EP2328696A1

EP2328696A1 - Method for controlling and/or regulating a slipping motion of a roller relative to a strip, controller and/or regulator, machine-readable program code, storage medium and industrial plant

Info

Publication number: EP2328696A1
Application number: EP09780693A
Authority: EP
Inventors: Ralf Smukalski; Hans-Joachim Felkl; Wilfried Tautz
Original assignee: Siemens AG
Current assignee: Siemens AG
Priority date: 2008-08-27
Filing date: 2009-07-16
Publication date: 2011-06-08
Anticipated expiration: 2029-07-16
Also published as: EP2328696B1; BRPI0918572A2; WO2010023030A1; RU2011111400A; PL2328696T3; CN102131596A; RU2477188C2; DE102008040008A1; CN102131596B

Abstract

The invention relates to an industrial plant (1), to a controller and/or regulator (5), to a machine-readable program code (7), to a storage medium (6), and to a method for controlling and/or regulating a slipping motion of a roller (3, 3-1, 3-2) relative to a strip (B), particularly a cold strip to be processed in a metal processing unit, said strip being guided through a roller interconnection (2) comprising the roller (3, 3-1, 3-2) and at least one further roller (3, 3-1, 3-2) at an adjustable strip speed. By monitoring (21) the occurrence of the slipping motion by means of detecting at least one technical operating variable of the roller (3, 3-1, 3-2), and due to the fact that with the occurrence of a slipping motion of the roller (3, 3-1, 3-2), a current circumferential speed of the roller (3, 3-1, 3-2) and/or of at least one of the at least one further roller (3, 3-1, 3-2) and/or of the strip speed is changed (24, 25, 26, 27, 34) such that the current circumferential speed of the slipping roller (3, 3-1, 3-2) and the strip speed approach each other, it becomes possible to detect a slipping of a strip relative to a roller in a system, and to reduce or remedy the same, particularly during the operation of the plant.

Description

description

Method for controlling and / or compensating for a sliding movement of a roll relative to a belt, control and / or regulating device, machine-readable program code, storage medium and industrial plant

The invention relates to a method for controlling and / or compensating for a sliding movement of a roller relative to a belt. Furthermore, the invention relates to a control and / or regulating device, a machine-readable program code, a storage medium and an industrial plant for carrying out the method.

Roller assemblies, also called a tensioning roller set, as used for the invention are, for example. When rolling metal strip, especially in cold rolling, and treatment lines, such as. used in the coating, pickling, heating or similar processes of metal strips. These roll joints are used to adjust the strip tension for a metal strip to be machined. For example, the belt tension substantially influences the machining process, for example the decrease in thickness during rolling of a rolling stock.

However, these roll composites can likewise be used in the textile industry, for example for textile tapes or in the plastics industry or other sectors in which strip-shaped material is processed, and thus also the method disclosed in the context of this application.

By contamination of the roller surfaces of the rollers of the roller assembly, by overload or by unfavorable load distributions of the drives of the roller assembly, for example, single or multiple rollers of this roller assembly can slip under the belt. There is thus an undesired relative movement between the roller surface of one or more rollers and the belt guided by the roller assembly or by the rollers of the roller assembly. In the case of belt chutes in metal strip processing equipment, such as a rolling mill or treatment line, the operators of the rolling mill and maintenance personnel are known to be unable to detect belt slippage by means of appropriate messages from the system and the resulting effects, eg backward running system, Metallbandrissmeldung or explain high coatings in the metal strip, in the rolling mill. Even visually on-site at the role of composite is a very difficult to recognize for the staff a sliding role.

The slippage of the metal strip during its processing brings, however, in addition to the occurring process errors during rolling further disadvantages. If, for example, a metal strip undetected over a roll slips undetected for an extended period of time, the usually existing special coating of the roll may be abraded. As a result, the coefficient of friction of the roller shell surface is reduced and the problems occurring in the rolling process are further enhanced. Furthermore, the damaged roll - after discovery - replaced. This leads to additional costs, since a system downtime may be required to change the damaged roller.

