EP3231522B1 - Controle robuste de tension de bande - Google Patents

Controle robuste de tension de bande Download PDF

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Publication number
EP3231522B1
EP3231522B1 EP16165233.4A EP16165233A EP3231522B1 EP 3231522 B1 EP3231522 B1 EP 3231522B1 EP 16165233 A EP16165233 A EP 16165233A EP 3231522 B1 EP3231522 B1 EP 3231522B1
Authority
EP
European Patent Office
Prior art keywords
tension
value
strip
roll stand
limit
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.)
Active
Application number
EP16165233.4A
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German (de)
English (en)
Other versions
EP3231522A1 (fr
Inventor
Daniel Kotzian
Ansgar GRÜSS
Andreas Maierhofer
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
Primetals Technologies Germany GmbH
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
Priority to ES16165233T priority Critical patent/ES2732566T3/es
Application filed by Primetals Technologies Germany GmbH filed Critical Primetals Technologies Germany GmbH
Priority to EP16165233.4A priority patent/EP3231522B1/fr
Priority to PCT/EP2017/054505 priority patent/WO2017178145A1/fr
Priority to BR112018069810-5A priority patent/BR112018069810B1/pt
Priority to CN201780023493.2A priority patent/CN109070163B/zh
Priority to RU2018134024A priority patent/RU2731220C2/ru
Priority to US16/091,635 priority patent/US10780474B2/en
Publication of EP3231522A1 publication Critical patent/EP3231522A1/fr
Application granted granted Critical
Publication of EP3231522B1 publication Critical patent/EP3231522B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/48—Tension control; Compression control
    • B21B37/52—Tension control; Compression control by drive motor control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/46—Roll speed or drive motor control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/48—Tension control; Compression control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/58—Roll-force control; Roll-gap control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
    • B21B38/06—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product for measuring tension or compression
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2265/00—Forming parameters
    • B21B2265/02—Tension
    • B21B2265/06—Interstand tension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2271/00—Mill stand parameters
    • B21B2271/02—Roll gap, screw-down position, draft position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2275/00—Mill drive parameters
    • B21B2275/02—Speed
    • B21B2275/04—Roll speed

Definitions

  • the present invention is further based on a control device for a multi-stand rolling train for rolling a metal strip, wherein the control device is programmed with such a computer program.
  • a train control method and the associated rolling train are, for example, from US 3 977 223 A known.
  • a pitch addition target value and a speed addition target value for the rear mill stand are calculated.
  • the loop lifter must be pressed against the metal strip with a certain, known moment. It is checked whether the detected position lies within a predefined bandwidth. If this is the case, there are no control actions.
  • Both the first and the second tension controller therefore determine the value 0 as the respective additional setpoint value. Only when the detected position leaves the predefined bandwidth do the two tension controllers determine a value other than 0 as the respective additional setpoint value. In this case, however, both tension controllers determine a value other than 0. The two tension controllers therefore work equally well.
  • a finishing train usually consists of five to seven rolling stands.
  • Each rolling stand has a device for adjusting the roll gap. Often this is a hydraulic employment. In some cases it is a mechanical-electrical employment.
  • the respective roll stand causes a reduction in thickness during rolling of the metal strip of the metal band.
  • a loop lifter is usually arranged, which is employed on the metal strip. Often, the loop lifter is used to provide a temporary buffering of a respective portion of the metal strip. Furthermore, the looper can be used as a sensor for the strip tension.
  • a suitable pass plan is first required within the framework of the operation of the finishing train. Furthermore, a well-coordinated basic automation is required. Basic automation has the task of minimizing thickness deviations occurring at the exit of the finishing train as much as possible and of keeping the rolling process stable.
  • Instability of the rolling process may occur, for example due to a disturbance such as a change in the inlet side thickness of the metal strip.
  • a disturbance that can lead to instability is, for example, a change in the hardness of the metal strip.
  • Such disturbances change - based on a respective roll stand - the inlet side and the output side speed of the metal strip and therefore lead to a change in the strip tension.
  • the strip tension can rise to such an extent that the strip tears or falls off so far that a loop of tape forms between successive rolling stands.
