EP2864062A1 - Method for influencing the geometry of a rolled item in a controlled manner - Google Patents

Method for influencing the geometry of a rolled item in a controlled manner

Info

Publication number
EP2864062A1
EP2864062A1 EP13729694.3A EP13729694A EP2864062A1 EP 2864062 A1 EP2864062 A1 EP 2864062A1 EP 13729694 A EP13729694 A EP 13729694A EP 2864062 A1 EP2864062 A1 EP 2864062A1
Authority
EP
European Patent Office
Prior art keywords
force
control
rolling
rolling stock
processing units
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.)
Granted
Application number
EP13729694.3A
Other languages
German (de)
French (fr)
Other versions
EP2864062B1 (en
Inventor
Matthias Kurz
Birger Schmidt
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.)
Primetals Technologies Germany GmbH
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 EP13729694.3A priority Critical patent/EP2864062B1/en
Priority to PL13729694T priority patent/PL2864062T3/en
Publication of EP2864062A1 publication Critical patent/EP2864062A1/en
Application granted granted Critical
Publication of EP2864062B1 publication Critical patent/EP2864062B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B21B37/58—Roll-force control; Roll-gap control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B13/00—Metal-rolling stands, i.e. an assembly composed of a stand frame, rolls, and accessories
    • B21B13/06—Metal-rolling stands, i.e. an assembly composed of a stand frame, rolls, and accessories with axes of rolls arranged vertically, e.g. edgers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
    • B21B39/14—Guiding, positioning or aligning work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
    • B21B39/14—Guiding, positioning or aligning work
    • B21B39/16—Guiding, positioning or aligning work immediately before entering or after leaving the pass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2273/00—Path parameters
    • B21B2273/04—Lateral deviation, meandering, camber of product
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/68—Camber or steering control for strip, sheets or plates, e.g. preventing meandering

Definitions

  • the invention relates to a method for the targeted influencing of the geometry of a rolling stock, wherein the rolling stock of egg ⁇ nem initial state by rolling with a rolling stand by means of at least one machining unit is transferred to an interim ⁇ schen- or final state.
  • the invention further relates to a control and / or regulating device, a machine-readable program code and a data carrier.
  • a rolling mill all the equipment needed for the production of rolled products can be combined.
  • hot and cold rolling mills are differentiated.
  • slabs or ingots, usually called brams for short are processed into hot strip. This hot forming is one of the methods that is the primary molding (ingot casting,
  • the rolling stock is heated to tempera ⁇ ren to 1350 ° C preferably above which reduces Re ⁇ crystallization temperature in a roll nip of the rolling mill by pressure to a predetermined thickness.
  • the Fer ⁇ tig usually steel or aluminum strip
  • a plurality of rolling stands are combined to form a rolling mill in which ent ⁇ speaking the number of scaffold runs several roll passes are carried out.
  • hot rolling mills a distinction is made between roughing and finishing lines, whereby the slab is pre-processed in the roughing mill and then rolled to its final dimensions in the usually five, six or seven-stand finishing train.
  • the rolling stock to be rolled in a roughing train has a thickness progression across its width. has.
  • the aim is usually to produce by means of rolling bands, which have on the one hand at the end of the finishing egg ⁇ ne substantially symmetrical to the band center running thickness across the width, ie, are free of wedges, and on the other hand, the least possible bending over the length of Have rolled good, ie are saber-free.
  • Wedge shape of the rolling material results in the control process from the casting and subsequent cooling and Rothverarbei ⁇ tung, particularly halving, the cast slabs.
  • a wedge-shaped rolling stock is to be rolled out into a slab having a substantially rectangular cross-section, the volume flow on the "thicker" side of the slab results in a greater flow of material, in particular longitudinal flow, than on the "thin" side of the slab slab.
  • the consequence of this different material flow in the longitudinal direction of the rolling stock is the formation of a saber shape or a saber.
  • a saber-shaped rolling stock can lead to difficulties in subsequent processing of the rolling stock.
  • the formation of the saber can be so strong that further processing of the rolling stock is impossible.
  • position-controlled processing units for applying a transverse force are known, for example side guides as described in WO2006 / 119984 or vertical stands (so-called Edger) for width control.
  • the object underlying the invention is to enable an improvement in the geometry of a rolling stock, in particular in the machining ⁇ tung asymmetric roll goods.
  • the object is achieved by a method for selectively influencing the geometry of a rolling stock, in particular a Vorbands, wherein the rolling stock of a ⁇ starting condition by rolling with the aid of a rolling stand, in particular ⁇ special a roughing stand, by means of at least one processing unit in an intermediate - or final state is transferred and wherein the at least one processing unit is operated under power control based on a desired force.
  • a processing unit here is understood in particular as a vertical frame (edger), a side guide or a transverse force ⁇ device in the sense of the patent application "side guide for a rolling mill” with the application file 12168684.4, filed on 21.05.2012.
  • a ASYMMET ⁇ step history of the rolled material can be particularly successfully counteracted by means of a suitably chosen force with which the processing unit acts on the rolled stock. This force is defined by the desired force, while the target power is a constant force or, alternatively, over time variable force curve. the previously applied Po ⁇ sitionsregelung the at least one machining unit is unsuitable for operation of the processing unit.
  • w ird allows asymmetric rolling is processed by the power control of the at least one machining ⁇ processing unit a with respect to its thickness and / or width, so that the asymmetrical eliminated rie or at least greatly reduced.
  • the force control can also be done with subordinate position control, ie the position is in a second, overlay
  • the control loop is used to control the setpoint force.
  • Derar ⁇ term cascade controls are known in the art.
  • a processing unit is preferential ⁇ as force-controlled and operated the other working unit position control.
