EP2305393A1 - Procédé et dispositif destinés au réglage d'un entraînement - Google Patents

Procédé et dispositif destinés au réglage d'un entraînement Download PDF

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Publication number
EP2305393A1
EP2305393A1 EP10177045A EP10177045A EP2305393A1 EP 2305393 A1 EP2305393 A1 EP 2305393A1 EP 10177045 A EP10177045 A EP 10177045A EP 10177045 A EP10177045 A EP 10177045A EP 2305393 A1 EP2305393 A1 EP 2305393A1
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EP
European Patent Office
Prior art keywords
roller
reel
related information
distance
angle
Prior art date
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Granted
Application number
EP10177045A
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German (de)
English (en)
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EP2305393B1 (fr
Inventor
Erik Seekamp
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Individual
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Individual
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
    • B21C47/003—Regulation of tension or speed; Braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/195—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations
    • B65H23/198—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations motor-controlled (Controlling electrical drive motors therefor)
    • 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
    • B21B37/54—Tension control; Compression control by drive motor control including coiler drive control, e.g. reversing mills
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/10—Size; Dimensions
    • B65H2511/16—Irregularities, e.g. protuberances
    • B65H2511/166—Irregularities, e.g. protuberances relative to diameter, eccentricity or circularity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/10—Speed
    • B65H2513/11—Speed angular
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30—Forces; Stresses
    • B65H2515/32—Torque e.g. braking torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/17—Nature of material
    • B65H2701/173—Metal

Definitions

  • the present invention relates to a method and a device for controlling a drive, in particular a reel drive or roller drive, preferably for a cold rolling mill.
  • the thickness of the rolled strip depends, inter alia, on the tensile force exerted on the strip during the rolling process.
  • an out-of-roundness of the reel around which the tape is wound or unwound, or a reel hitting, or an out-of-roundness of a roller or roller around which the tape is guided can lead to undesirable fluctuations in the tensile force on the tape and thus the tape thickness.
  • a device and a method for controlling a rolling mill reel is known with a drive motor using a control loop with a draft regulator and another control loop with a speed controller.
  • the speed controller forms a torque setpoint for the drive motor from a difference between a speed actual value and a speed setpoint value of the drive motor fed to it.
  • the tension controller forms the speed setpoint as output signal.
  • the speed control is subordinated by the control loop of the tension control by the control loop.
  • the cold-rolled strip mill comprises at least one controllably adjustable roll stand in which the strip is deformed by a controllable rolling force and controllable reels equipped with electric motors, wherein a regulated strip tension is set between reels and rolling stand or optionally between other stands.
  • the rolling force is controlled in advance, depending on the decrease in the predicted Size kept constant, to achieve a constant strip thickness over the strip length.
  • the rolling force of each rolling mill, the rolling speed and the strip tension are matched, the strip speed between the unwinding reel and the first rolling stand being influenced in such a way that the mass flow through the rolling mill per unit time is constant.
  • a method for controlling a drive, in particular a reel drive, preferably for a cold rolling mill comprises the following steps: measuring angle-related information and distance-related information, and compensating a wave or reel impact by means of the angle-related information and the distance-related information ,
  • the method may be used in a variety of industrial environments, such as a rolling mill, for example, a cold or hot rolling mill, a shearing machine, a belt mill, or a conveyor belt plant.
  • a reel or coil or reel for winding or unwinding a preferably formed as a metal strip band can be used. This can be an uncoiler the band for further processing, for example by means of rollers, make available and / or a take-up reel can wind up an already processed band.
  • the metal strip may be, for example, an iron or steel strip. Other tape-shaped materials may also be used, such as non-precious metal or plastic.
  • Unroundness of the reel caused, for example, by clamping the tape in a reel slot, by not centering or by a first turn of the tape on the reel, for example, when wound without a slot, can cause periodic disturbances or a reel hitting.
  • the perturbations may be that, as the reel rotates at a constant rotational speed due to the unruliness of the reel, there are periodic variations in the tensile force acting on the tape and, consequently, periodic variations in the tape thickness of the rolled strip.
  • Out-of-roundness of press rolls between which the belt is guided and / or out-of-roundness of a pulley over which the belt passes may also cause periodic variations in belt thickness.
  • the invention may be used, except for the reel stroke, also for compensation of disturbances due to non-circularity of other rolls or rolls, such as press rolls, rotary rolls, work rolls, or back-up rolls. Everything that is done on the example of the reel impact also applies to a compensation of disturbances due to non-circularity of other rolls or rolls.