  • the disturbances as such are unavoidable in practice.
  • the task of the basic automation is to compensate for these disturbances in a timely manner by altering individual process variables while at the same time maintaining or restoring the required outlet thickness with which the metal strip leaves the finishing train.
  • the process variables which are changed by means of the basic automation are, for example, the speed of the rollers, the position of the adjustment, the position of the looper and others.
  • the classic control concept in the basic automation of a finishing train during hot rolling uses the loop lifter and the frame speed to compensate for disturbances affecting the upstream and downstream belt speeds, thereby stabilizing the finishing train.
  • the loop lifter is held on the metal strip by means of a strip tension control in order to set the required strip tension.
  • the angle or, equivalently, the position of the loop lifter are used to adjust the frame speed.
  • this keeps the output-side thickness of the metal strip behind the respective roll stand constant.
  • Remaining thickness deviations at the exit of the finishing train are regulated by a thickness monitor control by adjusting the setting position and the frame speed.
  • the thickness monitor control acts at least on the last roll stand of the rolling train, often also on the penultimate roll stand, in some cases even further back.
  • ITC Interstand Tension Control
  • the frame speed is adjusted only at standstill and at very low speeds, in all other operating conditions, the employment position.
  • the object of the present invention is to provide possibilities by means of which a control technology concept for the basic automation is realized, so that despite the existing interference, the required thickness tolerances can be well maintained and at the same time the rolling process remains stable.
  • the strip tension is regulated primarily and primarily by means of the additional setpoint employment value.
  • the first and second tension regulators may be configured as needed.
  • it is a controller with an integral behavior, for example, to (pure) I controller, PI controller or PID controller.
  • the auxiliary work setpoint is a rolling load addition target value.
  • the rear rolling mill is operated with rolling force control.
  • the additional work setpoint is a roll gap addition target value.
  • the rear roll stand is operated with roll gap control. Both embodiments lead to good results.
  • a lower and an upper set limit value are supplied to the first draft regulator, and that the first draft regulator limits the output set desired value output down to the lower and up to the upper set limit.
  • the lower and upper pitch limit values are dynamically detected by lower and upper limit detectors depending on a rolling force with which the metal strip is rolled in the rear mill stand and the pitch addition target value, and given to the first tension regulator. As a result, a dynamic adjustment depending on the operating condition of the rear rolling mill is possible.
  • the lower limit determiner to raise the lower limit of the application limit as long as the rolling force with which the metal strip in the rear stand is rolled exceeds an upper rolling force limit, and otherwise holds the lower limit of the employment at a predetermined distance from the additional start value
  • the upper limit Limit detector lowers the upper limit of the application limit, as long as the rolling force with which the metal strip is rolled in the rear rolling mill, falls below a lower rolling force limit, and otherwise holds the upper limit of employment at a predetermined distance from the additional employment setpoint. It can thereby be achieved that the rear rolling mill is always operated within a permissible rolling force range.
  • the two limit value detectors thus preferably have an integral behavior.
  • the second tension controller determines a speed differential setpoint other than 0, ie, if the tension falls below the lower tension limit or exceeds the upper tension limit, the second tension regulator preferably determines the velocity setpoint such that the tension is adjusted to the upper or lower tension limit.
  • the loop lifter is held in a defined position by means of a position regulator. This ensures that fluctuations in the strip tension do not affect the position of the loop lifter. A negative influence on the stability of the rolling process is thereby avoided.
  • the metal strip in the front mill stand and the rear mill stand is cold rolled.
  • the metal strip in the front mill stand and the rear mill stand is hot rolled.
  • a computer program of the type mentioned above is configured such that the processing of the machine code by the control device causes the first traction controller to determine the setpoint additional value using a determination rule based on the deviation of the strip tension from a desired traction which lies between the lower and the upper strip tension limit and that the determination law as the additional work target value allows a value other than 0 even if the tape tension is between the lower and upper tape tensile limit.
  • control device with the features of claim 17.
  • the control device is configured in that it is programmed with a computer program according to the invention.
  • control device is formed according to the invention in a multi-stand rolling train of the type mentioned.
  • FIG. 1 is to be rolled by means of a rolling mill, a metal strip 1.