  • the position-controlled processing unit is tracked in such a way the power-controlled processing unit, that a midpoint between the two processing units always remains in a predetermined position. If the desired force to be applied is overestimated, a pure force control can lead to an unwanted distortion of the material of the rolling stock, in which the saber changes its direction. To avoid this, the position-controlled Be ⁇ processing aggregate is moved closer to the rolling stock and takes the excessive power of the force-controlled machining unit on.
  • the tracking of the position-controlled processing unit is implemented by control technology, by the center between the two processing units is not moved, but in particular always remains in the same place.
  • the midpoint between the two machining ⁇ processing aggregates deviates conveniently from a center line of the stand off, but it can also lie on the center line of the rolling mill.
  • the center between the processing units and a distance between the processing units are used for the regulation of the processing units.
  • the center between the processing units is specified and the force control of one of the processing units via the adjustment of the distance between theffysaggre ⁇ gates.
  • This type of force control in which the center and the distance between the two processing units are the control variables, is particularly easy to implement. In particular, since the center remains constant, only the distance between the changed both processing units. If it moves the force-controlled machining unit, which po ⁇ sitionsgeregelte processing unit is tracked to compensate for a possibly too high target power.
  • the power control can not be Runaway ⁇ leads. Therefore, preferably, the first position control at least one Bear ⁇ beitungsaggregat moved up to the rolling stock and upon reaching the desired force by acting on the machining unit reaction force is switched to the force control.
  • the first position control at least one Bear ⁇ beitungsaggregat moved up to the rolling stock and upon reaching the desired force by acting on the machining unit reaction force is switched to the force control.
  • the position control of this machining ⁇ processing unit is switched to force control, so that the operations described above are performed.
  • the wedging and / or saberiness of the rolling stock, in particular in the on ⁇ initial state, measured and on this basis, the desired force is determined for the force control.
  • the distance between the processing units is calculated and fed as a controlled variable to the processing units.
  • the geometry of the rolling ⁇ guts may change such that the wedge or camber change their side or direction.
  • a change in the position of the wedging and / or the direction of the saberiness of the rolling stock is a change between the force-controlled and the position-controlled Processing unit. This means that if the saber form changes its direction during the rolling process, the force controlled machining unit is operated posi ⁇ tion controlled from the turning point earlier and earlier position-controlled machining unit is operated now under force control.
  • the object is further achieved by a control and / or regulating device for selectively influencing the geometry of a rolling stock, with a machine-readable program code containing control commands and / or control commands, the control and / or regulating device for performing the method according to one of cause the above.
  • the object is also achieved according to the invention by a machine-readable program code for a control and / or regulating device for selectively influencing the geometry of a rolling stock which contains control commands and / or re ⁇ yellow commands, the control and / or regulating device for performing the method according to cause one of the above.
  • FIG. 1 shows a first plan view of a rolling mill
  • a horizontal rolling stand 2 in particular ⁇ a special Vorgerüst shown, with the aid of a rolling stock 4, in particular a pre-strip, is rolled so that the rolling ⁇ well 4 from an initial state into an intermediate or Endzu - was transferred.
  • the rolling stand 2 has a drive ⁇ side DS and an operating page OS.
  • the rolling stand 2 are also assigned two processing units 6, 8, which are positioned on both sides of the rolling stock 4, as shown in FIG 2 can be seen.
  • S denotes the distance between the processing units 6, 8.
  • FIG 1 also have a center line 10 of the rolling mill 2, a center ⁇ lline 12 between the processing units 6, 8, as well as a midpoint 14 between the processing units 6, 8, which lies on the center line 12 is shown. As is also called an offset between the two center lines 10 and 12.
  • the rolling stand 2 is in the illustrated embodiment in particular ⁇ special reversible, so that the rolling stock 4 changes its rolling 16 during operation several times.
  • the function of the processing units 6, 8 is an asymmetric geometry of the material being rolled to 4 SUPPRESS ⁇ CKEN.
  • one of the processing units 6, 8 in the embodiment of FIG 2, the processing unit 6) is operated under power control, which is indicated by the desired force signal F.
  • the force-controlled machining unit 6 acts with a desired force F, which is based on the geometry of the rolling stock 4 is determined, the wedge or the saber shape opposite. In FIG. 2, only the processing unit 6 contacts the rolling stock 4, the second processing unit 8 is moved away from the rolling stock 4.
  • a method for a position ⁇ a certain camber according to W02009 / 016086 is used for the processing of the rolled stock.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Metal Rolling (AREA)
  • Moulding By Coating Moulds (AREA)

Abstract

The invention relates to a method for influencing the geometry of a rolled item (4) in a controlled manner, the rolled item (4) being transformed from an initial condition into an intermediate or final condition by rolling with the aid of a rolling stand (2) by means of at least one processing assembly (6). An improvement in the geometry of a rolled item (4), particularly during processing of asymmetric rolled items, is achieved in that the at least one processing assembly (6) is operated in a force-controlled manner on the basis of a desired force (F).