Slipping rollers can also lead to a significant loss of quality in the metal band produced or treated or to be treated. By slipping the metal strip over a roller, for example, its surface can be damaged, which possibly leads to production committee.

All of these effects are undesirable for economical operation of a belt processing machine, especially metal belt.

The invention is therefore based on the object to detect a slipping of a belt relative to a role in a system and this, in particular during operation of the system, to reduce or remedy. The object is achieved by means of a method for controlling and / or compensating for a sliding movement of a roller relative to a belt, in particular a cold strip to be processed in a metalworking device, which is guided with an adjustable belt speed through a roller composite having the roller and at least one further roller wherein an occurrence of the slipping motion is monitored by detecting at least one technical operating variable of the roll, and in that, as the roll moves, an actual peripheral speed of the roll and / or at least one of the at least one further roll and / or the belt speed are changed such that the actual circumferential speed of the slipping roller and the belt speed are approximated to each other. As a result, an occurring belt slippage can be reduced or eliminated.

In particular, a method for detecting a sliding movement of a roller relative to a belt, in particular metal belt, can be used to monitor the occurrence of belt slips. The monitoring preferably takes place constantly during the operation of the roller assembly, even during possibly required control interventions for eliminating determined belt slippage.

For monitoring the occurrence of belt slips, for example, at least one first operating variable of a first roller of the roller assembly is determined. Furthermore, at least one second operating variable of at least one of the further rollers of the roller assembly is determined. On the basis of a determined deviation of the first from the second operating variable, a sliding movement can be detected early and reliably. As an operating variable, it is advantageous to use a moment of the motor driving the monitored rollers and / or the peripheral speed of the roller.

If, in particular, master-slave control concepts are used for the rollers of the roller assembly, then a detection of a sliding movement, for example, can be carried out as follows: For a slave roller of a roller assembly, a sliding movement relative to the metal belt, for example, is detected if the slave roller has a peripheral speed at a motor or generator torque of the motor driving the master roller for a predeterminable time interval which is higher or higher ., Lower than the peripheral speed of a comparison role, which is also covered by the roller assembly.

By way of a specific, non-limiting example, a slave pulley is considered to be slipping if, at the moment of the motor driving the master pulley, it has a revolving speed which is higher by more than 0.015 m / s for a period of more than two seconds is the revolution speed of the master roll, or at regenerative moment of the master roll driving motor has a circulation speed slower by more than 0.015 m / s for a period of more than 2 seconds, than the rotational speed of the master roll ,

For a master roller of a roller assembly, a sliding movement relative to the metal band, for example. Detected when the slave rollers at a motor or generator torque of the master roller driving motor for a given time interval each have a rotational speed, the lower or higher than the rotational speed of the master roll.

In the form of a concrete, non-limiting example, a master-role is then recognized as slipping, for example, when motor torque of the leading role driving motor, all the following roles have a circulation speed by more than 0.015 m / s for a period of in terms of amount is less than the circumferential speed of the leading roller for more than two seconds or, if the motor driving the leading roller has a regenerative torque, the peripheral speeds of all subsequent rollers are more than 0.015 m / s for a period of more than 2 seconds. is higher than the circulating speed of the leading roller.

Motor torque is understood to mean a torque at which the motor driving the roller drives the belt. By a regenerative motor is meant a torque at which the belt drives the motor driving the roller.

As a master role, a role of a roller assembly is referred to, if this is the leading role in normal operation, that is, when no belt slipping in the roller assembly, which is in particular PI-controlled. A role of a group of rolls is referred to as a slave roll, if this is a following roll in normal operation, which in particular is P-controlled. In general, that role is the master role in a role composite on which the largest Zugübersetzung occurs or at which the effect caused by Zugspannungsänderungen greatest force acts in the role composite.

The skilled person, however, is free to use any other method for detecting a sliding movement and to use this for monitoring the occurrence of a sliding movement according to the invention.

