EP2200763B1 - Adaptation d'un régulateur dans un laminoir sur la base de la dispersion d'une grandeur réelle d'un produit laminé - Google Patents

Adaptation d'un régulateur dans un laminoir sur la base de la dispersion d'une grandeur réelle d'un produit laminé Download PDF

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Publication number
EP2200763B1
EP2200763B1 EP08803763A EP08803763A EP2200763B1 EP 2200763 B1 EP2200763 B1 EP 2200763B1 EP 08803763 A EP08803763 A EP 08803763A EP 08803763 A EP08803763 A EP 08803763A EP 2200763 B1 EP2200763 B1 EP 2200763B1
Authority
EP
European Patent Office
Prior art keywords
rolling
rolling stock
machining
controller
rolling mill
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP08803763A
Other languages
German (de)
English (en)
Other versions
EP2200763A1 (fr
Inventor
Reinhard Meissen
Martin Niemann
Wilfried Tautz
Heinz Wilharm
Dietrich Wohld
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP2200763A1 publication Critical patent/EP2200763A1/fr
Application granted granted Critical
Publication of EP2200763B1 publication Critical patent/EP2200763B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • 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
    • B21B37/16—Control of thickness, width, diameter or other transverse dimensions
    • 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
    • B21B37/16—Control of thickness, width, diameter or other transverse dimensions
    • B21B37/165—Control of thickness, width, diameter or other transverse dimensions responsive mainly to the measured thickness of the product
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/28—Control of flatness or profile during rolling of strip, sheets or plates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • B21B37/48—Tension control; Compression control
    • 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