Description

Beschreibung description
Verfahren zur gezielten Beeinflussung der Geometrie eines Walzguts Method for selectively influencing the geometry of a rolling stock
Die Erfindung betrifft ein Verfahren zur gezielten Beeinflussung der Geometrie eines Walzguts, wobei das Walzgut von ei¬ nem Anfangszustand durch Walzen mit Hilfe eines Walzgerüsts mittels wenigstens eines Bearbeitungsaggregats in einen Zwi¬ schen- oder Endzustand überführt wird. Die Erfindung betrifft weiterhin eine Steuer- und/oder Regeleinrichtung, einen maschinenlesbaren Programmcode sowie einen Datenträger. In einem Walzwerk können alle Anlagen zusammengefasst sein, die zur Herstellung von Walzerzeugnissen benötigt werden. Abhängig von der Art der Umformung werden Warm und Kaltwalzwerke unterschieden. In den Warmwalzwerken bzw. Warmbreitband- walzwerken werden Vorbrammen oder Blöcke, meistens kurz Bram- men genannt, zu Warmband verarbeitet. Diese Warmumformung ist eines der Verfahren, das sich dem Urformen (Blockguss, The invention relates to a method for the targeted influencing of the geometry of a rolling stock, wherein the rolling stock of egg ¬ nem initial state by rolling with a rolling stand by means of at least one machining unit is transferred to an interim ¬ schen- or final state. The invention further relates to a control and / or regulating device, a machine-readable program code and a data carrier. In a rolling mill all the equipment needed for the production of rolled products can be combined. Depending on the type of forming hot and cold rolling mills are differentiated. In the hot rolling mills or hot strip rolling mills, slabs or ingots, usually called brams for short, are processed into hot strip. This hot forming is one of the methods that is the primary molding (ingot casting,
Strangguss) anschließt. Dabei wird das Walzgut auf Temperatu¬ ren bis 1.350°C erwärmt und bevorzugt oberhalb dessen Re¬ kristallisationstemperatur in einem Walzspalt des Walzwerks durch Druck auf eine vorgegebene Dicke reduziert. Da das Fer¬ tigprodukt (meist Stahl oder Aluminiumband) nur selten in ei¬ nem Durchgang ausgewalzt werden kann, werden mehrere Walzgerüste zu einer Walzstrasse zusammengefasst , in welcher ent¬ sprechend der Anzahl der Gerüstdurchläufe mehrere Walzstiche durchgeführt werden. In Warmwalzwerken unterscheidet man Vorstrasse und Fertigstrasse, wobei in der Vorstrasse die Bramme vorverarbeitet wird, um anschließend in der meist fünf, sechs oder sieben-gerüstigen Fertigstrasse auf ihre Endabmessungen ausgewalzt zu werden. Continuous casting). In this case, the rolling stock is heated to tempera ¬ ren to 1350 ° C preferably above which reduces Re ¬ crystallization temperature in a roll nip of the rolling mill by pressure to a predetermined thickness. Since the Fer ¬ tigprodukt (usually steel or aluminum strip) can only rarely be rolled in egg ¬ nem passage, a plurality of rolling stands are combined to form a rolling mill in which ent ¬ speaking the number of scaffold runs several roll passes are carried out. In hot rolling mills, a distinction is made between roughing and finishing lines, whereby the slab is pre-processed in the roughing mill and then rolled to its final dimensions in the usually five, six or seven-stand finishing train.
Eines der Probleme beim Walzen von Brammen bzw. den daraus entstehenden Bändern ist es, dass das in einer Vorstrasse zu walzende Walzgut einen Dickenverlauf über seine Breite auf- weist. Ziel ist es in der Regel, mittels des Walzens Bänder herzustellen, welche einerseits am Ende der Fertigstrasse ei¬ ne im Wesentlichen symmetrisch zur Bandmitte verlaufende Dicke über die Breite aufweisen, d.h. keilfrei sind, und ande- rerseits eine möglichst geringe Verbiegung über die Länge des Walzgutes aufweisen, d.h. säbelfrei sind. One of the problems when rolling slabs or the strips resulting therefrom is that the rolling stock to be rolled in a roughing train has a thickness progression across its width. has. The aim is usually to produce by means of rolling bands, which have on the one hand at the end of the finishing egg ¬ ne substantially symmetrical to the band center running thickness across the width, ie, are free of wedges, and on the other hand, the least possible bending over the length of Have rolled good, ie are saber-free.
Dieses zu erreichen ist jedoch schwierig, sofern ein Walzgut zu walzen ist, welches bereits beim ersten Walzen innerhalb der Warmwalzstrasse keilförmig ausgebildet ist. Die However, to achieve this is difficult, if a rolling stock is to be rolled, which is already wedge-shaped in the first rolling within the hot rolling line. The
Keiligkeit des Walzguts resultiert in der Regel aus dem Gieß- prozess und der anschließenden Abkühlung und Weiterverarbei¬ tung, insbesondere Halbierung, der gegossenen Brammen. Soll nun ein keilförmiges Walzgut zu einer Bramme mit im Wesentli- chen rechteckigem Querschnitt ausgewalzt werden, so kommt es aufgrund der Volumenerhaltung auf der "dicken" Seite der Bramme zu einem stärkeren Materialfluss , insbesondere Längs- fluss, als auf der "dünnen" Seite der Bramme. Folge dieses unterschiedlichen Materialflusses in Längsrichtung des Walz- gutes ist die Ausbildung einer Säbelform bzw. eines Säbels. Ein säbelförmiges Walzgut kann, abhängig von der Ausprägung des Säbels, zu Schwierigkeiten bei einer nachfolgenden Verarbeitung des Walzguts führen. Die Ausbildung des Säbels kann derart stark sein, dass eine Weiterverarbeitung des Walzgutes unmöglich ist. Wedge shape of the rolling material results in the control process from the casting and subsequent cooling and Weiterverarbei ¬ tung, particularly halving, the cast slabs. If now a wedge-shaped rolling stock is to be rolled out into a slab having a substantially rectangular cross-section, the volume flow on the "thicker" side of the slab results in a greater flow of material, in particular longitudinal flow, than on the "thin" side of the slab slab. The consequence of this different material flow in the longitudinal direction of the rolling stock is the formation of a saber shape or a saber. Depending on the shape of the saber, a saber-shaped rolling stock can lead to difficulties in subsequent processing of the rolling stock. The formation of the saber can be so strong that further processing of the rolling stock is impossible.