  • a control variable can be determined, which can be fed to the reel drive, whereby the reel drive can be regulated or controlled to compensate for the periodic disturbances or to compensate for the reel impact.
  • a compensation of the reel impact can be made so that a control of the winding or unwinding of the tape, in particular the control of a motor for rotating a reel, is carried out so that, despite the presence of runout, the pulling force acting on the unwound or wound tape is kept constant becomes.
  • no measurement of the tensile force acting on the band is necessary for controlling. Tensile force measurements are generally technically very demanding and consequently also very expensive and also prone to failure and less accurate than measurements of the angle-related and distance-related information.
  • the reel drive may comprise a, preferably electric, motor which drives the reel.
  • a total torque of the reel drive with or without reel or the motor and / or a speed of the reel to compensate for the reel impact or to compensate for caused by runout of the reel fluctuations of a tensile force acting on the tape can be increased or decreased.
  • the total torque of the reel drive and / or the speed of the reel can be used in particular as reference values or setpoints of a torque control or speed control of the reel drive, preferably by a size relating to a movement of a band wound up or unwound around the reel, for example the tensile force acting on the tape or a speed of the tape to keep constant.
  • the out-of-roundness of the reel can be described, for example, with a functional dependence of the reel radius on a rotation angle of the reel.
  • the radius of a non-round reel in a first interference-free angle range may have a first or regular radius value and in a second noisy angle range a second, compared to the regular radius value excessive radius value, the second angular range, for example, less than 1 degree or 10 degrees may be and the first angular range may extend over 360 degrees minus the second angular range.
  • the total torque during the unwinding or rolling up of the band over the second angular range can be reduced compared to the value of the total torque during unwinding or unwinding of the band over the first undisturbed angular range. for example, by reducing a motor current, so that the tensile force acting on the band remains constant.
  • the total torque can be increased again.
  • a functional dependence of a spin of the reel or a total torque of the reel driving motor of the angle-related information and distance-related information can be determined.
  • a manipulated variable of the control for example a motor current, can be used.
  • the functional dependence of the spin of the reel on the angular and distance-related information is based on the fact that the angle of rotation of the reel as a function of the distance of the belt and the spin of the reel can be formed as a two-fold derivative of the rotation angle with time.
  • a suitable value for the total torque of the reel-driving motor can be determined, whereby the reel stroke can be compensated.
  • the runout of the press rolls can be compensated by controlling one or more vertical hydraulic cylinders, wherein a vertical position of the press rolls can be changed or adjusted by means of the cylinders.
  • an adjustable basic torque and a calculated additional torque in particular as parts of the command variable of the torque control of the reel drive, can be used.
  • the adjustable basic torque can be set, for example, via an operating console.
  • the adjustable basic torque for trouble-free operation of the reel or operation of the reel without Reel can be set or fixed and the additional torque can be determined to compensate for disruption caused by reels in a troublesome operation of the reel or operation of the reel with reel impact.
  • the additional torque required to compensate for the recoil stroke and the adjustable basic torque can be superimposed to produce the total torque.
  • the total torque can thus be used as a reference variable of the torque control of the reel drive.
  • the angle-related information can be measured as a rotation angle and / or a rotational speed and / or a rotational acceleration of the reel.
  • the angle of rotation of the reel may be provided continuously or, for example, as a time series with discrete, preferably equidistant, values.
  • the rotational speed and / or rotational acceleration can also be determined from the angle of rotation, preferably by means of simple or multiple differentiation with respect to time. It is also possible to measure the rotational speed or spin alone, the remaining quantities being calculated or determined continuously or from the quantity measured as a time series.
  • the distance-related information may be measured as a distance and / or speed and / or acceleration of the band.
  • the distance can be provided continuously or as a time series with discrete, preferably equidistant, values.
  • the speed and / or acceleration of the band can also be determined from the distance, preferably by means of simple or multiple differentiation with respect to time. It is also possible to measure the speed or acceleration of the strip alone, with the remaining quantities being calculated or determined from the variable measured continuously or as a time series.
  • the distance-related information may relate to the following quantities: a distance (s) and / or speed (v) and / or acceleration of the Band. In this case, each of the distance-related information, alone or in combination with at least one further distance-related information, can be measured.
  • the angle-related information may relate to the following quantities: a rotation angle and / or a rotational speed and / or a rotational acceleration of the reel, the roller or roller. In this case, each of the angle-related information, alone or in combination with at least one further angle-related information, can be measured.