  • the metal strip 1 may for example consist of steel or aluminum. Alternatively, it may be made of a different metal.
  • the rolling train has a plurality of rolling stands 2.
  • the number of rolling stands 2 is between three and eight, in particular between four and seven, for example five or six.
  • the rolling stands 2 generally have work rolls and backup rolls, so they are designed as Quartogerüste. In some cases, the rolling stands 2 in addition to the work rolls and the backup rolls and intermediate rolls, so are formed as Sextogerüste. In FIG. 1 (and also in FIG. 2 ) only the work rolls are shown.
  • the metal strip 1 passes through the rolling stands 2 of the rolling train sequentially in succession. It thus passes through the rolling train in a transport direction x. In the rolling stands 2, the metal strip 1 is rolled. The thickness of the metal strip 1 is thus gradually reduced more and more. Between each pair of successive rolling stands 2, a loop lifter 3 is arranged in each case, which is employed on the metal strip 1.
  • the metal band 1, for example, can enter the first rolling stand 2 of the rolling train at a temperature T of between 850 ° C and 1100 ° C. In this case, the metal strip 1 is hot rolled in the rolling stands 2. In principle, however, it is also possible that the metal strip 1 is cold rolled in the rolling stands 2.
  • the rolling train is controlled by a control device 4.
  • the control device 4 is programmed with a computer program 5.
  • the computer program 5 comprises machine code 6.
  • the machine code 6 can be processed by the control device 4. Due to the execution of the machine code 6 by the control device 4, the control device 4 performs a tension control method, which will be explained in more detail below.
  • the Switzerlandzier strig refers to each of a portion of the metal strip 1, which is located between two immediately successive stands 2.
  • FIG. 2 shows such a portion of the metal strip 1, the two participating stands 2 and the loop lifter 3 between these two rolling stands 2.
  • the rolling stand 2 first passed through by the metal strip 1 is hereinafter referred to as the front rolling stand and provided with the reference sign 2a.
  • the rolling stand 2 subsequently passed through by the metal strip 1 is referred to below as the rear rolling stand and is provided with the reference sign 2b.
  • the looper 3 is simply referred to as looper 3. However, it is always meant the looper 3 between the front roll stand 2a and the rear roll stand 2b.
  • the loop lifter 3 is, as already mentioned, employed on the metal strip 1.
  • the control device 4 can implement a position controller 7, by means of which the loop lifter 3 is placed against the metal strip 1.
  • the position controller 7 is a corresponding position setpoint p * fed.
  • the position setpoint p * is usually constant.
  • the position setpoint p * can be generated, for example, within the control device 4. Alternatively, it can be specified to the control device 4 from the outside.
  • the position controller 7 is further supplied to a corresponding actual position value p. Depending on the control deviation - ie the difference between position setpoint p * and actual position value p - the position controller 7 then determines a control signal S for an actuator 3 '(for example a hydraulic cylinder unit), by means of which the position of the loop lifter 3, if necessary, is tracked. As a result, the loop lifter 3 is thus held by means of the position controller 7 at a defined position - namely the position setpoint p *.
  • the position controller 7 may be formed as needed.
  • the position controller 7 is designed as a controller with an integral component, for example as a PI controller.
  • a strip tension Z is further detected, which prevails between the front roll stand 2a and the rear roll stand 2b in the metal strip 1.
  • a moment exerted by the actuator 3 'on the loop lifter 3 or a corresponding force can be detected and, in conjunction with the position actual value p and geometrical relationships of the rolling stands 2a, 2b and the loop lifter 3 relative to one another, the strip tension Z can be determined.
  • the loop lifter 3 preferably has a load cell, by means of which the force with which the loop lifter roll is pressed onto the loop lifter 3 is detected directly. As a result, a more accurate determination of the strip tension Z is possible.
  • the detected strip tension Z is fed to the control device 4 and received by the control device 4.
  • the control device 4 implements a first tension controller 8 and a second tension controller 9, processing the machine code 6.
  • the tension Z is fed to the first tension controller 8 and the second tension controller 9.
  • the first traction controller 8 determines a supplementary operation target value ⁇ s * using a determination rule.