Zur Behandlung eines Keiles bzw. einer Säbelform eines Walzguts in einer Walzstraße sind verschiedene Methoden bekannt. Diese Methoden beruhen meistens auf einer asymmetrischen Zug- Verteilung am Walzspalt, wobei eine Kraft quer zur Walzrichtung erzeugt wird. For treating a wedge or a saber shape of a rolling stock in a rolling mill, various methods are known. These methods are usually based on an asymmetric tensile distribution at the nip, wherein a force is generated transversely to the rolling direction.
Weiterhin sind positionsgeregelte Bearbeitungsaggregate zum Aufbringen einer Querkraft bekannt, beispielsweise Seitenfüh- rungen wie in der WO2006/119984 beschrieben oder vertikale Gerüste (sogenannte Edger) zur Breitensteuerung. Der Erfindung liegt die Aufgabe zugrunde, eine Verbesserung der Geometrie eines Walzguts, insbesondere bei der Bearbei¬ tung asymmetrischer Walzgüter, zu ermöglichen. Die Aufgabe wird erfindungsgemäß gelöst durch ein Verfahren zur gezielten Beeinflussung der Geometrie eines Walzguts, insbesondere eines Vorbands, wobei das Walzgut von einem An¬ fangszustand durch Walzen mit Hilfe eines Walzgerüsts, insbe¬ sondere eines Vorgerüsts, mittels wenigstens eines Bearbei- tungsaggregats in einen Zwischen- oder Endzustand überführt wird und wobei das wenigstens eine Bearbeitungsaggregat auf Grundlage einer Sollkraft kraftgeregelt betrieben wird. Furthermore, position-controlled processing units for applying a transverse force are known, for example side guides as described in WO2006 / 119984 or vertical stands (so-called Edger) for width control. The object underlying the invention is to enable an improvement in the geometry of a rolling stock, in particular in the machining ¬ tung asymmetric roll goods. The object is achieved by a method for selectively influencing the geometry of a rolling stock, in particular a Vorbands, wherein the rolling stock of a ¬ starting condition by rolling with the aid of a rolling stand, in particular ¬ special a roughing stand, by means of at least one processing unit in an intermediate - or final state is transferred and wherein the at least one processing unit is operated under power control based on a desired force.
Unter Bearbeitungsaggregat wird hierbei insbesondere ein Ver- tikalgerüst (Edger) , eine Seitenführung oder eine Querkraft¬ vorrichtung im Sinne der Patentanmeldung „Seitenführung für eine Walzstraße" mit dem Anmeldeaktenzeichen 12168684.4, eingereicht am 21.05.2012, verstanden. Die Erfindung beruht auf der Erkenntnis, dass einem asymmet¬ rischen Verlauf des Walzguts mittels einer geeignet gewählten Kraft, mit der das Bearbeitungsaggregat auf das Walzgut wirkt, besonders erfolgreich entgegengewirkt werden kann. Diese Kraft ist durch die Sollkraft definiert, dabei ist die Sollkraft eine konstante Kraft oder alternativ ein über die Zeit veränderlicher Kraftverlauf. Die bisher angewendete Po¬ sitionsregelung des wenigstens einen Bearbeitungsaggregats ist dabei ungeeignet zum Betrieb des Bearbeitungsaggregats. Stattdessen übt das Bearbeitungsaggregat durch die Kraftreg- lung eine definierte Querkraft auf das Walzgut aus, die die Krümmung des Materials beeinflusst. Somit wird ermöglicht, dass mittels der Kraftregelung des wenigstens einen Bearbei¬ tungsaggregats ein hinsichtlich seiner Dicke und/oder Breite asymmetrisches Walzgut bearbeitet wird, so dass die Asymmet- rie beseitigt oder zumindest größtenteils reduziert wird. Die Kraftregelung kann zudem mit unterlagerten Positionsregelung erfolgen, d.h. die Position wird in einem zweiten, Überlager- ten Regelkreis verwendet, um die Sollkraft zu regeln. Derar¬ tige Kaskadenregelungen sind dem Fachmann bekannt. A processing unit here is understood in particular as a vertical frame (edger), a side guide or a transverse force ¬ device in the sense of the patent application "side guide for a rolling mill" with the application file 12168684.4, filed on 21.05.2012. that a ASYMMET ¬ step history of the rolled material can be particularly successfully counteracted by means of a suitably chosen force with which the processing unit acts on the rolled stock. This force is defined by the desired force, while the target power is a constant force or, alternatively, over time variable force curve. the previously applied Po ¬ sitionsregelung the at least one machining unit is unsuitable for operation of the processing unit. Instead, exerts the machining unit by the Kraftreg- averaging a defined shear force to the rolled out, which affects the curvature of the material. Thus, w ird allows asymmetric rolling is processed by the power control of the at least one machining ¬ processing unit a with respect to its thickness and / or width, so that the asymmetrical eliminated rie or at least greatly reduced. The force control can also be done with subordinate position control, ie the position is in a second, overlay The control loop is used to control the setpoint force. Derar ¬ term cascade controls are known in the art.