  • the measurements of the sizes relating to the distance-related information may be carried out at several locations, preferably simultaneously.
  • the same size for example, the distance or speed or acceleration of the tape can be measured at the measuring points.
  • Different sizes can also be measured at the measuring points, for example the distance and speed or the distance and acceleration.
  • numerical values of the angle-related and / or distance-related information for achieving a stable control of the reel drive can be smoothed, for example by means of a filter and / or a moving average and / or averaging over a plurality of rotation periods.
  • the angle-related information on a motor axis of the reel drive and / or on a reel shaft and / or on the reel and / or on the belt in a wrapping area of the reel and / or on a rotational axis of a guide roller and / or on a shaft of a Rotary roller to be measured.
  • the measurement can be performed at one or more locations.
  • Measured values which are obtained from measurements carried out at several points can be standardized for conversion into a uniform value range, for example to a value range of a single measuring point, for example at the motor axis, by means of a preferably linear transformation. Standardization makes it possible to compare the time series or measured values obtained at different locations by means of measurements.
  • the angle-related information can also be determined directly from the manipulated variable of the control, for example a motor current, or from a signal provided by the motor. It is also possible to retrofit a reel drive or a rolling mill for measuring angle-related information.
  • the distance-related information may be measured on the tape in an area outside the wrap area of the reel.
  • the area may preferably be in front of the reel (in a take-up reel) or after the reel (in a reel-up reel) and / or between the reel and a diverting pulley and / or between a diverting pulley and a rotating drum.
  • the distance related information may also be measured on the tape in the wrap area of the reel by measuring a thickness of the wrapped reel.
  • the measurement can be performed at one or more locations. Measured values which are obtained from measurements carried out at several points can be standardized to convert the measured values into a uniform value range.
  • the obtained measured values can be used for a consistency check of the measurements and / or for averaging over several measurement locations.
  • averaging a single resulting time series for the angle-related information and / or the distance-related information can be provided from the values of several time series.
  • the averaging can also be carried out as weighted averaging, whereby a weighting can depend on the measurement reliability of a measurement and / or on a signal / noise ratio of the measured values.
  • a functional dependence of the angle of rotation ⁇ of the reel on the distance s of the belt can be determined as ⁇ ( s ). From the angle-related and distance-related information can also be a functional dependence of the route s of the rotation angle ⁇ as s ( ⁇ ) are determined.
  • the measurements of the angle of rotation and the distance can be carried out synchronously, so that each of the discrete or continuous time values is assigned a rotational angle value and a distance value.
  • the distance value can be directly assigned to the angle of rotation value, so that the time can be eliminated as an independent variable and a direct relationship can be established between angle of rotation and distance.
  • the functional dependencies between distance and angle of rotation as well as the measured or calculated angle-related information and the measured or calculated distance-related information serve to calculate or determine an additional torque required to compensate for the reel stroke from the functional dependence of the angle of rotation on the distance and / or the functional dependence of the distance from the rotation angle and / or the angle-related information and / or the distance-related information.
  • the values of a single or even two or more previous, for example complete (360 °) revolutions are used to compensate for the reel impact.
  • the measured out-of-roundness or fluctuation in the speed or uniformity of the tape travel and thus the tape tension can be considered as an approximation of the variation occurring in the current revolution and used to compensate, for example, by changing the drive torque and / or the drive speed.
  • the measured values can be synchronized in a mathematical and / or equidistant manner.
  • the discrete measured values can be interpolated into continuous progressions.
  • the continuous course of the angle of rotation and the continuous course of the distance can then be sampled synchronously, wherein the sampling can optionally be carried out at equidistant time intervals.
  • the functional dependence of the angle of rotation ⁇ of the reel on the distance s of the strip is preferably determined as a functional approximation ⁇ ( s ).
  • a functional approximation may be in the form of a polynomial or polynomial series, for example a discrete Fourier series.
  • numerical value ranges of the rotation angle ⁇ and the distance s can be used to approximate or approximate or represent the rotation angle ⁇ as a function of the distance s, for example as a polynomial.
  • the mutual dependencies ⁇ (s) or s ( ⁇ ) can be determined from the approximation ⁇ (t) and s (t).
  • the variables for controlling the reel drive or the motor can be calculated, for example according to equation (1).
  • the necessary derivatives or differential quotients can be determined either analytically or numerically.