Roller assemblies are understood to be tensioning roller sets which are designed for the targeted adjustment of a belt tension, in particular tension, of a belt and which have at least two rollers.

By changing the actual peripheral speed of the roller and / or at least one of the at least one further roller and / or the belt speed, it is achieved that the relative speed of the belt and the circumference of the roller approach each other. Reducing the relative speed increases the likelihood that the roller, which has been identified as slipping, will re-engage the belt, thus eliminating, but at least reducing, slippage. This intervention follows during operation of the system. A shutdown of the system can be avoided.

This method has the particular advantage that it is automated during operation of the plant, i. without the intervention of operating personnel, which on the one hand saves resources, increases the operational safety of the installation by rapid intervention and the operation of the installation as such, e.g. In terms of throughput, is improved. It is not necessary to switch off the system to eliminate belt slipping.

In a further advantageous embodiment of the invention, at least one of the rollers of the roller assembly is designed as a leading role for specifying an operating parameter and at least one of the rollers as a subsequent role using the predetermined operating parameters, wherein a control of the peripheral speed of the at least one leading role means A control of the peripheral speed of at least one of the following rollers takes place by means of a P-control, wherein, when a sliding movement of one of the rollers occurs, the control of at least one following roller is changed from a P-control to a PI control is switched. Frequently, the following roles, ie slave roles, operated in P-control mode, which take an I-share of the PI controller of the leading role, ie master role. In this case, the operating parameter would thus be the I component of the PI controller of the leading role. Operating parameters can be understood as meaning all control / regulating parameters which influence the operation of a roll. For example. These may be control components, such as an I-part of a PI-controlled peripheral speed of a leading role, which is used for a P-control of the peripheral speed of a following role. Also come as operating parameters operating variables, such as rotational speed, torque, speed, etc. are taken into account. In addition, further operating parameters in the form of various desired and actual values are available to the person skilled in the art. The leading role and the following role interact with each other, with operating parameters of the leading role influencing the operating parameters of the following role. By changing the regulation for a specific role from P-control operation to PI control operation, it is achieved that, in particular, the control dead time for this role is reduced. As a result, it is possible to react to the situation particularly quickly after detected occurrence of belt slips. In particular, the actual circumferential speed of at least one of the at least one following roller is thereby adapted so that the slippage of one of the rollers in the roller assembly is eliminated. In particular, by changing from P control operation to PI control operation, for example by changing over a peripheral speed controller assigned to the specific roller, significant losses in the throughput of the system can be avoided since the belt speed in the roller system can preferably be maintained. P-controllers and PI-controllers are well known from control engineering and will not be explained further here.

It is advantageous that, when a sliding movement of at least one of the at least one following rollers occurs, the regulation of the at least one following roller is switched or changed from a P-control to a PI control. This causes the skidding following roller (s), i. Slave roll (n,) again follows the tape speed. As long as the master roll engages the tape, no negligible polishing effect will occur on at least one slipping subsequent roll, i. Slave role, up.

In a further advantageous embodiment of the invention, the control of all the following roles is changed from a P-control to a PI control in case of slipping movement of the leading role or switched. In other words, this means that preferably all in normal operation, ie a non-slip operation for all roles of the roller assembly, operated as a slave rollers rollers of the roller assembly be operated as a master roles with slipping master role. This can ensure that no slippage of the leading roll does not require a plant stop in order to remedy the present slipping motion. The switching of the control operation is preferably carried out in a period of time after the occurrence of the sliding movement, in which the following rollers still have firm belt contact, ie a moment of the following rollers driving motors has not fallen below a predetermined threshold, so that the tape tension of the guided belt preserved.