Sind, in einer Walzrichtung betrachtet, beidseitig des Walz- guts zwei Bearbeitungsaggregate vorgesehen, so wird vorzugs¬ weise ein Bearbeitungsaggregat kraftgeregelt und das andere Bearbeitungsaggregat positionsgeregelt betrieben. Bevorzugt wird dabei das positionsgeregelte Bearbeitungsaggregat derart dem kraftgeregelten Bearbeitungsaggregat nachgeführt, dass ein Mittelpunkt zwischen den beiden Bearbeitungsaggregaten stets in einer vorgegebenen Position bleibt. Wird die aufzubringende Sollkraft überschätzt, kann es bei einer reinen Kraftkontrolle zu einer ungewollten Verkrümmung des Materials des Walzguts kommen, bei der die Säbeligkeit ihre Richtung ändert. Um dies zu vermeiden, wird das positionsgeregelte Be¬ arbeitungsaggregat näher an das Walzgut verfahren und nimmt die zu hohe Kraft des kraftgeregelten Bearbeitungsaggregats auf. Die Nachführung des positionsgeregelten Bearbeitungsaggregats wird regelungstechnisch umgesetzt, indem der Mittel- punkt zwischen den beiden Bearbeitungsaggregaten nicht verschoben wird, sondern insbesondere stets an der gleichen Stelle bleibt. Der Mittelpunkt zwischen den beiden Bearbei¬ tungsaggregaten weicht dabei zweckdienlicherweise von einer Mittellinie des Walzgerüsts ab, er kann jedoch auch auf der Mittellinie des Walzgerüsts liegen. Are seen in a rolling direction on both sides of the rolling guts two processing units are provided, a processing unit is preferential ¬ as force-controlled and operated the other working unit position control. Preferably, the position-controlled processing unit is tracked in such a way the power-controlled processing unit, that a midpoint between the two processing units always remains in a predetermined position. If the desired force to be applied is overestimated, a pure force control can lead to an unwanted distortion of the material of the rolling stock, in which the saber changes its direction. To avoid this, the position-controlled Be ¬ processing aggregate is moved closer to the rolling stock and takes the excessive power of the force-controlled machining unit on. The tracking of the position-controlled processing unit is implemented by control technology, by the center between the two processing units is not moved, but in particular always remains in the same place. The midpoint between the two machining ¬ processing aggregates deviates conveniently from a center line of the stand off, but it can also lie on the center line of the rolling mill.
Gemäß einer bevorzugten Ausführungsvariante werden für die Regelung der Bearbeitungsaggregate der Mittelpunkt zwischen den Bearbeitungsaggregaten sowie ein Abstand zwischen den Be- arbeitungsaggregaten herangezogen. Bevorzugt wird der Mittelpunkt zwischen den Bearbeitungsaggregaten vorgegeben und die Kraftregelung eines der Bearbeitungsaggregate erfolgt über die Einstellung des Abstands zwischen den Bearbeitungsaggre¬ gaten. Diese Art der Kraftregelung, bei der der Mittelpunkt und der Abstand zwischen den beiden Bearbeitungsaggregaten die Regelgrößen sind, ist besonders einfach umsetzbar. Da der Mittelpunkt insbesondere konstant bleibt, wird zum Erzeugen der gewünschten Sollkraft lediglich der Abstand zwischen den beiden Bearbeitungsaggregaten verändert. Wenn sich dabei das kraftgeregelte Bearbeitungsaggregat verschiebt, wird das po¬ sitionsgeregelte Bearbeitungsaggregat nachgeführt, um eine eventuell viel zu hohe Sollkraft zu kompensieren. According to a preferred embodiment, the center between the processing units and a distance between the processing units are used for the regulation of the processing units. Preferably, the center between the processing units is specified and the force control of one of the processing units via the adjustment of the distance between the Bearbeitungsaggre ¬ gates. This type of force control, in which the center and the distance between the two processing units are the control variables, is particularly easy to implement. In particular, since the center remains constant, only the distance between the changed both processing units. If it moves the force-controlled machining unit, which po ¬ sitionsgeregelte processing unit is tracked to compensate for a possibly too high target power.
Wenn sich noch kein Material im Bereich des Bearbeitungsag¬ gregats befindet, kann auch die Kraftregelung nicht durchge¬ führt werden. Daher wird bevorzugt das wenigstens eine Bear¬ beitungsaggregat zunächst positionsgeregelt an das Walzgut herangefahren und beim Erreichen der Sollkraft durch die auf das Bearbeitungsaggregat wirkende Reaktionskraft wird auf die Kraftregelung umgeschaltet. Bei zwei parallelen, beidseitig des Walzguts positionierten Bearbeitungsaggregaten bedeutet dies, dass zunächst der Abstand zwischen den Bearbeitungsag- gregate positionsgeregelt verkleinert wird. Beim Verfahren der Bearbeitungsaggregate aufeinander zu wächst auch die Reaktionskraft, die das Walzgut auf die Bearbeitungsaggregate ausübt. Wenn die Reaktionskraft, die auf das Bearbeitungsag¬ gregat auf der "dünnen" Seite des Walzguts bzw. auf der Seite mit dem geringeren Materialfluss wirkt, die Sollkraft er¬ reicht hat, dann wird die Positionsregelung dieses Bearbei¬ tungsaggregates auf Kraftregelung umgeschaltet, so dass die oben beschriebenen Vorgänge durchgeführt werden. Nach einer bevorzugten Ausführung wird die Keiligkeit und/oder die Säbeligkeit des Walzguts, insbesondere im An¬ fangszustand, gemessen und auf dieser Grundlage wird die Sollkraft für die Kraftregelung bestimmt. Wenn die Sollkraft bestimmt ist und der Mittelpunkt bekannt ist, wird der Ab- stand zwischen den Bearbeitungsaggregaten berechnet und als Regelgröße den Bearbeitungsaggregaten zugeführt. If no material in the area of Bearbeitungsag ¬ gregats still is, the power control can not be Runaway ¬ leads. Therefore, preferably, the first position control at least one Bear ¬ beitungsaggregat moved up to the rolling stock and upon reaching the desired force by acting on the machining unit reaction force is switched to the force control. With two parallel processing units positioned on both sides of the rolling stock, this means that initially the distance between the processing units is reduced in a position-controlled manner. As the processing units move toward one another, the reaction force exerted by the rolling stock on the processing units also increases. When the reaction force acting on the Bearbeitungsag ¬ gregat "thin" on the side of the rolling material and on the side with the lower material flow, the setpoint force he ¬ ranges has, then the position control of this machining ¬ processing unit is switched to force control, so that the operations described above are performed. According to a preferred embodiment, the wedging and / or saberiness of the rolling stock, in particular in the on ¬ initial state, measured and on this basis, the desired force is determined for the force control. When the desired force is determined and the center point is known, the distance between the processing units is calculated and fed as a controlled variable to the processing units.