  • the control can be performed solely on the basis of either a function ⁇ (s) of the angle of the path or a function s ( ⁇ ) of the path of the angle.
  • the control may be performed exclusively on the basis of a function ⁇ (t) of the angle of the time and a function s (t) of the distance from the time.
  • the additional torque required to compensate for the recoil impact on the reel drive in dependence on the speed and / or acceleration of the belt, the functional dependence of the rotation angle of the reel of the travel of the belt, from the first derivative of the functional dependence of the second Derivation of the functional dependence or of an inertial moment of the motor and / or the reel are determined.
  • ⁇ M t J ⁇ s ⁇ t 2 ⁇ ⁇ s t + s t ⁇ ⁇ s t
  • the additional torque of the motor is not equal to zero when there is an acceleration of the band other than zero or a reel impact.
  • the angle-related information and distance-related information can each be stored or stored in at least one shift register or ring memory or memory.
  • Values for example the angle-related information and / or distance-related information and / or the functional dependency of the angle of rotation on the path and / or the additional torque of the motor as well as other calculated and / or calculated values may preferably be in the at least one shift register or the at least one ring memory or memory Overwrite measured values relating to a current or last complete revolution of the reel previously stored values.
  • the shift register for example, after completion of a full rotation of the reel, only contain values regarding the current, just completed turn of the reel. However, before completion of the full revolution, the shift register may also contain values from the previous revolution of the reel. It is also possible to store values concerning several revolutions. The stored information may be used to calculate or determine the additional torque required to compensate for the recoil impact on the reel drive.
  • a plurality of shift registers can be used to store measurement data and / or the intermediate and / or final results.
  • the additional torque on the reel drive relating to the current rotation of the reel can be determined by means of the angle-related information and distance-related information relating to a previous rotation of the reel. Due to the periodic or quasi-periodic course of the angle-related information and distance-related information, the course for the previous rotation of the reel coincides exactly or largely or approximately with the course for the current revolution of the reel. For each revolution of the reel, the additional torque can be stored on the reel drive, so that for compensating for the buffalo related disturbances concerning the current rotation of the reel the stored values of the additional torque relating to a previous revolution of the reel can be used.
  • the additional torque may be generated to compensate for reel-induced disturbances that occur periodically with a reel rotation period.
  • the magnitude of the additional torque may be determined so that a perturbation produced by the reel stroke of the previous revolution could have been compensated by the additional torque, the additional torque being applied prior to the occurrence of the expected recoil stroke, preferably by a variable rate of less than 0.1 % or 1% or 10% of the reel rotation period
  • the additional torque on the reel drive can be determined at a time during the current rotation of the reel, which has a time interval to a caused by the reel disruption of the previous revolution of the reel.
  • the time interval can be selected by the variable Vorhalt smaller than the reel rotation period, so that is calculated by the variable Vorhalt before the expected disturbance, the additional torque to compensate for the disturbances.
  • the manipulated variable of the control for example the motor current, for setting the additional torque can also be changed or adjusted by the variable derivative before the expected disturbance.
  • variable derivative can in particular be designed to compensate signal propagation times and / or reaction times of electromechanical components, such as, for example, of the motor and / or of actuators such that in particular the Time for the generation or adjustment of the additional torque as possible coincides with the time for the occurrence of the fault.
  • the reference variable of the torque control can have a regular value.
  • the reference variable of the torque control can be assigned a relation to the regular value changed, for example, greater or lesser value.
  • the time course of the additional torque according to equation (1) may have a time course which precedes by a time interval or Vorhalt the time course of the reel radius, but correlated with a time-shifted course of the reel radius or preferably directly proportional to it.
  • the time course of the reel radius corresponds to a chronological course of the reel-related disturbance.
  • the additional torque can be generated at a time which has a definable or selectable time interval to a caused by the recoil disturbance of the previous revolution of the reel.
  • the time interval may be formed as a time difference between a maximum of the time curve of the additional torque during the current revolution and a maximum of the time profile of the disruption caused by the reel impact during the previous revolution.
  • the time interval can also be formed as a time difference between a start of the increase in the time course of the additional torque during the current revolution and a start of the increase in the time course of the disturbance during the previous revolution.
  • the time interval between the additional torque and the disturbance caused by the reel stroke of the previous revolution can be selected smaller by the lead than the reel rotation period. Thus, for the current revolution of the reel, the additional torque precedes the anticipated reel-induced disruption.