In a further advantageous embodiment of the invention, the control is switched back from a PI control to a P control of at least one of the at least one following roller as a function of a measure of an amount of torque of the motor driving this roller and / or as a function of the desired value Circumferential speed of the leading roller and / or as a function of the belt speed. A switch back of the controller takes place when the role recognized as slipping the tape again. Then, the controller of the respective role is again switched from a PI control operation in a P-control mode. As a criterion under which circumstances such a switchover or a switching back of the control mode of the controller takes place, for example, a threshold value can be used for an amount of a relative actual engine torque achieved by the motor driving the roller detected as being slipping. This is determined by the moment required for the roller to which a certain force acts due to the drop in tension over the roller. Possibly. In addition, a gear factor is to be considered here. This required torque is set in relation, for example in the form of a quotient, with a normalization moment which, for example, is the maximum torque permitted at the motor shaft. From this, the relative setpoint torque of the motor is formed. If the relative actual torque exceeds a certain part of the relative target torque, about 50 percent, then the role is again referred to as gripping detected and there is a switching back of the controller from PI control mode in the P-control mode.

Alternatively, a limit target revolution speed of the leading roller, i. Master role, and / or a limit tape speed are provided, which falls below a switching or switching back of the controller takes place. At low belt speed and thus also at low target rotational speed of the master roller or leading role and thus also at low target rotational speed of the at least one slave roll or following role, the probability of occurrence of belt chutes is significantly reduced, so that in There is generally no need to change the control mode of the controller from a P control operation in a PI control operation and thus also no need to change from a PI control operation to a P control operation. However, this has the disadvantage that the throughput of the belt processing equipment is reduced due to the reduced belt speed.

In a further advantageous embodiment of the invention, a moment of the motor driving the roller is changed essentially without a jump when switching and / or switching back the control. This ensures that the rotational speed of the transferred from the slipping state in the gripping state role is not changed abruptly. An abrupt change in the speed of rotation of the roll can lead to re-occurrence of belt slippage. This is avoided by essentially instantaneously changing a moment of the motor driving the roller.

The object is likewise achieved by a control and / or regulating device for a roller assembly of a system for processing metal strip, in particular cold rolling mill and / or treatment line, with a machine-readable program code which has control commands which, when executed, the Control and / or regulating device for carrying out the method according to one of claims 1 to 6 cause.

The object is also achieved by machine-readable program code for a control and / or regulating device for a roller assembly of a system for processing metal strip, in particular cold rolling mill and / or a treatment line, wherein the program code has control commands that the control and / or regulating device for performing of the method according to any one of claims 1 to 6 cause.

Furthermore, the object is achieved by a storage medium having a machine-readable program code stored thereon according to claim 8.

Finally, the object is achieved by an industrial plant, in particular cold rolling mill and / or treatment line, for processing strip, in particular metal strip, with at least one roller composite comprising at least two rollers for adjusting a belt tension of the metal strip and with a control and / or regulating device according to claim 7 , which is operatively connected to at least one device for operating the rollers.

Further advantages of the invention will become apparent from the embodiments, which are explained in more detail below with reference to the following schematic drawings. Show it :

1 shows a schematic representation of a section of a

2 shows a schematic flow diagram for illustrating an exemplary sequence of the method according to the invention, FIG. 3 shows a schematic flow diagram for illustrating an alternative embodiment of the method according to the invention. The industrial plant shown in FIG. 1 is designed as a treatment line 1 for the treatment of metallic strips B, in particular cold strip. The treatment line 1 may comprise a plurality of areas for processing the metal strip B, for example a rolling area, a region for coating the metal strip, a region for cleaning the metal strip, a region for thermally conditioning the cold strip, and others. These are not shown in FIG.

In particular, the treatment line 1 has at least one roller assembly 2. The roller assembly 2 comprises in the embodiment four rollers 3, which guide the cold strip. The roller assembly 2 is used to adjust the belt tension of the metal strip B in the treatment line 1. In particular, the roller assembly 2 is disposed between areas of the treatment line 1, in which different belt tensions for the purpose of processing the metal strip B are set.

It is also possible to use roller assemblies with more or fewer rollers than four in an industrial plant, in particular for the above-mentioned treatment line 1. However, a roller composite has at least two rollers.

