EP2277639A1 - Bandzug- und Schlingenregelung - Google Patents

Bandzug- und Schlingenregelung Download PDF

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Publication number
EP2277639A1
EP2277639A1 EP09165549A EP09165549A EP2277639A1 EP 2277639 A1 EP2277639 A1 EP 2277639A1 EP 09165549 A EP09165549 A EP 09165549A EP 09165549 A EP09165549 A EP 09165549A EP 2277639 A1 EP2277639 A1 EP 2277639A1
Authority
EP
European Patent Office
Prior art keywords
tension
loop
controller
control method
actual
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.)
Withdrawn
Application number
EP09165549A
Other languages
German (de)
English (en)
French (fr)
Inventor
Wilfried Dr. Tautz
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
Priority to EP09165549A priority Critical patent/EP2277639A1/de
Priority to PL10732933T priority patent/PL2454033T3/pl
Priority to CN201080032005.2A priority patent/CN102470410B/zh
Priority to EP10732933.6A priority patent/EP2454033B1/de
Priority to PCT/EP2010/059941 priority patent/WO2011006851A1/de
Publication of EP2277639A1 publication Critical patent/EP2277639A1/de
Withdrawn legal-status Critical Current

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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
    • B21B37/48—Tension control; Compression control
    • B21B37/50—Tension control; Compression control by looper control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2265/00—Forming parameters
    • B21B2265/02—Tension
    • B21B2265/06—Interstand tension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2275/00—Mill drive parameters
    • B21B2275/02—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2275/00—Mill drive parameters
    • B21B2275/02—Speed
    • B21B2275/04—Roll speed
    • 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
    • B21B37/52—Tension control; Compression control by drive motor control