Definitions

  • the present invention relates to an operating method for a detecting device connected to a rolling mill.
  • the present invention further relates to an operating program comprising machine code, the processing of which, by means of a determination device connected to a rolling mill, causes the determining device to carry out such an operating method. Furthermore, the present invention relates to a data carrier on which such an operating program is stored in machine-readable form. Furthermore, the present invention relates to a connected to a rolling detection device that is programmed with such an operating program. Finally, the present invention relates to a rolling mill.
  • the aim of every technical process is the production of a product that has certain characteristics.
  • the product has exactly the specific properties.
  • the properties of the product may deviate from the desired nominal properties by certain tolerance ranges.
  • the permissible tolerance ranges may be determined by the subsequent use or further processing of the product as such, by more or less arbitrary specifications of the purchaser of the product or by law.
  • the causes for the deviation of the actual properties (actual values) from the desired properties (nominal values) can have many causes.
  • the manufacturing process may be subject to interference.
  • the deviation of the actual quantities from the desired quantities to inhomogeneous material properties or interventions of an automation device be led back into the manufacturing process.
  • the above general explanations also apply in particular to the processing of a rolling stock in a rolling mill.
  • the machining generally corresponds to rolling of the rolling stock, that is to say a reduction of its cross section in a rolling stand.
  • other types of treatment come into question, for example, a thermal treatment in a cooling section, which is downstream of a rolling mill.
  • the basic automation in particular comprises individual regulations, for example for a rotational speed of a drive motor of a rolling stand or a lifting height of a loop lifter, by means of which the train is set to a desired tension.
  • the technological regulations include superimposed controllers. You determine the target values for the basic automation. Examples are the determination of a nominal rolling gap, a nominal rolling force, a nominal rolling speed or a time course of coolant quantity applied to a specific point of the rolling stock shall be.
  • both the controller of the basic automation and the controller of the technological control each have a typical for the respective control task controller, such as a P-controller, a PI controller, a PD controller, a PT1 controller, etc .
  • a respective controller characteristic is determined for each controller.
  • the controller characteristic includes, for example in a PI controller whose proportional gain and its integration time constant.
  • the type of controller and the controller characteristic are as far as possible determined in the prior art in such a way that the respective controller controls as stably and precisely as possible.
  • the aim is to use the technological regulations to regulate and control the process so that the quality-relevant parameters are kept as well as possible.
  • the aim is to minimize the disturbances in the process behavior caused by leadership interventions and disturbances and the resulting fluctuations in the material properties after passing through the rolling mill.
  • the roll gap of a roll stand can be controlled by a roll gap controller, the controller being parameterized as a function of the material properties (composition and cross section) as well as the temperature and the rolling stock speed.
  • the object of the present invention is to provide possibilities by means of which the controller adaptation can be further improved.
  • the object is achieved by an operating method having the features 1, an operating program having the features of claim 4 and a data carrier on which such an operating program is stored in machine-readable form. Furthermore, the object is achieved by a connected to a rolling mill detection device that is programmed with such an operating program. Finally, the problem is solved by a suitably designed rolling mill.
  • Advantageous embodiments of the operating method are the subject of the dependent claims 2 and 3, advantageous embodiments of the rolling mill subject of the dependent claims 8, 9 and 10.
  • a rolling mill which passes through the rolling mill is machined by means of a machining direction.
  • the processing device is controlled by means of a regulator.
  • the controller is supplied with a desired size and an actual size of the rolling stock after being processed by the processing device.
  • the controller determines based on the desired size and the actual size in conjunction with a controller characteristic a manipulated variable for the processing device.
  • the controller outputs the manipulated variable to the processing device.
  • the processing device processes the rolling stock according to the output to it manipulated variable.
  • the actual size of the rolling stock after processing by the processing device and a corresponding actual size of the rolling stock are fed to a determination device connected to the rolling mill before being processed by the processing device.
  • the determination device determines dynamically based on the time profiles of the actual quantities supplied to it the controller characteristic.
  • the controller characteristic is determined such that the scattering of the actual size of the rolling stock after processing by the processing device is at least tended to be minimized.
  • the determination device configures the controller according to the controller characteristic determined by it.
  • the dynamic determination of the controller characteristic and the corresponding dynamic parameterization of the controller can alternatively take place in real time or cyclically.
  • the determining device determines the controller characteristic on the basis of the two variations determined by it.
  • the actual size of the rolling stock may be a dimension of the rolling stock transverse to a running direction of the rolling stock.
  • the strip thickness can correspond to the actual size.
  • the height and the width of the rolling stock can correspond to the actual size.
  • a strip flatness can furthermore correspond with the actual size of the rolling stock, with bar-shaped rolling stock a ratio of height and width to one another.
  • structural properties can be the actual size of the rolling stock.
  • the rolling mill can be designed as a cold rolling mill or as a hot rolling mill for rolling metal (in particular steel).
  • the rolling mill can also be used alternatively as a rolling mill for rolling be formed of a strip-shaped or a rod-shaped rolling stock.
  • the manipulated variable come - in analogy to the actual size - a variety of sizes in question.
  • it may be a desired tension, a nominal setting or a nominal rolling gap of a rolling stand, a nominal rolling force or a thermal target influencing of the rolling stock.
  • FIG. 1 schematically shows a rolling mill.
  • the rolling mill has at least one rolling train 1.
  • the rolling train 1 can be designed, for example, as a single-stand or multi-stand roughing train or as a single-stand or multi-stand finishing train. In both cases, a strip-shaped rolling stock 2 is rolled in the rolling train 1.
  • a finishing train of the rolling mill 1 may be arranged downstream of a cooling section 3, which is also considered in the context of the present invention as part of the rolling mill.