The roller assembly 2 comprises in the exemplary embodiment, a leading roller 3-1, which follows a predetermined target peripheral speed. Furthermore, the roller assembly 2 comprises three following rollers 3-2. The following rollers 3-2 and the leading roller 3-1 have the same target circumferential speed. However, the following rollers 3-2 are operated with a P control while the leading roller 3-1 is operated with a PI control. Not all rollers 3-1 or 3-2 must be constantly driven, but at least the leading roller 3-1.

As a rule, that role is the leading role 3-1, in which the largest absolute Zugübersetzung within the roller assembly 2 occurs. Under absolute train translation is the quotient of higher applied to the role of actual or target tension and lower on the role of the present or target tensile stress understood. Possibly. During a non-slip normal operation, the master function of a roll can be changed from a first roll to another roll.

In a roller assembly 2 for an industrial plant 1, at least one roller 3 of the roller assembly 2 is thus preferably designed as a leading roller 3-1.

The respective rollers 3 of the roller assembly 2 are each assigned drives 4, which drive the respective roller 3. The respective drive unit 4 comprises at least one motor, as well as optionally a transmission for transmitting mechanical energy to the respective roller 3 of the roller assembly 2. In particular, the peripheral speed of the rollers 3 is set with the drive units 4.

The drive units 4 and, if appropriate, the rollers 3 driven by the drive units 4 are in each case operatively connected to a control and / or regulating device 5.

By depositing a machine-readable program code 7, which is supplied by means of a storage medium 6, on which this machine-readable program code 7 is stored, the control and / or regulating device 5, the control and / or regulating device 5 is formed such that it in execution of the deposited program codes 7 can cause the implementation of an embodiment of the method according to the invention. Preferably, the program code 7 is stored on the control and / or regulating device 5 programmed memory.

The control and / or regulating device 5 operating variables of the rollers 3 of the roller assembly 2 are supplied, based on which the control and / or regulating device 5 an occurrence of Band slips in the roller assembly 2 monitored for a respective role 3. If belt slippage occurs for a roller 3, then, by executing the program code 7 stored in the control and / or regulating device 5, the belt slippage for the roller 3 which has been recognized as being slipping is reduced or eliminated.

2 shows a schematic, exemplary flowchart for carrying out a method for controlling and / or compensating for a sliding movement of a roller, which can be stored in the form of a machine-readable program code by way of example on the control and / or regulating device 5 of FIG.

The flowchart in FIG. 2 assumes that, at the start of the method, the band is already threaded into the roller assembly.

In a first method step 20, the band is guided through the roller assembly, as is usually the case during operation of a treatment line 1 of FIG. 1.

In a method step 21, a continuous monitoring of the rollers of the roller assembly takes place on a sliding movement. The monitoring preferably takes place permanently as long as the roller assembly is operated. For the purpose of monitoring the occurrence of slipping operating variables of the rollers, preferably all roles, for example, the peripheral speed and / or the actual torques of a control and / or regulating device supplied. Furthermore, the belt speed of the metal strip can also be detected and fed to the control and / or regulating device 5.

By appropriate processing of such operating variables of the rollers of the roller assembly, a sliding movement of a roller relative to the belt of the roller assembly can be reliably detected. Thus, for example, for a following roller of a roller assembly, a sliding movement relative to the metal band is detected when the roller has a circumferential speed which is higher or lower at a motor or generator torque of the motor driving the leading roller for a predeterminable time interval. as the peripheral speed of a comparison roller, which is also included in the roller assembly.

A following roller 3-2 of FIG. 1 is regarded, for example, as slipping if, at the moment of the motor driving the following roller, it has a circulation speed which is higher than that by more than 0.015 m / s for a period of more than two seconds Circulating speed of the leading role is, or at regenerative moment of the leading role driving motor has a rotational speed that is slower than more than 0.015 m / s for a period of more than 2 seconds, as the rotational speed of the leading role.

For example. 1, the leading roller 3-1 of FIG. 1 is identified as slipping when, for example, at motor torque of the motor driving the leading roller, all following rollers have a rotational speed exceeding by more than 0.015 m / s for a period of more than two seconds is lower in magnitude than the circulating speed of the leading roller or, in the case of regenerative torque of the motor driving the leading roller, the peripheral speeds of all subsequent rollers are more than 0.015 m / s for a period of more than 2 seconds in magnitude higher than the circulating speed of the leading roller.