Im Laufe des Walzvorgangs kann sich die Geometrie des Walz¬ guts derart ändern, dass der Keil oder die Säbeligkeit ihre Seite bzw. Richtung ändern. Vorteilhafterweise erfolgt bei einer derartigen Änderung der Position der Keiligkeit und/oder der Richtung der Säbeligkeit des Walzguts ein Wechsel zwischen dem kraftgeregelten und dem positionsgeregelten Bearbeitungsaggregat. Dies bedeutet, dass wenn die Säbelform während des Walzvorgangs ihre Richtung wechselt, das zuvor kraftgeregelte Bearbeitungsaggregat ab dem Wendepunkt posi¬ tionsgeregelt betrieben wird und das zuvor positionsgeregelte Bearbeitungsaggregat nun kraftgeregelt betrieben wird. During the rolling process, the geometry of the rolling ¬ guts may change such that the wedge or camber change their side or direction. Advantageously, in such a change in the position of the wedging and / or the direction of the saberiness of the rolling stock is a change between the force-controlled and the position-controlled Processing unit. This means that if the saber form changes its direction during the rolling process, the force controlled machining unit is operated posi ¬ tion controlled from the turning point earlier and earlier position-controlled machining unit is operated now under force control.
Die Aufgabe wird weiterhin erfindungsgemäß gelöst durch eine Steuer- und/oder Regeleinrichtung zur gezielten Beeinflussung der Geometrie eines Walzguts, mit einem maschinenlesbaren Programmcode, welcher Steuerbefehle und/oder Regelbefehle enthält, die die Steuer- und/oder Regeleinrichtung zur Durchführung des Verfahrens nach einer der obigen Ausführungen veranlassen . Die Aufgabe wird darüber hinaus erfindungsgemäß gelöst durch einen maschinenlesbaren Programmcode für eine Steuer- und/oder Regeleinrichtung zur gezielten Beeinflussung der Geometrie eines Walzguts, welcher Steuerbefehle und/oder Re¬ gelbefehle enthält, die die Steuer- und/oder Regeleinrichtung zur Durchführung des Verfahrens nach einer der obigen Ausführungen veranlassen. The object is further achieved by a control and / or regulating device for selectively influencing the geometry of a rolling stock, with a machine-readable program code containing control commands and / or control commands, the control and / or regulating device for performing the method according to one of cause the above. The object is also achieved according to the invention by a machine-readable program code for a control and / or regulating device for selectively influencing the geometry of a rolling stock which contains control commands and / or re ¬ yellow commands, the control and / or regulating device for performing the method according to cause one of the above.
Schließlich wird die Aufgabe erfindungsgemäß gelöst durch ei¬ nen Datenträger mit einem darauf gespeicherten derartigen ma- schinenlesbaren Programmcode. Finally, the object is solved by ei ¬ NEN data carrier having stored thereon such a machine-readable program code.
Ein Ausführungsbeispiel der Erfindung wird anhand einer An embodiment of the invention will be described with reference to a
Zeichnung näher erläutert. Hierin zeigen schematisch und stark vereinfacht: Drawing explained in more detail. Herein schematically and greatly simplified show:
FIG 1 eine erste Draufsicht auf ein Walzgerüst mit 1 shows a first plan view of a rolling mill with
seitlichen Bearbeitungsaggregaten, und  lateral processing units, and
FIG 2 eine zweite Draufsicht auf ein Walzgerüst mit  2 shows a second plan view of a roll stand with
seitlichen Bearbeitungsaggregaten  lateral processing units
Gleiche Bezugszeichen haben in den verschiedenen Figuren die gleiche Bedeutung. In FIG 1 und FIG 2 ist ein horizontales Walzgerüst 2, insbe¬ sondere ein Vorgerüst, gezeigt, mit dessen Hilfe ein Walzgut 4, insbesondere ein Vorband, gewalzt wird, so dass das Walz¬ gut 4 von einem Anfangszustand in einen Zwischen- oder Endzu- stand überführt wird. Das Walzgerüst 2 weist eine Antriebs¬ seite DS und eine Bedienseite OS auf. Like reference numerals have the same meaning in the various figures. In FIG 1 and FIG 2, a horizontal rolling stand 2, in particular ¬ a special Vorgerüst shown, with the aid of a rolling stock 4, in particular a pre-strip, is rolled so that the rolling ¬ well 4 from an initial state into an intermediate or Endzu - was transferred. The rolling stand 2 has a drive ¬ side DS and an operating page OS.
Dem Walzgerüst 2 sind zudem zwei Bearbeitungsaggregate 6, 8 zugeordnet, die beidseitig dem Walzgut 4 positioniert sind, wie aus FIG 2 ersichtlich. In FIG 1 wird mit S der Abstand zwischen den Bearbeitungsaggregaten 6, 8 bezeichnet. In FIG 1 sind zudem eine Mittellinie 10 des Walzgerüsts 2, eine Mitte¬ llinie 12 zwischen den Bearbeitungsaggregaten 6, 8, sowie ein Mittelpunkt 14 zwischen den Bearbeitungsaggregaten 6, 8, der auf der Mittellinie 12 liegt, gezeigt. Mit As wird zudem ein Offset zwischen den beiden Mittellinien 10 und 12 bezeichnet. The rolling stand 2 are also assigned two processing units 6, 8, which are positioned on both sides of the rolling stock 4, as shown in FIG 2 can be seen. In FIG 1, S denotes the distance between the processing units 6, 8. In FIG 1 also have a center line 10 of the rolling mill 2, a center ¬ llinie 12 between the processing units 6, 8, as well as a midpoint 14 between the processing units 6, 8, which lies on the center line 12 is shown. As is also called an offset between the two center lines 10 and 12.
