgerichtet zur Reduktion der Auswirkungen periodischer Walzenexzentrizitäten aufdas Walzgut 10 zurückgeführt, wohingegen alle anderen Schwankungsquellen ausgeschlossen werden. Das auf dem Beobachter-Prinzip basierende Prozessmodell 27 des Walzspaltes und der Walzen 2bis 5 erzeugt, z.B. unter Zuhilfenahme der gemessenen Zugkraft Fz, der Walzenanstellung s und der Walzengeschwindigkeit bzw. der Walzendrehzahl, zuverlässige Daten über die Walzenexzentrizitäten. Erfindungsgemäß werden vorgegebene Abmessungen des Walzguts 10 gleichmäßiger als bisher erreicht.Zugmessvorrichtungen 8 arbeiten im Vergleich zu Messvorrichtungen für die Dicke he bzw. ha des Walzgutes 10 und im Vergleich zu Messvorrichtungen für die Walzkraft Fw sehr genau und dynamisch. Vorzugsweise werden die in der Zugkraftschwankung enthaltenen und von der Walzenexzentrizität verursachten periodischen Schwingungsanteile gezielt zur Reduktion der exzentrizitätsbedingten, ungewünschtenDickenveränderung im Walzgut 10 verwendet. Auf Schwankungsanteile mit anderen Frequenzen ungleich der Exzentrizitätsfrequenzen wird nicht reagiert.
- The invention relates to a method for suppressing the influence of roll eccentricities on the outlet thickness h a of a rolling
stock 10, which passes through aroll stand 1, wherein the roll eccentricities are identified using aprocess model 27 and in determining a correction signal for at least one actuator, preferably an actuator are taken into account for the setting position of theroll stand 1, wherein theprocess model 27, the measured tensile force F z in the rollingstock 10 is supplied to identify the Walzenexzentrizitäten. According to the invention, traction fluctuations are purposefully attributed to the reduction of the effects of periodic rolling eccentricities on the rollingstock 10, whereas all other sources of fluctuation are excluded. Based on the observer principle, theprocess model 27 of the roll gap and therolls 2 to 5 generates reliable data about the roll eccentricities, eg with the aid of the measured tensile force F z , the roll adjustment s and the roll speed or the roll speed. According to the invention, predetermined dimensions of the rollingstock 10 are achieved more uniformly than hitherto.Tensile measuring devices 8 work very accurately and dynamically compared to measuring devices for the thickness h e and h a of the rollingstock 10 and compared to measuring devices for the rolling force F w . Preferably, the periodic vibration components contained in the tension fluctuation and caused by the roll eccentricity are used specifically for reducing the eccentricity-related, unwanted change in thickness in the rollingstock 10. On fluctuation parts with other frequencies not equal to the eccentricity frequencies is not reacted.
Von der Einlaufdicke herrührende periodische Dickenschwankungen mit Frequenzen, die nahezu gleich den Exzentrizitätsfrequenzen sind, können die Identifikation der Walzenexzentrizitäten stören. Deshalb kann eine Einlaufdickenkompensation vorgesehen werden, welche den Einfluss der Einlaufdickenschwankungen auf die verwendete Messgröße mE ermittelt und kompensiert und derart diese Art von Störung beseitigt.Periodic thickness variations resulting from the inlet thickness with frequencies nearly equal to the eccentricity frequencies can disturb the identification of the roll eccentricities. Therefore, it is possible to provide an inlet thickness compensation which determines and compensates the influence of the inlet thickness fluctuations on the measured variable m E used and thus eliminates this type of disturbance.
Die in bekannten Regelkonzepten einer beispielsweise als Tandemstraße ausgebildeten Walzstrasse vorhandenen Zugregler können auf Grund ihrer eingeschränkten Dynamik nur bei geringer Walzgeschwindigkeit und nur an den vorderen Gerüsten der Tandemstrasse einen Teil der von den Exzentrizitäten verursachten Auswirkungen auf die Dicke vermeiden. Eine erfindungsgemäß ausgebildete Regelvorrichtung 18 zur Unterdrückung des Einflusses von Walzenexzentrizitäten, der die am Walzgut 10 gemessene Zugkraft Fz zugeführt wird, kann an einem Walzgerüst 1 die Kompensation der Exzentrizitätsfrequenzen übernehmen und somit konventionelle Zugregler komplett entlasten.Due to their limited dynamics, only a small rolling speed and only at the front stands of the tandem road can avoid some of the effects on the thickness caused by the eccentricities in known control concepts of a rolling train designed as a tandem mill. An inventively designed
Claims (6)
- Method for suppressing the influence of roll eccentricities on the run-out thickness (ha) of a rolling stock item (10), which passes through a rolling stand (1), wherein the roll eccentricities are identified by the use of a process model (27) and are taken into account in the determination of a correction signal for at least one control device (19) for a final control element of the rolling stand (1), wherein measured values (mE) for the tensile force (Fz) prevailing in the rolling stock item (10) are fed to said at least one process model (27) to identify the roll eccentricities, wherein a run-in thickness compensation is effected on the measured values (mE) used to identify the roll eccentricities.
- Method according to claim 1, wherein the tensile force (Fz) is measured upstream or downstream of the rolling stand (1).