  • the lead can be variably set to allow it to be adjusted as necessary during operation of the mill to improve or optimize reel stroke compensation or associated control.
  • the lead can have the value zero or an experimentally determined value.
  • the derivative may be changed or adjusted adaptively or iteratively to minimize the acceleration of the band.
  • An adaptive adjustment of the inventory during the operating time of the rolling mill can be achieved by means of a, preferably recurrent, or optionally feedforward, neural network.
  • the angle-related and distance-related information may also be used to compensate for out-of-roundness of press rolls or to control a vertical position of the press rolls between which the press belt is passed.
  • the vertical position of the press rolls, work rolls or back-up rolls may preferably be detected or changed or adjusted by means of hydraulic cylinders or linear hydraulic motors or electromagnetic linear motors.
  • the discrete rotational speed and / or the discrete rotational acceleration determined as discrete rotational distance functions from discrete values of the rotational angle can be assigned as functions of the discrete travel distance to an offset by one offset discrete travel distance.
  • the mapping is used to determine the functional dependence of the additional torque required on the reel drive to compensate for the reel impact of the angle-related information and distance-related information.
  • a first discrete rotation angle can be assigned to a first discrete path.
  • One of the first discrete rotation angle subsequent, second discrete rotation angle can one the first discrete path following, second discrete path are assigned.
  • a discrete value of the rotational speed can thus be assigned to the middle between the first and the second distance.
  • the associated offset is half the difference between the first and the second distance.
  • a discrete value of the spin can be assigned to either the middle between the first and the second distance or the second distance.
  • the associated offset is either half the difference or the full difference between the first and second paths.
  • the total torque, in a disorder caused by the reel bounce, for controlling the reel drive can be changed as follows: with an increase in the speed of the belt and / or an occurrence of an acceleration of the belt and / or an increase in the rotational speed of the motor and / or an occurrence of a rotational acceleration of the engine, the total torque can be reduced by the additional torque.
  • the total torque can be increased, preferably to its value before the occurrence of the disruption caused by the reel impact.
  • Another aspect of the invention relates to a device for controlling a reel drive, in particular in a cold rolling mill.
  • the apparatus is suitable for use in a variety of work environments, such as in a hot rolling mill, a shearing machine, a belt line, or a conveyor belt system.
  • the device comprises a rotation sensor, a displacement sensor and a computing unit.
  • the rotation sensor which can output a rotation sensor signal, is for measuring an angle-related Information trained.
  • the displacement sensor which can output a displacement sensor signal, is configured to measure distance-related information.
  • the device may also include a plurality of rotary sensors and / or displacement sensors, which are preferably positioned at different locations.
  • the arithmetic unit can be coupled or coupled to the rotary sensor, the displacement sensor and the reel drive. Furthermore, the arithmetic unit is designed to calculate and output, from the angle-related information and the distance-related information, a reference variable designed as additional torque or a setpoint value for controlling or regulating the reel drive. By means of the reference variable, the reel drive can compensate for a reel impact or disturbances caused by an ovality of the reel, wherein the compensation can be carried out in particular according to the method described above.
  • the device may include a speed control of the reel drive and / or a torque control of the reel drive and / or a speed control of the belt.
  • the rotation sensor may comprise an incremental encoder, and / or an absolute value encoder, and / or a potentiometer, and / or a Wiegand sensor and / or a gyroscope.
  • the rotation sensor for measuring the angle-related information on a motor axis of the reel drive and / or on a reel shaft and / or on the reel and / or on the belt in a wrap area of the reel and / or on a rotational axis of a guide roller and / or be arranged on a shaft of a rotary roller.
  • the displacement sensor may comprise an incremental encoder and / or absolute value encoder.
  • the displacement sensor may be disposed on the belt in a wrap region of the reel for measuring the distance-related information by means of a measurement of a thickness of the wound reel.
  • the displacement sensor can also be arranged on the belt in a region outside the wrapping region of the reel, the region preferably in front of the reel (in a wind-up reel) or after the reel (in a unwinding reel) and / or between the reel and a deflection reel and / or between the pulley and a rotating roller or roller can lie.
  • the device may comprise at least one filter, for example a low-pass filter, for achieving stable regulation of the reel drive by smoothing numerical values, in particular the angle-related and / or distance-related information.
  • the at least one filter can be coupled on the input side with the rotary sensor and / or displacement sensor and on the output side with the arithmetic unit.
  • Fig. 1a and Fig. 1b typical forms of a reel impact 10 are shown.