By a motor torque is meant a torque at which the motor driving the roller drives the belt. By a regenerative motor is meant a torque at which the belt drives the motor driving the roller. If a relative movement of the strip occurs to a circumference of a roll of the roll composite, it is queried in a method step 22 according to FIG. 2 whether the sliding movement is present in a leading roll.

Under a leading role is understood in the context of this embodiment, a role whose peripheral speed control is done by means of a PI control and the target peripheral speed is arbitrarily specified. Frequently, such a leading role is also referred to as master role or Speedmaster.

Regardless of whether a leading role is recognized as slipping, is queried in accordance with FIG 2 in a method step 23, if necessary, in addition a subsequent role of the roller assembly slips.

The following role is understood in the context of this embodiment, a role whose circulating speed control in normal operation, i. in a metal band cross-operating state, via a P-control, wherein an I-part of the PI controller of the leading role for the P-controller of the following role is taken. This I component, which has been adopted for the following role, may possibly be given a weighting factor. The target peripheral speed of a following roller and the target peripheral speed of the leading roller are usually identical.

If neither slippage of the leading nor the following roll occurs, the monitoring of the occurrence of belt slips continues. Intervention in the operation of at least one roller due to a sliding movement is not required.

If the leading role is identified as slipping in method step 22, in a method step 25, the normal mode of operation of the peripheral speed controller of all the following rollers is switched from a P-mode operation to a PI control mode. business. This ensures the fastest possible adaptation of the peripheral speeds of the following rollers to the belt speed, whereby a shutdown of the system, here about a treatment line, can be avoided in a sliding leading role as a result. A loss of control over the belt tension of the belt can also be avoided.

In a method step 26, corresponding operating variables are again detected by this for monitoring the band slippage of the leading roller. From these it is determined whether further, i. After changing the control mode from P control to PI control, all following rollers continue to slip.

In a method step 27, it is queried whether the slippage of the leading roller has been eliminated. If this is not the case, the corresponding PI control operation is retained for all following roles. These changes are retained until the leading role slip has been eliminated.

If, in method step 27, a query results with the result that the slippage of the leading roller has been eliminated, then in method step 30 the control mode is switched back from one PI control mode to one P-type control mode for all following rollers.

The switching back of the operation of a peripheral speed controller from a PI control operation to a P control operation for the latter takes place in the exemplary embodiment as a function of a measure of a torque amount of the motor driving the leading roller.

For this purpose, for example, a torque limit is predetermined, which must be reached or exceeded by the motor driving the role, so that the role is recognized as gripping and thus no longer slipping. This is for example, at 50% of the relative engine torque of the case. The relative engine torque is formed, for example, from the desired torque, formed from the force applied to a roller and the radius of the roller, and possibly a gear factor, and the maximum permissible torque of the motor shaft. For this purpose, a varied percentage may also be taken, provided that this appears suitable with regard to the respective plant.

It is not necessary to use the relative engine torque described here. Alternatively, it is also possible to use another measure for a limit torque to be exceeded or, if necessary, to be undershot, by means of which a role is recognized as being slipping or grasping.

The presence of a sliding movement can also be recognized or considered as remedied if, for example, the deviation of a belt speed from an actual peripheral speed of a roller exceeds or falls below a definable limit value which may be determined from plant-specific tests.

The switching back of the control mode of the peripheral speed controller from the PI control mode to the P control mode is carried out such that the moments of the following rollers driving motors are not changed abruptly. This avoids that an abrupt change in the peripheral speed of the following rollers caused by this again initiates a belt slippage for one of the rollers of the roller assembly.

In a method step 32, a query is made as to whether the method should be ended. If this is not the case, the monitoring of all rollers of the roller assembly is continued in the presence of a sliding movement for a roller relative to the belt.