- Method according to claim 1 or 2,- wherein a target value (s*) for the screwdown position (s) is fed to a real process (29), such as e.g. takes place in the rolling stand (1),- wherein the target value (s*) for the screwdown position (s) is also fed to the model (27),- wherein the model (27) determines an identified run-out thickness (hai) by taking account of the identified roll eccentricities,- wherein the measured values (mE) for the tensile force (Fz) are fed to a module (21) which takes inverse account of the transfer behaviour of the tensile force (Fz) prevailing in the rolling stock item (10) as a function of the screwdown position (s), so that a run-out thickness (hai) of the rolling stock item (10) is determined on the basis of the captured tensile force (Fz),- wherein an observer error (e) is determined on the basis of the difference between the identified run-out thickness (hai) determined on the basis of the model (27) and the run-out thickness (ha) determined on the basis of the captured tensile force (Fz),- wherein the observer error (e) is fed to the model (27),- wherein the roll eccentricities are corrected on the basis of the observer error (e), until the observer error (e) is sufficiently small or zero.
- Method according to claim 3, wherein the dependency on the strip speed (vB) is taken into account in an adaptive manner in the determination of the determined run-out thickness (ha).
- Method according to one of claims 1 to 4, wherein the process model (27) describes at least the rolling nip and the rolls of the rolling stand (1).
- Computer program product encompassing program code means suitable for carrying out all the steps of a method according to one of the preceding claims whenever the computer program product is executed on a data processing system.
Priority Applications (1)
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PL07703793T PL1986795T3 (en) | 2006-02-22 | 2007-01-11 | Method for suppressing the influence of roll eccentricities |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006008574A DE102006008574A1 (en) | 2006-02-22 | 2006-02-22 | Reducing the influence of roller excentricity on the thickness of a rolled material, comprises identifying the roller excentricity and determining a correction signal for a control unit |
PCT/EP2007/050248 WO2007096204A1 (en) | 2006-02-22 | 2007-01-11 | Method for suppressing the influence of roll eccentricities |
Publications (3)
Publication Number | Publication Date |
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EP1986795A1 EP1986795A1 (en) | 2008-11-05 |
EP1986795B1 true EP1986795B1 (en) | 2013-09-18 |
EP1986795B2 EP1986795B2 (en) | 2020-08-19 |
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EP07703793.5A Active EP1986795B2 (en) | 2006-02-22 | 2007-01-11 | Method for suppressing the influence of roll eccentricities |
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US (1) | US8386066B2 (en) |
EP (1) | EP1986795B2 (en) |
CN (1) | CN101443136B (en) |
DE (1) | DE102006008574A1 (en) |
PL (1) | PL1986795T3 (en) |
RU (1) | RU2429925C2 (en) |
UA (1) | UA95794C2 (en) |
WO (1) | WO2007096204A1 (en) |
Families Citing this family (7)
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DE102007050911A1 (en) * | 2007-10-23 | 2009-04-30 | Eras Entwicklung Und Realisation Adaptiver Systeme Gmbh | Method and apparatus for suppressing the chattering of work rolls of a rolling stand |
AT507087B1 (en) * | 2008-12-05 | 2010-02-15 | Siemens Vai Metals Tech Gmbh | METHOD AND DEVICE FOR THE SEMI-ACTIVE REDUCTION OF PRESSURE VIBRATIONS IN A HYDRAULIC SYSTEM |
CN101927272B (en) * | 2010-08-23 | 2012-09-05 | 中冶南方工程技术有限公司 | Online recursive parameter estimation-based roll eccentricity compensation equipment |
CN101927271B (en) * | 2010-08-23 | 2012-07-04 | 中冶南方工程技术有限公司 | Roll eccentricity compensation method based on on-line recursive parameter estimation and equipment thereof |
DE102012200936A1 (en) | 2012-01-23 | 2013-07-25 | Converteam Gmbh | Method for operating rolling mill e.g. cold-rolling mill, involves determining error value for specific roller from discrete values having rotational frequency periodicity of thickness variation of rolled material |
US20180161839A1 (en) * | 2016-12-09 | 2018-06-14 | Honeywell International Inc. | Metal thickness control model based inferential sensor |
EP3974073B1 (en) * | 2020-09-28 | 2023-07-19 | Primetals Technologies Germany GmbH | Rolling taking into account frequency behaviour |
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-
2006
- 2006-02-22 DE DE102006008574A patent/DE102006008574A1/en not_active Ceased
-
2007
- 2007-01-11 UA UAA200810612A patent/UA95794C2/en unknown
- 2007-01-11 US US12/224,243 patent/US8386066B2/en not_active Expired - Fee Related
- 2007-01-11 RU RU2008137605/02A patent/RU2429925C2/en active
- 2007-01-11 EP EP07703793.5A patent/EP1986795B2/en active Active
- 2007-01-11 WO PCT/EP2007/050248 patent/WO2007096204A1/en active Application Filing
- 2007-01-11 CN CN2007800063066A patent/CN101443136B/en active Active
- 2007-01-11 PL PL07703793T patent/PL1986795T3/en unknown
Also Published As
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WO2007096204A1 (en) | 2007-08-30 |
DE102006008574A1 (en) | 2007-08-30 |
CN101443136B (en) | 2012-11-14 |
RU2429925C2 (en) | 2011-09-27 |
UA95794C2 (en) | 2011-09-12 |
EP1986795A1 (en) | 2008-11-05 |
PL1986795T3 (en) | 2014-03-31 |
US20090210085A1 (en) | 2009-08-20 |
CN101443136A (en) | 2009-05-27 |
RU2008137605A (en) | 2010-03-27 |
EP1986795B2 (en) | 2020-08-19 |
US8386066B2 (en) | 2013-02-26 |
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