  • the compensation of the reel impact 10 relates to the detection of non-circularities on winding reels and tape-guiding rollers.
  • Out-of-roundness is mainly caused by the clamped beginning of the strip in the clamping slot 12 of a reel 10 or by a winding jump 14 of the first layer on the reel 10. Roundnesses in rolls arise from non-centered mounting or deformed cross sections.
  • the reel impact 11 can by clamping the belt 13 in the clamping slot 11 ( Fig. 1a ) or by the winding jump 14 of the first turn, when wound without a slot ( Fig. 1b ). According to the invention, the shape and position on the diameter of rolling mill reels for adjustment is detected.
  • out-of-roundness acts as a pulsating Bandzugabweichung and thus as a thickness error in the band 13.
  • out-of-roundness affects in the form of a velocity error.
  • the radius can be as in Fig. 4 Shown to change over an angle from 0 to 2 ⁇ .
  • ⁇ ( s ) const.
  • the first term is omitted and the acceleration of the angle depends only on the radius and on the path acceleration.
  • the mass inertia must be compensated for out-of-roundness or for web acceleration.
  • the relationship between s and ⁇ must now be recorded in one turn operation.
  • the function ⁇ ( s ) can be recorded with a digital XY recorder and then processed mathematically. In practice, the evaluation can be carried out directly in a control or regulation unit.
  • the reel 10 or the roll is divided into angular segments ⁇ . Each segment becomes a calculation d ⁇ ds . ie the first derivative ⁇ to s, assigned. All segments are chosen the same size.
  • the out-of-roundness is measured using two pulse generators (incremental encoder or absolute value encoder).
  • the one encoder is coupled to the belt 13 (rotary roller, speedometer roller) and forms the railway line or distance s from.
  • the other donor is ideally the Speed sensor of the motor or is separately attached directly to the shaft and transmits the elapsed angle and defines the segments.
  • Pulse generator on the belt 13 for the distance s Pulse generator on the belt 13 for the distance s, and pulse generator of the winding drive for the rotation angle ⁇ .
  • the value pair 1 stands at the beginning of the measurement, the value pair 2 at the end of the measurement of the segment.
  • the result is stored for reading at the next revolution in a shift register, listed in the segment order.
  • the entire circumference of the reel 10 is deposited over a revolution.
  • the shift register is designed as a ring buffer so that the values are overwritten after one revolution. With inaccurate measurements, several revolutions can be averaged.
  • the shift register is provided with a variable lead.
  • This variable derivative takes into account the running times and response times of the controls and actuators. This can also be compensated for the offset described above, if this is not taken into account in the calculation.
  • the two shift registers are under Consideration of Vorhaltes linked to the web speed and with the web acceleration.
  • Fig. 9a is a schematic diagram of a scheme for compensating for in Fig. 1a, Fig. 1b 1.
  • a basic torque M 0 is set or set to an operating console 35.
  • the adjustable basic torque M 0 is provided for trouble-free operation of the reel 10 or operation of the reel 10 without reel impact 11.
  • a motor or reel drive 24 drives the optionally non-round reel 10, from which the belt 13 is unwound.
  • the rotation angle ⁇ of the reel is measured via a rotary sensor 28 in the form of a pulse generator or absolute value encoder.
  • a travel sensor 30 embodied as a laser or absolute value transmitter, the travel distance s or a surface speed of the belt is measured. The measured values of the rotation angle ⁇ and the distance s are then fed to the arithmetic unit 33.
  • the arithmetic unit 33 calculates an additional torque ⁇ M according to equation (1), which is superimposed with the adjustable basic torque M 0 to form a total torque M soll .
  • the total torque M soll is supplied to the controller 31 as a reference variable of a controller 31 designed as a torque controller.
  • the controller 31 determines a current i 0 + ⁇ i, which is supplied as a manipulated variable of the controller 31 to the motor 24 for adjusting a force exerted on the reel 10 torque M is , wherein the applied torque M is formed as a control variable or actual value of the controller 31.
  • the current i 0 + .DELTA.i comprises a base current i 0 and an additional current .DELTA.i, wherein the base current i 0 is in a trouble-free operation of the coiler 10 or for adjusting the applied torque M a operation of the reel 10 is formed with no reel stroke 11, and the additional current ⁇ i for setting the additional torque .DELTA.M in a troublesome operation of the reel 10 or an operation of the reel 10 with reel impact 11 is formed.