  • the rolling mill is designed as a hot rolling mill for rolling metal. It may in particular be designed as a hot rolling mill for rolling steel. As an alternative to an embodiment of the rolling mill as a hot rolling mill, however, the rolling mill can be designed as a cold rolling mill for cold rolling of steel. In this case, in the case of a band-shaped rolling stock 2, the rolling train 1 is formed as a tandem road.
  • FIG. 1 is rolled in the rolling mill - regardless of the material of the rolling stock 2 - a strip-shaped rolling stock 2.
  • the rolling stock 2 may be formed as a rod-shaped rolling stock 2, for example as a metal wire.
  • the rolling train can be arranged, for example, downstream of a layer 4, which places the rolled rolling stock 2 into turns 5.
  • the rolling mill could be designed as a rolling mill for rolling tubular rolling stock (lugs).
  • the mill has according to FIG. 1 a processing device 6, by means of which the rolling stock 2 is processed when it passes through the rolling mill.
  • the processing device 6 is usually designed as a rolling mill 6.
  • the processing of the rolling stock 2 thus usually corresponds to a rolling process.
  • the processing device 6 could also be designed differently. For example, it could be designed as a loop lifter, by means of which the train of the rolling stock 2 is influenced. It could also be formed in individual cases as a cooling section 3, by means of which a temperature influencing of the rolling stock 2 takes place.
  • the rolling mill also has at least one controller 7. Furthermore, a detection device 8 is attached to the rolling mill (attached).
  • the determination device 8 is designed as a software programmable determination device 8. It is programmed by means of an operating program 9, which is supplied to the detection device 8 by means of a suitable data carrier 10.
  • an operating program 9 On the disk 10 - for example, a CD-ROM, a USB memory stick or a memory card - the operating program 9 is stored in machine-readable form. It comprises machine code 11, which can be processed by the determination device 8.
  • the processing of the machine code 11 by the determining device 8 causes the detecting device 8 performs an operating method in the operation of the rolling mill, which will be described below in connection with the FIG. 1 and 3 is explained in more detail.
  • the determination device 8 accepts an actual variable x of the rolling stock 2 in a step S1.
  • the actual variable x is detected here by means of a suitable detection device 12 at a location downstream of the processing device 6.
  • the actual size x of the rolling stock 2 is thus an actual size x of the rolling stock 2 after being processed by the processing device 6.
  • the detecting device 12 may be arranged directly downstream of the processing device 6.
  • 8 additional processing devices 6 ' may be arranged between the processing device 6 and the detection device, for example, further rolling stands 6'.
  • step S2 the determination device 8 adds the actual variable x newly received in step S1 to a temporal sequence of previously accepted actual variables x. It thus updates a time course of the actual variable x.
  • one (or more) old, "outdated” actual variable x can be removed from the time course.
  • the determination device 8 accepts a further actual variable x '.
  • the further actual variable x ' corresponds in terms of its significance to the actual size x, but it is detected by means of a further detection device 12' at a location of the rolling mill, which lies in front of the processing device 6.
  • the further actual variable x ' is therefore an actual variable x' before the processing of the rolling stock 2 by the processing device 6.
  • the explanations regarding the arrangement of the detecting device 12 apply analogously.
  • step S4 the determination device 8 - analogously to step S2 - updates a time profile of the further actual variable x '.
  • the determination device 8 dynamically determines a controller characteristic R on the basis of the time profiles of the actual quantities x, x 'supplied to it. It determines the controller characteristic R in such a way that the dispersion of the actual size x of the rolling stock 2 after processing by the processing device 6 is minimized (at least with a tendency). As a rule, a gradual tracking should be sought.
  • the determination device 8 finally parameterizes the controller 7 in a step S8 in accordance with the controller characteristic R. determined by it.
  • FIG. 3 already a special embodiment of the present operation of the detection device 8 is shown.
  • the determination device 8 determines the determination device 8 first in the context of step S5 based on the temporal After processing by the processing device 6, the actual size x of the rolling stock 2 is scattered by the actual size x of the rolled stock 2 after being processed by the processing device 6.
  • the determining device 8 determines in an analogous manner the time course of the corresponding actual size x 'before the processing of the Rolling material 2 by the processing device 6, a scattering of the actual size x 'of the rolling stock 2 before processing the rolling stock 2 by the processing device 6.
  • the determining means 8 determines the controller characteristic R on the basis of the two determined by her scatters.
  • the mean value of the detected actual variables x and / or x ' is not included in the determination of the controller characteristic R.
  • a possible deviation of the mean value of the actual size x of the rolling stock 2 after being processed by the processing device 6 can be corrected by adjusting a setpoint quantity x * supplied to the controller 7 accordingly.
  • the controller 7 executes during operation of the rolling mill from a control method, which in conjunction with the FIG. 1 and 4 is explained in more detail.
  • FIG. 4 takes the controller 7 in steps S11 and S12 the target size x * and the actual size x of the rolling stock 2 after processing by the processing device 6 opposite.
  • the controller 7 uses the setpoint variable x * and the actual variable x in conjunction with the controller characteristic R to determine a manipulated variable y for the processing device 6.
  • the manipulated variable y is output to the processing device 6 in a step S14.
  • the controller 7 thus controls the processing device 6 in such a way that the processing device 6 processes the rolling stock 2 in accordance with the manipulated variable y output to it.
  • the manipulated variable y can be of a varied nature.
  • the manipulated variable y may be a desired tension, a nominal position or a nominal rolling gap of a rolling stand, a Sollwalzkraft or a thermal target influencing of the rolling stock 2 act.
  • the embodiment according to the invention has many advantages.
  • the determination of the controller characteristic R takes place in such a way that the largest possible percentage of the rolling stock 2 passing through the rolling mill lies within the permissible tolerance range.
  • the controller 7 is adapted such that it controls the processing device 6 on the one hand stable and on the other hand time-optimized.
  • the embodiments according to the invention are to be used as needed. In practice, it has proven to be of particular importance if the actual quantities x, x 'are the strip thickness of a strip-shaped rolling stock 2 and the manipulated variable y is a reference strip, with which the rolling stock 2 is subjected during rolling.
  • the present invention is not limited to this embodiment.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Metal Rolling (AREA)