  • the auxiliary setting target value ⁇ s * may in particular be a roll gap additional setpoint value ⁇ s *.
  • the additional operation target value ⁇ s * is applied to a set target value s * given as the set nip value s *.
  • the second tension controller 9 determines a speed additional target value ⁇ v *.
  • the additional speed setpoint value ⁇ v * is switched to a speed setpoint value v *.
  • the auxiliary operation target value ⁇ s * acts on the rear rolling stand 2b.
  • the application additional target value ⁇ s * acts on the adjustment of the rear rolling stand 2b.
  • the additional speed setpoint ⁇ v * can act on drives by means of which the rollers of the rear rolling stand 2b are rotated. In this case, the additional speed setpoint ⁇ v * also acts as shown in FIG. 2 on the rear roll stand 2b. Alternatively, the additional speed setpoint ⁇ v * could act on the front roll stand 2a.
  • the second tension regulator 9 in addition to the strip tension Z, a lower strip tension limit Z1 and an upper strip tension limit Z2 are supplied.
  • the upper strip tension limit Z2 is greater than the lower strip tension limit Z1. If and as long as the strip tension Z lies between the lower and the upper strip tension limit Z1, Z2, the additional speed setpoint value ⁇ v * determined by the second tension controller 9 has, as shown in FIG FIG. 3 the value 0. If and as long as the strip tension Z is, however, above the upper strip tension limit Z2, determines the second tension controller 9 as additional speed setpoint ⁇ v * a value greater than 0. If and as long as the belt tension Z is below the lower belt tension limit Z1, determines the second tension controller 9 as additional speed setpoint ⁇ v * has a value less than 0.
  • the second tension controller 9 can determine the additional speed setpoint ⁇ v * in particular such that the belt tension Z is set to the lower belt tension limit Z1 in the event that it falls below the lower belt tension limit Z1 and vice versa in the case that it exceeds the upper band tensile limit Z2, on the upper strip tension limit Z2 is set. If the strip tension Z again assumes a value between the lower and upper strip tension limit Z1, Z2 after the upper strip tension limit Z2 has been exceeded or after the lower strip tension limit Z1 has been undershot, the second tension controller 9 returns the additional speed setpoint value ⁇ v * to the value 0.
  • the second tension controller 9 is preferably designed as a controller with an integral component, for example as a PI controller.
  • the additional speed setpoint ⁇ v * determined by the second tension controller 9 acts on the rear rolling stand 2b
  • the additional speed setpoint ⁇ v * becomes as shown in FIG. 2 added with a negative sign to a speed setpoint v * for the rear roll stand 2b.
  • the positive sign speed set point ⁇ v * is added up to a speed set point for the front rolling stand 2a.
  • the first tension regulator 8 is supplied with a desired tension Z *.
  • the nominal tension Z * lies between the lower and the upper tension limit Z1, Z2.
  • the desired tension Z * can lie approximately or even exactly in the middle between the lower and upper strip tension limits Z1, Z2.
  • the first tension controller 8 determines the employment additional target value ⁇ s * based on the deviation of the strip tension Z from the predetermined tension Z *.
  • the determination rule for the first tension controller 8 as additional workstation setpoint ⁇ s * also allows a value different from 0, even if the belt tension Z lies between the lower and the upper tension limit Z1, Z2.
  • the currently determined additional employment value ⁇ s * may briefly have the value 0. In this case, however, this is due to the concrete values for the strip tension Z and the desired tension Z * and possibly their previous value curves causes, but not by the fact that the strip tension Z between the lower and the upper tape tension limit Z1, Z2 is.
  • the determination rule may be, for example, such that the first tension controller 8 is designed as a controller with an integral component, for example as a PI controller.
  • the integral component and the proportional component may compensate each other for a short time.
  • the deviation of the strip tension Z from the reference pull Z * is different from 0 for a long time, then forcibly at any time the determined additional work set point ⁇ s * must take a value other than 0. This also applies if the strip tension Z moves only between the lower and the upper strip tension limit Z1, Z2 during the entire period. Similar situations arise in other embodiments of the first tension controller 8, for example as a PID controller or as an I controller and also in one embodiment as a pure P controller.