  • the applied by the additional flow .DELTA.i, increased or reduced, applied torque M is the The motor 24 is designed to compensate for variations in tension on the web 13 caused by the reel impact 11.
  • the controller 31 adjusts the applied torque M is applied to the reel drive 24 to the predetermined basic torque M 0 .
  • Fig. 9b shows a schematic diagram of a second embodiment of a regulation for compensating the reel impact.
  • This embodiment differs from the embodiment in FIG Fig. 9a in that in the embodiment according to Fig. 9b a speed n 0 of the motor 24 or reel 10 is preset or adjusted on the control console 35.
  • the input speed n 0 and the additional speed ⁇ n entered in the operating console are superposed on the total rotational speed n soll , which is supplied as a reference variable of the controller 31 designed as a speed controller.
  • the measured or around the reel drive 24 exerted speed n is formed as a control variable or actual value of the controller 31st
  • Fig. 9c shows a course of a torque exerted on the motor 24 M is for compensating for a reel 11 caused by a disturbance and a course of a belt speed v, which varies due to the reel 11, depending on the time t and the rotation angle ⁇ of the reel 10th
  • Fig. 10 shows a measuring arrangement for measuring the rotation angle ⁇ of a reel and the distance s of a strip in a cold rolling mill.
  • the belt 13 is unwound from the reel 10, guided over the deflection roller 40 between the work rolls 42. Between Work rolls 42, the material in the flow disk 46 is transformed. On the belt 13 Anlagenschwankisme can occur due to ovality of the reel 10.
  • the rotational angle ⁇ and / or the rotational speed of the motor 24 is measured by means of a pulse generator 17.
  • Another pulse generator 17 for detecting the distance s of the belt is positioned on the deflection roller 40, wherein the distance s is determined from the measured speed of the deflection roller. Further, a pulse generator 17 for measuring the rotational speed or the rotational angle of the rotary roller 44 is provided.
  • the distance s of the belt is detected on the belt 13 by means of a laser sensor 39, which is positioned between the deflection roller 40 and the rotating rollers 42.
  • the reel impact acts at usual rolling speeds in orders of magnitude well below 100 milliseconds and can be compensated only insufficiently by direct train controls.
  • an adapted dead-time control is used to compensate for the reel impact.
  • the, usually existing pulse generator on the reel motor and the pulleys are used. These measurements are very stable and require no additional effort.
  • the pulley pulser is used on the roller motor.
  • the roller diameter is recorded by means of a gear, the belt speed with a decrease in the stitching.
  • the advantage is that a transducer or sensor is firmly connected to the belt 13 and clamped directly to the rotary encoder of the respective reel 10.
  • the belt speed can also be detected by a laser measurement.
  • Tensile measurements are overload sensitive due to the large tension range, eg of about 1: 20, maintenance-intensive and inaccurate in the lower range. Because of partially eccentric belt support due to flatness errors, measuring devices are required on both sides of the roller. According to the invention, no strip tension measurement is used.
  • the reel impact concerns uncoiling and coiling.
  • Fig. 10 For cold rolling mills, the reels 10 are arranged in front of and behind the roll stands as draw ropes. Due to a partially larger radius on the reel diameter (reel impact), the tension of the tight strip 13 between the roll stand and the reel 10 increases. This increase in tension has an effect as a defect in the strip thickness.
  • the invention detects the reel impact and corrects the resulting tensile defects of the reel 10 and / or the employment of the rolling stand.
  • the detection of the change in train is carried out using the usually already required for other control tasks, measuring stable encoder and facilities for the rolling mill.
  • the out-of-roundness is determined without additional aids such as tension measuring devices, and in a torque control, an additional torque .DELTA.M is connected to the reel 10 as a compensation or carried out at speed control, a speed correction.
  • the pulse generator 17 Since the pulse generator 17 is not arranged directly on the object to be measured (reel 10), but on the motor 24, which is connected to the reel 10 via a gear 32, the engine revolution on the reel rotation ( ⁇ ) must be converted.
  • a pulse adjustment 48 is provided to the transmission 32.
  • one reel turn corresponds to 2.354 engine revolutions, that is, the gear stage.
  • the speed of the belt 50 is to be understood as the revolution (angle) of the reel 10, which is derived from the engine rotation and transmission ratio.
  • the impulse adjustment 52 on v-band, as well as the pulse adjustment 48 to the transmission show that the physical raw signals from the pulley or the roller encoder still need to be converted.