Definitions

  • the present invention relates to a control method for controlling a Istzuges, which prevails in a clamped between two stands rolling on a debit train and an actual position of an arranged between the two rolling stands, employed on the band loop lifter to a desired position.
  • the present invention further relates to a computer program which has machine code which can be processed directly by a control device and whose execution by the control device causes the control device to carry out such a control method.
  • the present invention further relates to a control device which is designed such that it carries out such a control method during operation.
  • a strip tension is usually set in the individual strip sections (that is to say in the sections of the strip which are located between each two successive strip rolling mills of the rolling train). For technological reasons - for example, to maintain the thickness and width constancy of the strip - the strip tension should be kept as constant as possible.
  • a speed setpoint is usually determined, which acts on one of the two limiting the band section rolling stands.
  • a loop lifter is set, which is arranged between the two successive rolling stands and is employed on the belt.
  • the looper are often used in the prior art. Hiring the Loop lifter in the prior art by means of an electric drive (less common) or a hydraulic cylinder unit (more often).
  • the loop lifter not only measures the tension in the belt. Furthermore, an amount of band is set on the deflection of the loop lifter, which is buffered in the respective band section (noose).
  • the loop lifter can be brought into its raised position only after the threading of the tape, in which he deflects the tape. Also, the loop lifter must be lowered again before unthreading the tape.
  • an adjustment of the loop lifter directly affects the length of the band located in the band section and thus indirectly the strip tension. The loop control is therefore coupled with the tension control.
  • control methods known from the technical articles represent an advance over the conventional control methods. They work with a decoupling of the control interventions from one another.
  • the object of the present invention is to provide possibilities by means of which it is ensured that interventions of the loop controller have no or only a very small effect on the actual train and that interventions by the tension controller take place with high dynamics.
  • control method having the features of claim 1.
  • Advantageous embodiments of the control method according to the invention are the subject of the dependent claims 2 to 8.
  • the object is further achieved by a computer program having the features of claim 9. Furthermore, the object is achieved by a control device having the features of claim 11.
  • train compensation signal and "loop compensation signal” have been chosen because they express from which controller they originate, which deviation they are to counteract and to distinguish them linguistically from each other. A more important meaning is not the word choice.
  • the two signals could also have been referred to as “output signal of the tension controller” and “output signal of the loop controller”.
  • the derivative the length of the band clamped between the two stands according to the position of the loop lifter.
  • the control method may therefore be simplified by subtracting the instantaneous integral component from a modified loop compensation signal, delaying the resulting difference, and adding the delayed difference to the train output signal, wherein the modified loop compensation signal is obtained by scaling the loop compensation signal a value taking into account the derivation is determined.
  • the characteristic value for the actual tension is measured directly. In general, however, the value is either not measurable or at least not easy to measure. In the context of the present invention, it is therefore preferable for the value characteristic of the actual tension to be determined indirectly on the basis of measured variables by means of a tape tension observer. Tape tension observers as such are known to those skilled in the art.
  • the tape tension observer continues to be supplied with the resulting desired adjustment speed, that is, the sum of the desired adjustment speed portions. Due to this circumstance, there is a positive feedback within the control. The positive feedback can lead to instability of the tension controller. Therefore, it is preferably provided that a replacement time constant for the tape tension observer is determined dynamically on the basis of variables which are characteristic of the stability of the tension controller, and the tape tension observer determines the characteristic value for the actual tension, taking into account the equivalent time constant determined. Alternatively or additionally, it can be provided that a control gain for the tension controller is determined dynamically on the basis of the variables which are characteristic of the stability of the tension controller, and the tension controller determines the train compensation signal taking into account the control gain.
  • a feedforward control is connected in parallel with the tape tension observer.
  • the computer program according to the invention is characterized in that the execution of its machine code by a control device causes the control device to carry out a control method according to the invention.
  • the computer program can in particular be stored on a data carrier in machine-readable form.
  • a rolling mill has a plurality of rolling stands 1.
  • the rolling mill may in particular be a hot rolling mill. Shown in FIG. 1 a total of three rolling mills 1. In general, however, the rolling mill has more than three rolling mills 1, for example, five to eight mills.
  • a band 2 is rolled.
  • the band 2 is usually a metal band, for example a steel band, an aluminum band or a copper band. However, it may be made of a different material, such as a non-ferrous metal or a non-metal.
  • the rolling mills 1 are driven to roll the strip 2 with an individual rolling speed for the respective rolling stand 1.
  • each looper 3 has a looper roll 4, which is employed on the band 2.
  • the belt 2 between the rolling stands 1 from a rolling line 5 (that is, the direct line connecting the roll nips of the rolling stands 1 with each other) deflected, usually upwards.
  • band 2 is clamped. In band 2, therefore, there is a current Z.
  • the actual Z within each band section is (of course) uniform. In the individual band sections the trains Z may be the same or different from each other.
  • FIG. 2 shows a single band section including the two the band section limiting rolling stands 1.
  • the two rolling stands 1 are in FIG. 2
  • control device 8 available.
  • the control device 8 is designed such that it performs a control method during operation, which will be explained in more detail below.
  • the control device 8 can be implemented by circuitry. In general, the control device 8, however, according to the representation of FIG. 2 designed as a software programmable control device 8. In this case, the control device 8 is programmed with a computer program 9. The computer program 9 has machine code 10. The machine code 10 can be processed directly by the control device 8. The processing of the machine code 10 by the control device 8 causes the control device 8 carries out the steps of the control method explained below.
  • the computer program 9 can be supplied to the control device 8 in any manner.