Claims (10)

  1. Procédé pour faire fonctionner un dispositif ( 8 ) de détermination lié à un laminoir,
    - dans lequel alors que le laminoir fonctionne
    -- on traite le produit ( 2 ) à laminer passant dans le laminoir au moyen d'un dispositif ( 6 ) de traitement,
    -- on régule le dispositif ( 6 ) de traitement au moyen d'un régulateur ( 7 ),
    -- on envoie au régulateur ( 7 ) une grandeur ( x* ) de consigne et une grandeur ( x ) réelle du produit ( 2 ) à laminer après le traitement par le dispositif ( 6 ) de traitement,
    -- le régulateur ( 7 ) détermine au moyen de la grandeur
    ( x* ) de consigne et de la grandeur ( x ) réelle, en liaison avec une caractéristique ( R ) de régulateur, une grandeur ( y ) de réglage du dispositif ( 6 ) de traitement,
    -- le régulateur ( 7 ) envoie la grandeur ( y ) de réglage au dispositif ( 6 ) de traitement, et
    -- le dispositif ( 6 ) de traitement traite le produit ( 2 ) à laminer conformément à la grandeur ( y ) de réglage qui lui a été envoyée,
    - dans lequel le dispositif ( 8 ) de traitement reçoit la grandeur ( x ) réelle du produit ( 2 ) à laminer après le traitement par le dispositif ( 6 ) de traitement, ainsi qu'une grandeur ( x' ) réelle correspondante du produit ( 2 ) à laminer avant le traitement par le dispositif ( 6 ) de traitement,
    - dans lequel le dispositif ( 8 ) de détermination détermine au moyen des courbes dans le temps des grandeurs ( x, x' ) réelles qui lui sont envoyées dynamiquement la caractéristique ( R ) de régulateur de manière à minimiser au moins en tendance la dispersion des grandeurs ( x ) réelles du produit ( 2 ) à laminer après le traitement par le dispositif ( 6 ) de traitement et paramétrise le régulateur ( 7 ) conformément à la caractéristique ( R ) de régulateur qu'il a déterminée.
  2. Procédé suivant la revendication 1,
    caractérisé en ce que le dispositif ( 8 ) de détermination détermine, au moyen de la courbe dans le temps de la grandeur ( x ) réelle du produit ( 2 ) à laminer après le traitement par le dispositif ( 6 ) de traitement, une dispersion de la grandeur ( x ) réelle du produit ( 2 ) à laminer après le traitement par le dispositif ( 6 ) de traitement et, au moyen de la courbe dans le temps de la grandeur ( x' ) réelle correspondante avant le traitement du produit ( 2 ) à laminer par le dispositif ( 6 ) de traitement, une dispersion de la grandeur ( x' ) réelle correspondante du produit ( 2 ) à laminer avant le traitement par le dispositif ( 6 ) de traitement et en ce que le dispositif ( 8 ) de détermination détermine la caractéristique ( R ) de régulateur au moyen des dispersions qu'il a déterminées.
  3. Procédé suivant la revendication 1 ou 2,
    caractérisé en ce que la grandeur ( x ) réelle du produit ( 2 ) à laminer est une dimension du produit ( 2 ) à laminer transversalement à une direction de passage du produit ( 2 ) à laminer, une traction, une propriété de texture, dans le cas d'un produit ( 2 ) à laminer sous forme de feuillard une planéité du feuillard ou, dans le cas d'un produit ( 2 ) à laminer sous forme de barre, un rapport entre des dimensions orthogonales entre elles du produit ( 2 ) à laminer transversalement à la direction de passage du produit ( 2 ) à laminer.
  4. Programme de fonctionnement qui comprend un code ( 11 ) machine, dont l'exécution par un dispositif ( 8 ) de détermination lié à un laminoir fait que le dispositif ( 8 ) de détermination effectue un procédé suivant la revendication 1, 2 ou 3.
  5. Support de données sur lequel un programme ( 9 ) de fonctionnement suivant la revendication 4 est mémorisé sous une forme pouvant être exécutée par une machine.