  • 1000 rolling-motor pulses with a roll diameter of 312 mm correspond to a strip length (s) of 243.56 mm.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
EP20100177045 2009-09-30 2010-09-16 Procédé et dispositif destinés au réglage d'un entraînement Not-in-force EP2305393B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102009047822A DE102009047822A1 (de) 2009-09-30 2009-09-30 Verfahren und Vorrichtung zum Regeln eines Antriebs

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EP2305393A1 true EP2305393A1 (fr) 2011-04-06
EP2305393B1 EP2305393B1 (fr) 2013-11-06

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015023470A1 (fr) * 2013-08-16 2015-02-19 The Procter & Gamble Company Procédé permettant de réduire les effets des variations de la bobine mère pendant un débobinage
EP3798165A1 (fr) * 2019-09-24 2021-03-31 Siemens Aktiengesellschaft Procédé d'enroulement d'un produit à enrouler, produit programme informatique, dispositif de commande et enrouleuse
WO2022198838A1 (fr) * 2021-03-24 2022-09-29 山西太钢不锈钢精密带钢有限公司 Procédé de commande de tension d'enroulement pour bande d'acier extrêmement mince

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Publication number Priority date Publication date Assignee Title
DE4010352A1 (de) 1990-03-28 1991-10-02 Mannesmann Ag Verfahren und vorrichtung zum verbessern der banddickentoleranz an einem auf einem kaltbandwalzwerk gewalztem band
EP0477422A1 (fr) 1990-09-28 1992-04-01 Siemens Aktiengesellschaft Dévidoir - Régulation dynamométrique
EP0582826A1 (fr) * 1992-07-13 1994-02-16 Siemens Aktiengesellschaft Dispositif de régulation pour la motorisation d'un dévidoir
DE4425355A1 (de) * 1993-07-16 1995-01-26 Siemens Ag Regelung für den Antrieb eines Haspels
DE4243045C2 (de) 1991-12-26 1995-08-03 Siemens Ag Regelung für eine Kaltband-Walzstraße
DE19614300A1 (de) * 1995-04-21 1996-10-24 Abb Patent Gmbh Verfahren zur selbstregulierenden Kompensation der Auswirkung des ungleichmäßigen Rundlaufs einer Rolle

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DE19818207C2 (de) * 1998-04-23 2000-05-31 Schloemann Siemag Ag Steckel-Warmwalzwerk
JP2001137921A (ja) * 1999-11-12 2001-05-22 Kobe Steel Ltd 圧延機の板厚制御装置

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Publication number Priority date Publication date Assignee Title
DE4010352A1 (de) 1990-03-28 1991-10-02 Mannesmann Ag Verfahren und vorrichtung zum verbessern der banddickentoleranz an einem auf einem kaltbandwalzwerk gewalztem band
EP0477422A1 (fr) 1990-09-28 1992-04-01 Siemens Aktiengesellschaft Dévidoir - Régulation dynamométrique
DE4243045C2 (de) 1991-12-26 1995-08-03 Siemens Ag Regelung für eine Kaltband-Walzstraße
EP0582826A1 (fr) * 1992-07-13 1994-02-16 Siemens Aktiengesellschaft Dispositif de régulation pour la motorisation d'un dévidoir
DE4425355A1 (de) * 1993-07-16 1995-01-26 Siemens Ag Regelung für den Antrieb eines Haspels
DE19614300A1 (de) * 1995-04-21 1996-10-24 Abb Patent Gmbh Verfahren zur selbstregulierenden Kompensation der Auswirkung des ungleichmäßigen Rundlaufs einer Rolle

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015023470A1 (fr) * 2013-08-16 2015-02-19 The Procter & Gamble Company Procédé permettant de réduire les effets des variations de la bobine mère pendant un débobinage
EP3798165A1 (fr) * 2019-09-24 2021-03-31 Siemens Aktiengesellschaft Procédé d'enroulement d'un produit à enrouler, produit programme informatique, dispositif de commande et enrouleuse
CN112623837A (zh) * 2019-09-24 2021-04-09 西门子股份公司 卷材的卷绕方法、计算机程序产品、控制装置及卷绕机
US11651908B2 (en) 2019-09-24 2023-05-16 Siemens Aktiengesellschaft Method of winding coilware, computer program product, control device, and winding machine
WO2022198838A1 (fr) * 2021-03-24 2022-09-29 山西太钢不锈钢精密带钢有限公司 Procédé de commande de tension d'enroulement pour bande d'acier extrêmement mince

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