  • the data carrier 11 can be designed for this purpose as needed. Purely by way of example is in FIG. 2 the disk 11 shown as a USB stick. However, the data carrier 11 could be designed differently, for example as an SD memory card or as a CD-ROM.
  • control device 8 is supplied with a desired train Z *. Furthermore, the control device 8 is supplied with a characteristic Z 'characteristic of the actual Z train. Finally, the control device 8 an actual position ⁇ of the loop lifter 3 and a desired position ⁇ * of the loop lifter 3 are supplied. By means of the control device 8, the actual tension Z and the desired tension Z * and the actual position ⁇ are to be regulated to the desired position ⁇ *.
  • the control device 8 determines a resulting additional speed setpoint value ⁇ v * for the roll stand 1 upstream of the loop lifter 3'.
  • the resulting additional speed setpoint ⁇ v * is output to a speed controller 12 for the upstream rolling stand 1 '.
  • the resulting additional speed setpoint value ⁇ v * for the roll stand 1 "downstream of the loop lifter 3 could be determined and output to a speed control 13 of this rolling stand 1". This is in FIG. 2 indicated by dashed lines. A division into both rolling stands 1 ', 1 "can be made.
  • control device 8 uses the variables Z *, Z ', ⁇ , ⁇ * to determine a resulting setpoint speed ⁇ * for the loop lifter 3.
  • the resulting setpoint speed ⁇ * is output to an adjusting unit 14, by means of which the position of the loop lifter 3 is set ,
  • the adjustment unit 14 can operate electrically or - preferably - hydraulically.
  • the control device 8 comprises a tension regulator 15.
  • the tension regulator 15 and its mode of action will be described below in connection with FIG. 3 explained in more detail.
  • the control device 8 further comprises a loop regulator 16.
  • the loop regulator 16 and its operation will be described below in connection with FIG. 4 explained in more detail.
  • the entire control device 8 will be described below in connection with FIG. 5 explained again.
  • the tension controller 15 are according to FIG. 3 a value Z '* characteristic of the reference train Z * and the value Z' characteristic of the actual train Z are supplied.
  • a setpoint determination device 8 ' may be present, to which the desired train Z * and further variables are supplied.
  • the further variables can include, for example, the actual position ⁇ of the loop lifter 3, the distances of the loop lifter 3 from the upstream and downstream rolling stand 1 ', 1 "and further geometry parameters, so that the setpoint determination device 8' is able to determine the quantities supplied by the setpoint determination device 8 ' Distances of the looper roll 4 of the rolling stands 1 ', 1 "and the height of the looper roll 4 relative to the rolling line 5 to determine.
  • the setpoint determination device 8 ' is supplied with quantities which describe the strip 2, for example its thickness, its width and its elasticity mode.
  • the value Z '* characteristic of the desired tension Z * can be determined on the basis of simple geometric calculations.
  • the characteristic value Z '* corresponds in this case to a desired force which the belt 2 should exert on the loop lifter 3, or a setpoint torque which the belt 2 should exert on the loop lifter 3.
  • At least the desired train Z * and the actual position ⁇ are variables. Both other sizes may alternatively be variables or parameters.
  • the difference between variables and parameters is that variables in the operation of the control device 8 can vary dynamically, while parameters are set once during the commissioning of the control device 8 and then kept constant.
  • the setpoint determination device 8 ' can be part of the control device 8. Alternatively, it may be arranged outside the control device 8. In the latter case, the control device 8 is supplied with the corresponding characteristic value Z '* instead of the reference pull Z *.
  • the value Z 'characteristic of the actual pull Z can alternatively be measured or otherwise determined. This will be discussed later.
  • the tension regulator 15 comprises according to FIG. 3 an integrator 17.
  • the train compensation signal ZA therefore comprises an integral component IA.
  • the tension controller 15 comprises a branch 18, via which a proportional component PA of the train compensation signal ZA is output.
  • An integration gain kI of the integrator 17 may be a constant. However, it is preferably a variable which increases, inter alia, with increasing control deviation (
  • FIG. 3 is determined on the basis of the integral component IA, a first speed additional setpoint ⁇ v1 * for the upstream rolling stand 1 '.
  • the first additional speed setpoint ⁇ v1 * enters the resulting speed setpoint ⁇ v * as one of two summands.
  • the integral component IA is supplied to a delay element 19, in which the integral component IA is delayed in time.
  • the time-delayed integral component is referred to below as a delayed integral component IA 'to distinguish it from the instantaneous integral component IA.
  • the time-delayed integral component IA ' is subtracted in a node 20 from the train compensation signal ZA. Based on the resulting difference, a first Sollverstell effetiveil ⁇ 1 * for the loop lifter 3 is determined.
  • the first Sollverstell effetanteil ⁇ 1 * enters as one of several summands in the resulting Sollverstell Anlagen ⁇ *.
  • the desired position ⁇ * and the actual position ⁇ are according to FIG. 4 fed to the loop controller 16.
  • the loop controller 16 may be formed as a P-controller. He determined based on the desired position ⁇ * and the actual position ⁇ a loop compensation signal SA.
  • the loop compensation signal SA is supplied to a delay element 21 (among others). In the delay element 21, the loop compensation signal SA is delayed in time, thus determining a delayed loop compensation signal SA '.
  • the delayed loop compensation signal SA ' corresponds to a second Sollverstell Norwaysanteil ⁇ 2 * for the loop lifter 3. Also, the second Sollverstell Norwaysanteil ⁇ 2 * as summand in the determination of the resulting Sollverstell Anlagen ⁇ * a.
  • a second additional speed setpoint value ⁇ v2 * for the upstream roll stand 1 ' is determined.
  • the second additional speed setpoint ⁇ v2 * is the second summand, which enters the resulting speed setpoint ⁇ v *.
  • a divider link 22 is present.
  • the difference between the train output signal ZA and the delayed integral part IA ' is divided by a value kL.
  • the value kL corresponds to the derivation of the length of the band 2, which is between the two the band section limiting rolling stands 1 ', 1 ", after the position ⁇ of the loop lifter.
  • modified loop compensation signal SA In an analogous manner, in determining the second additional speed setpoint value ⁇ v2 *, multiplication with the value kL is undertaken by means of a multiplier element 23 and a division by the value kL is carried out by means of a divider element 24 to compensate for this multiplication during the determination of the second setpoint speed proportion ⁇ 2 * ,
  • the loop compensation signal multiplied by the value kL is hereinafter referred to as modified loop compensation signal SA ".
  • FIG. 5 shows the total interconnection of the control device 8.
  • the embodiment according to FIG. 5 is functionally completely equivalent to those above in connection with the 3 and 4 explained procedure. Only the order of individual addition, subtraction and delay measures is slightly modified.
  • the instantaneous integral component IA is subtracted from the modified loop compensation signal SA ", the difference thus obtained is delayed and the delayed difference is added to the train output signal Z. This procedure is especially computationally simpler because the delay element 21 can be saved.