  6. Dispositif de détermination lié à un laminoir, le dispositif de détermination étant programmé par un programme ( 9 ) de fonctionnement suivant la revendication 4.
  7. Laminoir,
    - dans lequel le laminoir a un dispositif ( 6 ) de traitement au moyen duquel un produit ( 2 ) à laminer passant dans le laminoir est traité,
    - dans lequel le laminoir a un régulateur ( 7 ) auquel sont envoyées une grandeur ( x* ) de consigne et une grandeur ( x ) réelle du produit ( 2 ) à laminer après le traitement par le dispositif ( 6 ) de traitement,
    - dans lequel le régulateur ( 7 ) détermine, au moyen de la grandeur ( x* ) de consigne et de la grandeur ( x ) réelle, en liaison avec une caractéristique ( R ) de régulateur, une grandeur ( y ) de réglage du dispositif ( 6 ) de traitement,
    - dans lequel le régulateur ( 7 ) envoie la grandeur ( y ) de réglage au dispositif ( 6 ) de traitement et le dispositif ( 6 ) de traitement traite le produit ( 2 ) à laminer conformément à la grandeur ( y ) de réglage qui lui a été envoyée,
    - dans lequel au laminoir est lié un dispositif ( 8 ) de détermination suivant la revendication 6, qui fonctionne suivant un procédé selon la revendication 1, 2 ou 3.
  8. Laminoir suivant la revendication 7,
    caractérisé en ce que le laminoir est sous la forme d'un laminoir à froid ou d'un laminoir à chaud pour le laminage de métal, notamment d'acier.
  9. Laminoir suivant la revendication 7 ou 8,
    caractérisé en ce que le laminoir est sous la forme d'un laminoir pour le laminage d'un produit ( 2 ) à laminer sous forme de feuillard ou d'un produit ( 2 ) à laminer sous forme de barre.
  10. Laminoir suivant la revendication 7, 8 ou 9,
    caractérisé en ce que la grandeur ( y ) de réglage est une traction de consigne, un serrage de consigne ou une emprise de consigne d'une cage de laminoir, une force de laminage de consigne ou une influence thermique de consigne du produit ( 2 ) à laminer.
EP08803763A 2007-10-24 2008-09-05 Adaptation d'un régulateur dans un laminoir sur la base de la dispersion d'une grandeur réelle d'un produit laminé Not-in-force EP2200763B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007050891A DE102007050891A1 (de) 2007-10-24 2007-10-24 Auf der Streuung einer Istgröße eines Walzguts basierende Adaptierung eines Reglers in einem Walzwerk
PCT/EP2008/061794 WO2009053144A1 (fr) 2007-10-24 2008-09-05 Adaptation d'un régulateur dans un laminoir sur la base de la dispersion d'une grandeur réelle d'un produit laminé

Publications (2)

Publication Number Publication Date
EP2200763A1 EP2200763A1 (fr) 2010-06-30
EP2200763B1 true EP2200763B1 (fr) 2012-12-26

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EP08803763A Not-in-force EP2200763B1 (fr) 2007-10-24 2008-09-05 Adaptation d'un régulateur dans un laminoir sur la base de la dispersion d'une grandeur réelle d'un produit laminé

Country Status (4)

Country Link
US (1) US8255074B2 (fr)
EP (1) EP2200763B1 (fr)
DE (1) DE102007050891A1 (fr)
WO (1) WO2009053144A1 (fr)

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EP3461567A1 (fr) * 2017-10-02 2019-04-03 Primetals Technologies Germany GmbH Dispositif de réglage de planéité doté du dispositif d'optimisation

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Publication number Publication date
WO2009053144A1 (fr) 2009-04-30
EP2200763A1 (fr) 2010-06-30
US20100211209A1 (en) 2010-08-19
DE102007050891A1 (de) 2009-04-30
US8255074B2 (en) 2012-08-28

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