  • the auxiliary operation target value ⁇ s * is a roll gap additional target value.
  • the auxiliary operation target value ⁇ s * acts directly and directly on the setting of the rear rolling stand 2b.
  • the additional operation target value ⁇ F * is a rolling load addition target value ⁇ F *.
  • the auxiliary operation target value ⁇ F * is applied to a set target value F * given as the target rolling force F *, and indirectly acts on the setting of the rear rolling stand 2b via the rolling force F.
  • the first tension controller 8 is preferably designed as a controller with an integral component, for example as a PI controller. The remaining comments on the operation of the first tension regulator 8 also apply to this case.
  • the first tension regulator 8 is present twice, namely once as first tension regulator 8 for determining the additional roll gap setpoint value ⁇ s * and once as the first tension regulator 8 for determining the additional rolling load setpoint value ⁇ F *.
  • a selection signal A whether one or the other first tension controller 8 is active.
  • the selection signal A can be specified to the control device 4, for example as part of a parameterization before commissioning. It is even possible to switch the selection signal A during the operation of the rolling train. So it's possible that in FIG. 2 rolling mill 2b shown to operate at times roller gap controlled and temporarily rolling force controlled and depending on the current operating mode to determine the appropriate additional employment rate ⁇ s *, ⁇ F * and occidentalmony to the appropriate setpoint target value s *, F *.
  • FIG. 4 shows a possible modification of the first tension controller 8.
  • the comments on FIG. 4 in this case refer to the case that the first tension regulator 8 is designed to determine the additional roll gap setpoint value ⁇ s *.
  • a lower and an upper setting limit ⁇ s1 *, ⁇ s2 * are supplied.
  • the first traction controller 8 limits the output duty set value ⁇ s * outputted to the lower limit and up to the upper limit value ⁇ 1 *, ⁇ s2 *.
  • the lower and upper pitch limits ⁇ s1 *, ⁇ s2 * may be as shown in FIG FIG. 4 from a lower and an upper limit determiner 10, 11 depending on a rolling force F, with which the metal strip 1 is rolled in the rear stand 2b, and the additional work set point ⁇ s * are determined dynamically.
  • the employment limit values ⁇ s1 *, ⁇ s2 * are given to the first draft regulator 8 by the two limit value detectors 10, 11.
  • the upper limit determiner 11 it is as shown in FIG. 4 It is possible for the upper limit determiner 11 to check whether the rolling force F at which the metal strip 1 is rolled in the rear stand 2b falls below a lower rolling force limit F1. If this is the case, the upper one decreases Limit value estimator 11 - starting from the last valid value for the upper limit of employment ⁇ s2 * - the upper limit of employment ⁇ s2 * by a certain amount ⁇ 2. The amount ⁇ 2 may alternatively be constant or depend on the amount by which the rolling force F falls below the lower rolling force limit value F1. Otherwise, the upper limit determiner 11 sets the upper limit of the application limit ⁇ s2 * so as to have a predetermined distance ⁇ 2 'from the currently valid value of the additional duty value ⁇ s *.
  • the lower limit determiner 10 it is as shown in FIG. 4 it is possible for the lower limit determiner 10 to check whether the rolling force F at which the metal strip 1 is rolled in the rear stand 2b exceeds an upper rolling force limit F2. If so, the lower limit determiner 10 - based on the last valid lower limit value ⁇ s1 * - increases the lower limit of the set value ⁇ s1 * by a certain amount ⁇ 1. The amount ⁇ 1 may alternatively be constant or depend on the amount by which the rolling force F exceeds the upper limit rolling force limit value F2. Otherwise, the lower limit determiner 10 sets the lower limit setting value ⁇ s1 * so as to have a predetermined distance ⁇ 1 'from the currently valid value of the additional set point value ⁇ s *. The distance ⁇ 1 'may, but not be, the same distance ⁇ 2' set by the upper limit determiner 11 when the rolling force F does not fall below the lower rolling force limit value F1.
  • Reducing the upper limit of the application limit ⁇ s2 * may go so far as to make the upper limit of the application amount ⁇ s2 * smaller than the additional one (additional) value of employment ⁇ s *.