  • the value Z 'characteristic of the actual Z train it is possible to measure the value Z 'characteristic of the actual Z train. In many cases, however, the measurement is technically complicated or even impossible. For this reason, according to the FIG. 3 and 5 a tape tension observer 25 available.
  • the measured variables may in particular comprise an adjusting moment MV applied by the loop lifter 3.
  • the tape tension observer 25 can be supplied with quantities that are characteristic of the adjustment speed ⁇ of the loop lifter 3 and a self-moment ME caused by the loop lifter 3.
  • a measured actual value can be used or the resulting desired adjustment speed ⁇ * can be used.
  • the intrinsic moment ME is essentially caused by the weight force of the components of the loop lifter 3 acting on the adjusting unit 14.
  • the intrinsic moment ME may alternatively be constant or be a function of the actual position ⁇ of the loop lifter 3.
  • the Bandzugbeobachter 25 may be constructed as the load observer who in FIG. 3 the patent application "Load control of a hydraulic cylinder unit with load observer" of the applicant, character of the Applicant 200907995, filed with the European Patent Office on 03 July 2009, official file reference 09 164 521, detailed and in conjunction with This figure is described. Further details can therefore be dispensed with.
  • control method according to the invention gives very good results. Through the following in conjunction with the FIGS. 6 to 8 described embodiments, the control method is still further improved. The following in conjunction with the FIGS. 6 to 8 Embodiments described are alternatively realized individually or in combination with each other.
  • a torque controller 26 is present.
  • the torque controller 26 is supplied with the characteristic Z '*, the characteristic torque ME and the adjusting torque MV characteristic of the reference train Z *.
  • the torque controller 26 uses the quantities Z '*, ME, MV supplied to it to determine an additional target displacement speed component ⁇ 3 *.
  • the additional target displacement speed component ⁇ 3 * also enters the resulting target displacement speed ⁇ * as a summand.
  • the torque controller 26 may be designed in particular as a P-controller or as a PD controller. It causes a stabilization of the behavior of the entire control device 8.
  • a start-up controller 27 may be present.
  • the approach controller 27 is, if it is present, active only in an initial phase.
  • the approach controller 27 is activated as soon as it is detected that the band 2 has been threaded into the roll stand 1 "downstream of the loop lifter 3.
  • the start-up regulator 27 is switched off when the loop lifter roll 4 contacts the band 2.
  • the switch-off can be performed as a function of the difference of the actual tension Z from the desired tension Z * (or the corresponding characteristic values Z '*, Z') .
  • the approach control 27 ensures that the loop lifter 3 is quickly set against the belt 2 from the lowered position (below the rolling line 5) ,
  • the control device 8 can according to FIG. 7 continue to have a position controller 28.
  • the position controller 28 is used in particular when the loop lifter 3 is to be held in a fixed position when threading or unthreading the strip 2 below the rolling line 5. It is active as an alternative to the tension controller 15 and the loop controller 16 (and possibly also the torque controller 26 and / or the approach controller 27).
  • the switchover takes place - preferably in a sliding manner - as a function of a threading and untangling detection.
  • the position controller 28 is preferably constructed as described in detail in Applicant's patent application "Control Device for a Hydraulic Cylinder Unit", Applicant's Mark 200910164 filed with the European Patent Office on Jul. 03, 2009, Official Gazette No. 09 164 543. In individual cases, the resulting additional speed setpoint ⁇ v * can continue to be calculated according to FIG. 6 and 7 delayed by a PT1 delay 31.
  • FIG. 7 further shows that the control device 8 may have an adaptation device 29.
  • the adaptation device 29 is supplied with quantities which are characteristic of the stability of the tension regulator 15.
  • the adaptation device 29 determines, for example, a replacement time constant T for the tape tension observer 25. If this is the case, the adaptation device 29 outputs the equivalent time constant T to the tape tension observer 25.
  • the tape tension observer 25 determines in this case the value Z 'characteristic of the actual pull Z, taking into account the equivalent time constant T.
  • the adaptation device 29 can determine a control gain k for the tension controller 15 on the basis of the variables supplied to it and output it to the tension controller 15.
  • the tension controller 15 determines the train compensation signal ZA in this case, taking into account the control gain k transmitted to it.
  • the characteristic of the stability of the Buchreglers 15 sizes can be determined as needed. For example, the actual position ⁇ of the loop lifter 3 can be used. Regardless of which sizes the adaptation device 29 determines the equivalent time constant T and / or the control gain k, however, the determination is carried out dynamically, ie during operation of the control device 8.
  • the substitute time constant T and the control gain k are thus variables, not parameters.
  • a feedforward control 30 can be connected in parallel to the tape tension observer 25.
  • the characteristic Z 'characteristic of the actual pull Z can be determined with greater dynamics.
  • changes in the value Z 'characteristic of the actual pull Z which arise as a result of changes in the actual position ⁇ of the loop lifter 3, immediately appear in the characteristic value Z', without the tape tension observer 25 having to settle first.
  • the feedforward control 30 is supplied at least the actual position ⁇ of the loop lifter 3 as a variable.
  • the present invention has many advantages.
  • the control method according to the invention is fast and stable. Furthermore, a simple retrofitting of existing control devices is given. Furthermore, the control method according to the invention has superior control results.
  • a change in the actual position ⁇ of the loop lifter 3 has virtually no effect on the actual pull Z. This is particularly important when lowering the loop lifter 3 before the belt 2 is being unthreaded.
  • deviations of the actual pull Z from the set pull Z * are corrected very quickly. Nevertheless, only a very small excitation of natural vibrations occurs.
  • Another advantage of the control method according to the invention is that no measured value for the adjustment speed ⁇ of the loop lifter 3 is required. There are also no slow, creeping transients, but there is a quick settling.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Feedback Control In General (AREA)
  • Control Of Metal Rolling (AREA)
EP09165549A 2009-07-15 2009-07-15 Bandzug- und Schlingenregelung Withdrawn EP2277639A1 (de)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP09165549A EP2277639A1 (de) 2009-07-15 2009-07-15 Bandzug- und Schlingenregelung
PL10732933T PL2454033T3 (pl) 2009-07-15 2010-07-09 Regulacja naciągu taśmy i pętli
CN201080032005.2A CN102470410B (zh) 2009-07-15 2010-07-09 带张力-及活套调节装置
EP10732933.6A EP2454033B1 (de) 2009-07-15 2010-07-09 Bandzug- und Schlingenregelung
PCT/EP2010/059941 WO2011006851A1 (de) 2009-07-15 2010-07-09 Bandzug- und schlingenregelung