Das Walzgerüst 2 wird im gezeigten Ausführungsbeispiel insbe¬ sondere reversibel betrieben, so dass das Walzgut 4 im Be- trieb seine Walzrichtung 16 mehrmals ändert. The rolling stand 2 is in the illustrated embodiment in particular ¬ special reversible, so that the rolling stock 4 changes its rolling 16 during operation several times.
In der in FIG 2 gezeigten Situation sind die Bearbeitungsaggregate 6, 8 in Walzrichtung 16 dem Walzgerüst 2 nachgeord¬ net. Die Funktion der Bearbeitungsaggregate 6, 8 ist, eine asymmetrische Geometrie des gewalzten Walzguts 4 zu unterdrü¬ cken. Hierfür ist vorgesehen, dass bei der Detektion einer Keiligkeit und/oder einer Säbeligkeit des Walzguts 4 eines der Bearbeitungsaggregate 6, 8 (im Ausführungsbeispiel gemäß FIG 2 das Bearbeitungsaggregat 6) kraftgeregelt betrieben wird, was durch das Sollkraft-Signal F angedeutet ist. In the situation shown in FIG 2, the processing units 6, 8 in the rolling direction 16 of the roll stand 2 nachgeord ¬ net. The function of the processing units 6, 8 is an asymmetric geometry of the material being rolled to 4 SUPPRESS ¬ CKEN. For this purpose, it is provided that in the detection of a wedging and / or saberiness of the rolling stock 4 one of the processing units 6, 8 (in the embodiment of FIG 2, the processing unit 6) is operated under power control, which is indicated by the desired force signal F.
Gleichzeitig wird das zweite Bearbeitungsaggregat 8 posi¬ tionsgeregelt betrieben, angedeutet durch das Positionssignal P. die Regelung beider Bearbeitungsaggregate 6, 8 übernimmt eine Regeleinrichtung 18, die in FIG 2 symbolisch dargestellt ist. At the same time the second processing unit 8 is operated posi ¬ tion controlled, indicated by the position signal P. the control of both processing units 6, 8 assumes a control device 18, which is shown symbolically in FIG.
Das kraftgeregelte Bearbeitungsaggregat 6 wirkt mit einer Sollkraft F, welche auf Grundlage der Geometrie des Walzguts 4 bestimmt wird, dem Keil bzw. der Säbelform entgegen. In FIG 2 kontaktiert lediglich das Bearbeitungsaggregat 6 das Walzgut 4, das zweite Bearbeitungsaggregat 8 ist auf Abstand zum Walzgut 4 verfahren. The force-controlled machining unit 6 acts with a desired force F, which is based on the geometry of the rolling stock 4 is determined, the wedge or the saber shape opposite. In FIG. 2, only the processing unit 6 contacts the rolling stock 4, the second processing unit 8 is moved away from the rolling stock 4.
Vorteilhafterweise werden die beiden Bearbeitungsaggregate 6, 8 jedoch so eingestellt, dass das positionsgeregelte Bearbei¬ tungsaggregat 8 dem kraftgeregelten Bearbeitungsaggregat 6 nachgeführt wird, wobei der Offset As konstant bleibt. Auf diese Weise wird eine dem Verfahren bzw. der Regelung zur Reduzierung der Bandkrümmung vorgegeben, aber zu groß gewählte Sollkraft F, die zu einer ungewollten Längskrümmung des Walzguts 4 führen kann, kompensiert. Für die regelungstechnische Umsetzung bedeutet dies, dass der Mittelpunkt 14 vorgegeben wird und lediglich der S Abstand zwischen den Bearbeitungsag¬ gregaten 6, 8 verändert wird, um die Sollkraft F zu erreichen und zu erhalten, solange notwendig ist. Für die Verarbeitung des Walzguts wird dabei insbesondere ein Verfahren zur Ein¬ stellung einer bestimmten Säbeligkeit gemäß W02009/016086 eingesetzt. Advantageously, the two processing units 6, 8, however, adjusted so that the position-controlled machining ¬ processing unit 8 is tracked to the power-controlled processing unit 6, the offset As remains constant. In this way, the process or the regulation for reducing the belt curvature predetermined, but too large selected target force F, which can lead to an unwanted longitudinal curvature of the rolling stock 4, compensated. For the control technical implementation, this means that the center 14 is specified and only the S distance between the Bearbeitungsag ¬ gregates 6, 8 is changed in order to achieve the desired force F and maintain, as long as necessary. In particular a method for a position ¬ a certain camber according to W02009 / 016086 is used for the processing of the rolled stock.

Claims

Patentansprüche claims
1. Verfahren zur gezielten Beeinflussung der Geometrie eines Walzguts (4), wobei das Walzgut (4) von einem Anfangszustand durch Walzen mit Hilfe eines Walzgerüsts (2) mittels wenigs¬ tens eines Bearbeitungsaggregats (6) in einen Zwischen- oder Endzustand überführt wird, 1. A method for selectively influencing the geometry of a rolling stock (4), wherein the rolling stock (4) is transferred from an initial state by rolling with the aid of a rolling stand (2) by means of wenigs ¬ least one processing unit (6) in an intermediate or final state,
dadurch gekennzeichnet, dass das wenigstens eine Bearbei¬ tungsaggregat (6) auf Grundlage einer Sollkraft (F) kraftge- regelt betrieben wird. characterized in that the at least one machining ¬ processing unit (6) based on a target force (F) kraftge- controls is operated.
2. Verfahren nach Anspruch 1, 2. The method according to claim 1,
dadurch gekennzeichnet, dass beidseitig des Walzguts (4) zwei Bearbeitungsaggregate (6, 8) vorgesehen sind, wobei ein Bear- beitungsaggregat (6) kraftgeregelt und das andere Bearbei¬ tungsaggregat (8) positionsgeregelt betrieben wird. characterized in that on both sides of the rolling stock (4) has two processing units (6, 8) are provided, wherein a machining beitungsaggregat (6) force-regulated and the other machining ¬ processing unit (8) is operated by position control.