  • the limit is affected by the upper limit of the setting ⁇ s2 *.
  • the first tension regulator 8 is therefore no longer able to compensate for the deviation of the strip tension Z from the desired tension Z *.
  • the deviation of the strip tension Z from the reference pull Z * becomes ever greater until one of the strip tension limits Z1, Z2 is violated.
  • the second tension controller 9 corrective on. Analogous explanations apply to the case where the lower limit of application ⁇ s1 * is continuously increased.
  • the present invention has many advantages. Thus, even under unfavorable conditions (for example, overload or underload of the rear roll stand 2b) the rolling force and strip tension limits are reliably maintained. The rolling process is stabilized. This is especially true when compared to an ITC.
  • the tension control method according to the invention for example, even a metal strip 1 having a thickness of 1 mm and less can be stably and reliably rolled in the course of a continuous casting roll process.
  • HSM hot strip mill
  • the hydraulic drive of the loop lifter 3 can be simplified. This leads to a cost reduction.
  • Another advantage is that neither AGC nor loop control is needed. It is only assumed that the looper 3 does not move during tension control. However, this can be readily ensured by the position controller 7. In general, a thickness control is required to compensate for thickness deviations at the outlet of the rolling train. However, the thickness control is also required in the prior art and also corresponds to the configuration of the prior art.
  • the regulation according to the invention of the strip tension Z further avoids the problems which occur in the case of an AGC. Because with AGC control, the scaffold suspension needs to be very well known for good results. The problem here is that the AGC is overcompensated for by insufficient modeling of the frame suspension and this then leads to an unstable rolling process. By contrast, in the present invention, the AGC is neither needed nor used, nor is the scaffold suspension needed for good compensation.
  • Another advantage is that a complex decoupling of a strip tension and loop control is not required because the strip tension control has a different actuator than is common in the prior art and the loop control is not needed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Metal Rolling (AREA)
  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)

Claims (18)

  1. Procédé de régulation de tension pour une bande métallique (1), qui est tout d'abord laminée dans une cage de laminoir avant (2a) d'un train de laminage à plusieurs cages et ensuite dans une cage de laminoir arrière (2b) du train de laminage à plusieurs cages,
    - dans lequel une tension de bande (Z) est détectée au moyen d'un releveur de boucles (3) mis en place entre la cage de laminoir avant (2a) et la cage de laminoir arrière (2b) au niveau de la bande métallique (1), laquelle tension de bande prévaut dans la bande métallique (1) entre la cage de laminoir avant (2a) et la cage de laminoir arrière (2b),
    - dans lequel la tension de bande (Z) est délivrée à un premier régulateur de tension (8) qui détermine une valeur théorique de tension supplémentaire de mise en place (δs*, δF*) ,
    - dans lequel la tension de bande (Z) est délivrée en outre à un second régulateur de tension (9) qui détermine une valeur théorique supplémentaire de vitesse (δv*),
    - dans lequel le second régulateur de tension (9) détermine une valeur supérieure à 0 en tant que valeur théorique supplémentaire de vitesse (δv*) lorsque la tension de bande (Z) se situe au-dessus d'une limite de tension de bande supérieure (Z2), détermine une valeur inférieure à 0 en tant que valeur théorique supplémentaire de vitesse (δv*) lorsque la tension de bande (Z) est en dessous d'une limite de tension de bande inférieure (Z1), et ramène la valeur théorique supplémentaire de vitesse (δv*) à la valeur 0 lorsque la tension de bande (Z) se situe entre les limites de tension de bande inférieure et supérieure (Z1, Z2),
    - dans lequel la valeur théorique supplémentaire de mise en place (δs*, δF*) agit sur le train de laminage arrière (2b), et la valeur théorique supplémentaire de vitesse (δv*) avec un signe algébrique positif agit sur le train de laminage avant (2a) ou avec un signe algébrique négatif agit sur la cage de laminoir arrière (2b),
    caractérisé en ce que
    - une tension théorique (Z*) est en outre également délivrée au premier régulateur de tension (8), laquelle tension théorique se situe entre la limite de tension de bande inférieure et la limite de tension de bande supérieure (Z1, Z2),
    - le premier régulateur de tension (8) détermine la valeur théorique supplémentaire de mise en place (δs*, δF*) en utilisant une consigne de détermination à l'aide de l'écart entre la tension de bande (Z) et la tension théorique (Z*) et
    - la consigne de détermination autorise également une valeur différente de 0 en tant que valeur théorique supplémentaire de mise en place (δs*, δF*) lorsque la tension de bande (Z) se situe entre la limite de tension de bande inférieure et la limite de tension de bande supérieure (Z1, Z2).