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP09165549A EP2277639A1 (de) 2009-07-15 2009-07-15 Bandzug- und Schlingenregelung

Publications (1)

Publication Number Publication Date
EP2277639A1 true EP2277639A1 (de) 2011-01-26

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EP09165549A Withdrawn EP2277639A1 (de) 2009-07-15 2009-07-15 Bandzug- und Schlingenregelung
EP10732933.6A Not-in-force EP2454033B1 (de) 2009-07-15 2010-07-09 Bandzug- und Schlingenregelung

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EP10732933.6A Not-in-force EP2454033B1 (de) 2009-07-15 2010-07-09 Bandzug- und Schlingenregelung

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EP (2) EP2277639A1 (zh)
CN (1) CN102470410B (zh)
PL (1) PL2454033T3 (zh)
WO (1) WO2011006851A1 (zh)

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CN105425848A (zh) * 2015-12-30 2016-03-23 太原理工大学 轧机压下系统机电液耦合振动在线主动自抑制控制装置

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CN103230947B (zh) * 2013-04-27 2015-12-02 内蒙古包钢钢联股份有限公司 判断高线生产线滚动导卫损坏的方法
CN104307884B (zh) * 2014-09-03 2016-04-27 山西太钢不锈钢股份有限公司 热连轧硅钢尾部活套落套控制方法
DE102015101580B3 (de) 2015-02-04 2016-06-02 Hydro Aluminium Rolled Products Gmbh Verfahren und Vorrichtung zum Prägewalzen eines Bandes
RU2646305C1 (ru) * 2016-06-16 2018-03-02 Евгений Евгеньевич Диденко Способ регулирования натяжения прокатываемой полосы в первом межклетевом промежутке чистовой группы стана горячей прокатки
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Publication number Publication date
EP2454033B1 (de) 2014-04-30
CN102470410B (zh) 2015-05-06
WO2011006851A1 (de) 2011-01-20
PL2454033T3 (pl) 2014-09-30
EP2454033A1 (de) 2012-05-23
CN102470410A (zh) 2012-05-23

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