If, in method step 23, at least one following role is recognized as being slipping, similar measures take place for Reducing the slip of at least one subsequent roller as in the leading role.

In a method step 25, the control mode of the peripheral speed controller of the slipping following roller is switched from a P-control mode to a PI control mode. This ensures that the peripheral speed of the following roller approaches the belt speed again as quickly as possible.

In a method step 28, operating variables of the following roller identified as slipping in method step 23 are detected. From these operating variables, it is determined whether the corresponding following roller continues to slip even after the normal operation of the peripheral speed controller has been switched over. This takes place, for example, according to the method described at the beginning of the description of the drawing for detecting belt slips of the following rollers.

The operating variables ascertained in method step 28 are preferably compared by means of predefinable, optionally plant-specific threshold values whose overshoot or undershoot gives information as to whether a sliding movement is present or not.

In method step 29 it is queried whether the slippage of the roller has been eliminated. If this is not the case, the operating variables of the corresponding roller for monitoring the sliding movement continue to be recorded. Furthermore, the following role continues to be operated with modified control operation of the peripheral speed governor.

If a query is made in step 29 as to whether the slippage has been remedied and if this has been found to be eliminated, then the control operation of the following roller is changed from a PI control operation to a P control operation on the one hand. For this purpose - as in the case of the leading roll, for example - a torque limit is predetermined, which must be reached or exceeded by the motor driving the following roller, so that the following roller is again recognized as being gripping and therefore no longer slipping.

This is the case, for example, at 50% of the relative engine torque. The relative engine torque is formed, for example, from the setpoint torque, formed from the force applied to a roller and the radius of the roller, and possibly a gear factor, and the maximum permissible torque of the motor shaft. For this purpose, a varied percentage may also be taken, provided that this appears suitable with regard to the respective plant. Nor is necessarily the use of the here described relative engine torque of the following role driving motor required.

The switching back of the normal operation of the peripheral speed controller for the following role from PI control operation to P control operation takes place in method step 31 in such a way that the torque of the motor driving the following roller is not changed abruptly. This avoids that an abrupt change in the peripheral speed of the following roller caused by this again causes a tape slip to be initiated.

Subsequently, in a method step 32, a query is made as to whether the method should be ended. If this is not the case, the process continues to be carried out in order to identify and eliminate belt slips within the roller assembly.

3 shows a schematic flow diagram for an alternative embodiment of the method according to the invention. In this method, in a method step 20, the strip is first guided through the roller assembly. In a method step 21, there are recorded operating variables of the respective rollers of the roller assembly in order to monitor them with regard to a sliding movement of band relative to a roller of the roller assembly.

In a method step 33, a query is made as to whether a roll is recognized as slipping. If this is not the case, the slippage will continue to be monitored until a slipping motion is detected.

If the presence of a sliding movement is affirmative in method step 33, a reduction of the strip speed of the strip guided by the roll composite is effected in a method step 34 by a control and / or regulating device. By reducing the belt speed, the likelihood of slipping is reduced, so that it can be assumed that the slipping roller picks up again at a certain threshold belt speed. The reduction in the belt speed preferably takes place as a function of the intensity of the detected sliding movement, for example the amount of the torque difference existing between the setpoint torque and the actual torque in the instantaneous sliding movement.

In this case, the target circumferential speed of the slipping roller or even the non-slipping rollers of the roller composite is to be adapted to the changed belt speed accordingly.

In a method step 35, one or more

Operational variables of the roles of the roller assembly detected to detect the presence of belt slips within the roller assembly.

In method step 36 it is queried whether the slippage of the roller has been eliminated. If this is not the case, then in step 34, the belt speed is further reduced. The reduction of the belt speed and the check whether the slippage has been eliminated are continued until, in step 36, it is stated that there is no more slipping movement of the belt relative to the roller.

Subsequently, if necessary, in an unillustrated process step, the belt speed of the belt can be increased again by the roller assembly in order to increase the throughput of the treatment line. However, this is associated with the risk that again a belt slippage occurs in the role composite.