  2. Procédé de régulation de tension selon la revendication 1,
    caractérisé en ce que
    la valeur théorique supplémentaire de mise en place (δF*) est une valeur théorique supplémentaire de force de laminage (δF*).
  3. Procédé de régulation de tension selon la revendication 1,
    caractérisé en ce que
    la valeur théorique supplémentaire de mise en place (δs*) est une valeur théorique supplémentaire de fente de laminage (δs*) .
  4. Procédé de régulation de tension selon la revendication 3,
    caractérisé en ce que
    une valeur limite de mise en place inférieure et une valeur limite de mise en place supérieure (δs1*, δs2*) sont délivrées au premier régulateur de tension (8), en ce que le premier régulateur de tension (8) limite la valeur théorique supplémentaire de mise en place (δs*) émise à la baisse à la valeur limite de mise en place inférieure et à la hausse à la valeur limite de mise en place supérieure (δs1*, δs2*) et en ce que les valeurs limites de mise en place inférieure et supérieure (δs1*, δs1*) sont prédéfinies de manière dynamique par un dispositif de détermination de valeur limite inférieure et un dispositif de détermination de valeur limite supérieure (10, 11) en fonction d'une force de laminage (F), avec laquelle la bande métallique (1) est laminée dans la cage de laminoir arrière (2b), et du premier régulateur de tension (8) .
  5. Procédé de régulation de tension selon la revendication 4,
    caractérisé en ce que
    le dispositif de détermination de valeur de limite inférieure (10) majore la valeur limite de mise en place inférieure (δs1*) lorsque la force de laminage (F) avec laquelle la bande métallique (1) est laminée dans la cage de laminoir arrière (2b) est supérieure à une valeur limite de force de laminage supérieure (F2), et autrement ajuste un écart entre la valeur limite de mise en place inférieure (δs1*) et la valeur théorique supplémentaire de mise en place (δs*) à une valeur prédéterminée (Δ1') et en ce que le dispositif de détermination de valeur limite supérieure (11) abaisse la valeur limite de mise en place supérieure (δs2*) lorsque la force de laminage (F) avec laquelle la bande métallique (1) est laminée dans la cage de laminoir arrière (2b) est inférieure à une valeur limite de force de laminage inférieure (F1), et autrement ajuste un écart entre la valeur limite de mise en place supérieure (δs2*) et la valeur théorique supplémentaire de mise en place (δs*) à une valeur prédéterminée (Δ2').
  6. Procédé de régulation de tension selon l'une des revendications ci-dessus,
    caractérisé en ce que
    le second régulateur de tension (9), dans le cas où la tension de bande (Z) est inférieure à la limite de tension de bande inférieure (Z1) ou est supérieure à la limite de tension de bande supérieure (Z2), détermine la valeur théorique supplémentaire de vitesse (δv*) de telle sorte que la tension de bande (Z) est ajustée à la limite de tension de bande inférieure resp. supérieure (Z1, Z2).
  7. Procédé de régulation de tension selon l'une des revendications ci-dessus,
    caractérisé en ce que
    le releveur de boucles (3) est maintenu sur une position définie (p*) au moyen d'un régulateur de position (7).
  8. Procédé de régulation de tension selon l'une des revendications ci-dessus,
    caractérisé en ce que
    la bande métallique (1) est laminée à chaud dans la cage de laminoir avant (2a) et la cage de laminoir arrière (2b).