3. Verfahren nach Anspruch 2, 3. The method according to claim 2,
dadurch gekennzeichnet, dass das positionsgeregelte Bearbei- tungsaggregat (8) derart dem kraftgeregelten Bearbeitungsag¬ gregat nachgeführt wird, dass ein Mittelpunkt (14) zwischen den beiden Bearbeitungsaggregaten (6, 8) stets in einer vorgegebenen Position bleibt. characterized in that the position-controlled machining unit (8) is so tracked to the force-controlled Bearbeitungsag ¬ gregat that a center point (14) between the two processing units (6, 8) always remain in a predetermined position.
4. Verfahren nach Anspruch 3, 4. The method according to claim 3,
dadurch gekennzeichnet, dass für die Regelung der Bearbei¬ tungsaggregate (6, 8) der Mittelpunkt (14) zwischen den Bear¬ beitungsaggregaten (6, 8) sowie ein Abstand (S) zwischen den Bearbeitungsaggregaten (6, 8) herangezogen werden. characterized in that for controlling the machining ¬ processing units (6, 8) of the midpoint (14) between the Bear ¬ beitungsaggregaten (6, 8) and a distance (S) between the processing units (6, 8) are used.
5. Verfahren nach Anspruch 4, 5. The method according to claim 4,
dadurch gekennzeichnet, dass der Mittelpunkt (14) zwischen den Bearbeitungsaggregaten (6, 8) vorgegeben wird und die Kraftregelung eines der Bearbeitungsaggregate (6) über die Einstellung des Abstands (S) zwischen den Bearbeitungsaggre¬ gaten (6, 8) erfolgt. characterized in that the center (14) between the processing units (6, 8) is specified and the force control of one of the processing units (6) via the adjustment of the distance (S) between the Bearbeitungsaggre ¬ gates (6, 8).
6. Verfahren nach einem der Ansprüche 3 bis 5, 6. The method according to any one of claims 3 to 5,
dadurch gekennzeichnet, dass der Mittelpunkt (14) von einercharacterized in that the center (14) of a
Mittellinie (10) des Walzgerüsts (2) abweicht. Center line (10) of the roll stand (2) deviates.
7. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das wenigstens eine Bearbei¬ tungsaggregat (6) zunächst positionsgeregelt an das Walzgut (4) herangefahren wird und beim Erreichen der Sollkraft (K) durch die auf das Bearbeitungsaggregat wirkende Reaktions- kraft auf die Kraftregelung umgeschaltet wird. 7. The method according to any one of the preceding claims, characterized in that the at least one machining ¬ processing unit (6) is initially moved position-controlled to the rolling stock (4) and upon reaching the desired force (K) by acting on the processing unit reaction force on the force control is switched.
8. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass eine Keiligkeit und/oder eine Säbeligkeit des Walzguts (4) gemessen wird und auf dieser Grundlage die Sollkraft (F) für die Kraftregelung bestimmt wird . 8. The method according to any one of the preceding claims, characterized in that a wedging and / or saberiness of the rolling stock (4) is measured and on this basis, the desired force (F) is determined for the force control.
9. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass bei Änderung der Position der Keiligkeit und/oder der Richtung der Säbeligkeit des Walzguts (4) ein Wechsel zwischen dem kraftgeregelten und dem positionsgeregelten Bearbeitungsaggregat (6, 8) erfolgt. 9. The method according to any one of the preceding claims, characterized in that when changing the position of the wedging and / or the direction of saberiness of the rolling stock (4), a change between the force-controlled and the position-controlled processing unit (6, 8).
10. Steuer- und/oder Regeleinrichtung (18) zur gezielten Be- einflussung der Geometrie eines Walzguts (4), mit einem ma¬ schinenlesbaren Programmcode, welcher Steuerbefehle und/oder Regelbefehle enthält, die die Steuer- und/oder Regeleinrichtung (18) zur Durchführung des Verfahrens nach einem der Ansprüche 1 bis 9 veranlassen. 10 control and / or regulating device (18) for selectively loading influencing of the geometry of a rolling stock (4), having a ma ¬ schin readable program code which contains control commands and / or control commands to the control and / or regulating device (18) for carrying out the method according to one of claims 1 to 9 cause.
11. Maschinenlesbarer Programmcode für eine Steuer- und/oder Regeleinrichtung (18) zur gezielten Beeinflussung der Geometrie eines Walzguts, welcher Steuerbefehle und/oder Regel¬ befehle enthält, die die Steuer- und/oder Regeleinrichtung zur Durchführung des Verfahrens nach einem der Ansprüche 1 bis 9 veranlassen. 11. A machine-readable program code for a control and / or regulating device (18) for the targeted influencing of the geometry of a rolled material, commands which control commands and / or regulating ¬ includes that the control and / or regulating device for implementing the method according to any one of claims 1 to induce 9.
12. Datenträger mit einem darauf gespeicherten maschinenlesbaren Programmcode gemäß Anspruch 11. 12. data carrier with a machine-readable program code stored thereon according to claim 11.
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RU2015103124A (en) 2016-09-20
US9776229B2 (en) 2017-10-03
WO2014016045A1 (en) 2014-01-30
US20150231679A1 (en) 2015-08-20
EP2689863A1 (en) 2014-01-29
EP2864062B1 (en) 2016-09-28
BR112015001671A2 (en) 2017-07-04
CN104507592B (en) 2016-08-24
CN104507592A (en) 2015-04-08
RU2647417C2 (en) 2018-03-15
PL2864062T3 (en) 2017-04-28

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