In a method step 32, a query is made as to whether the method should be ended. If this is not the case, continuous monitoring of the tape's guiding process by the roll group continues.

The process is carried out until no more tape is passed through the roller assembly 2. In such a case, the query in step 32, whether the procedure should be terminated, can be affirmed. This ends the procedure.

A disadvantage of the method according to FIG 3 is that the system is subject to high throughput fluctuations to avoid band slippage. Nevertheless, this variant of the invention also considerably improves the operation of strip processing industrial plants, in particular rolling mills and / or cold strip processing lines.

Claims

claims

1. A method for controlling and / or compensating a sliding movement of a roller (3, 3-1, 3-2) relative to a belt (B), in particular a cold strip to be processed in a metalworking device, which with an adjustable belt speed by a the role (3, 3-1, 3-2) and at least one further roller (3, 3-1, 3-2) having roller assembly (2) is guided, wherein an occurrence of the sliding movement by detecting at least one technical operating variable of the role (3, 3-1, 3-2) is monitored (21), and that when there is a sliding movement of the roller (3, 3-1, 3-2) an actual peripheral speed of the roller (3, 3-1, 3- 2) and / or at least one of the at least one further roller (3, 3-1, 3-2) and / or the belt speed are changed (24, 25, 26, 27, 34) such that the actual peripheral speed of the skidding Roll (3, 3-1, 3-2) and the tape speed are approximated.

2. The method according to claim 1, characterized in that at least one of the rollers (3, 3-1, 3-2) of the roller assembly (2) as a leading role (3-1) for specifying an operating parameter and at least one of the rollers as a den the following role (3-2) is used, wherein a regulation of the peripheral speed of the at least one leading roller (3-1) takes place by means of a PI control, wherein a regulation of the peripheral speed of at least one of the following rollers (3- 2) takes place by means of a P-control, wherein, when a sliding movement of one of the rollers (3, 3-1, 3-2) occurs, the control of at least one following roller (3-2) from a P-control to a PI control is switched.

3. The method according to claim 2, characterized in that when a sliding movement of at least one of the at least one following roller (3-2) occurs, the regulation of the at least one subsequent roller roll (3-2) is switched from a P-control to a PI control.

4. The method according to claim 2 or 3, wherein a sliding movement of the leading roller (3-1), the control of all following rollers (3-2) is switched from a P control to a PI control.

5. The method according to any one of claims 2 to 4, dadurchgek nigned that a switching back (30, 31) of the control of a PI control to a P control of at least one of the at least one subsequent roller (3-2) in dependence a measure of an amount of torque of this roller (3-2) driving motor (4) and / or in dependence on the desired peripheral speed of the leading roller (3-1) and / or in dependence on the belt speed.

6. The method according to any one of claims 2 to 7, dadurchgek en nzeichnet that when switching and / or switching back (30, 31) of the control a moment of the roller (3, 3-1, 3-2) driving motor (4 ) is changed substantially without a jump.

7. Control and / or regulating device (5) for a roller assembly (2) of a plant (2), in particular cold rolling mill and / or treatment line, for processing strip (B), in particular metal strip, with a machine-readable program code (7) Having control commands that cause the control and / or regulating device (5) for carrying out the method according to one of the preceding claims in their execution.

8. Machine-readable program code (7) for a control and / or regulating device (5) for a roller assembly (2) of a system (1) for processing strip (B), in particular a cold rolling mill and / or a treatment line, wherein the program code (7) has control commands which cause the control and / or regulating device (5) to carry out the method according to one of claims 1 to 6.

9. storage medium (6) with a machine-readable program code (7) stored thereon according to claim 8.

10. industrial plant (1), in particular cold rolling mill and / or treatment line, for processing strip (B), in particular metal strip, with at least one at least two rolls (3,

3-1, 3-2) for adjusting a belt tension of the belt (B) and with a control and / or regulating device (5) according to claim 7, which with at least one device (4, 3, 3 1, 3-2) for operating the rollers (3, 3-1, 3-2) is operatively connected.