  9. Programme informatique qui comprend un code de machine (6) qui peut être traité par un dispositif de commande (4) pour un train de laminage,
    - dans lequel une bande métallique (1) est tout d'abord laminée dans une cage de laminoir avant (2a) d'un train de laminage à plusieurs cages et ensuite laminée dans une cage de laminoir arrière (2b) du train de laminage à plusieurs cages,
    - dans lequel une tension de bande (Z) est détectée au moyen d'un releveur de boucles (3) mis en place entre la cage de laminoir avant (2a) et la cage de laminoir arrière (2b) au niveau de la bande métallique (1), laquelle tension de bande prévaut dans la bande métallique (1) entre la cage de laminoir avant (2a) et la cage de laminoir arrière (2b),
    - dans lequel le traitement du code de machine (6) s'effectue par le biais du dispositif de commande (4),
    - le dispositif de commande (4) prend la tension de bande (Z) détectée,
    - le dispositif de commande (4) met en oeuvre un premier régulateur de tension (8) auquel est délivrée la tension de bande (Z) et qui détermine une valeur théorique supplémentaire de mise en place (δs*, δF*),
    - le dispositif de commande (4) met en outre en oeuvre un second régulateur de tension (9) auquel la tension de bande (Z) est délivrée et qui détermine une valeur théorique supplémentaire de vitesse (δv*),
    - le dispositif de commande (4) met en oeuvre le second régulateur de tension (9) de telle sorte que le second régulateur de tension (9) détermine une valeur inférieure à 0 en tant que valeur théorique supplémentaire de vitesse (δv*) lorsque la tension de bande (Z) se situe en dessous d'une limite de tension de bande inférieure (Z1), détermine une valeur supérieure à 0 en tant que valeur théorique supplémentaire de vitesse (δv*) lorsque la tension de bande (Z) se situe au-dessus d'une limite de tension de bande supérieure (Z2), et ramène la valeur théorique supplémentaire de vitesse (δv*) à la valeur 0 lorsque la tension de bande (Z) se situe entre les limites de tension de bande inférieure et supérieure (Z1, Z2), et
    - la valeur théorique supplémentaire de mise en place (δs*, δF*) agit sur la cage de laminoir arrière (2b) et la valeur théorique supplémentaire de vitesse (δv*) avec un signe algébrique positif agit sur la cage de laminoir avant (2a) ou avec un signe algébrique négatif agit sur la cage de laminoir arrière (2b), caractérisé en ce que
    - le traitement du code de machine (6) s'effectue par le biais du dispositif de commande (4), en ce que le premier régulateur de tension (8) détermine la valeur théorique supplémentaire de mise en place (δs*, δF*) en utilisant une consigne de détermination à l'aide de l'écart entre la tension de bande (Z) et une tension théorique (Z*) qui se situe entre les limites de tension de bande inférieure et supérieure (Z1, Z2), et en ce que la consigne de détermination permet également une valeur différente de 0 en tant que valeur théorique supplémentaire de mise en place (δs*, δF*) lorsque la tension de bande (Z) se situe entre les limites de tension de bande inférieure et supérieure (Z1, Z2).
  10. Programme informatique selon la revendication 9,
    caractérisé en ce que
    le traitement du code de machine (6) s'effectue par le biais du dispositif de commande (4), en ce que la valeur théorique supplémentaire de mise en place (δF*) est une valeur théorique supplémentaire de force de laminage (δF*).
  11. Programme informatique selon la revendication 9,
    caractérisé en ce que
    le traitement du code de machine (6) s'effectue par le biais du dispositif de commande (4), en ce que la valeur théorique supplémentaire de mise en place (δs*) est une valeur théorique supplémentaire de fente de laminage (δs*).
  12. Programme informatique selon la revendication 11,
    caractérisé en ce que
    le traitement du code de machine (6) s'effectue par le biais du dispositif de commande (4), en ce que des valeurs limites de mise en place inférieure et supérieure (δs1*, δs2*) sont délivrées au premier régulateur de tension (8), en ce que le premier régulateur de tension (8) limite la valeur théorique supplémentaire de mise en place (δs*) émise à la baisse à la valeur de limitation de mise en place inférieure et à la hausse à la valeur limite de mise en place supérieure (δs1*, δs2*) et en ce que le dispositif de commande (4) met en oeuvre un dispositif de détermination de valeur limite inférieure et un dispositif de détermination de valeur limite supérieure (10, 11), parmi lesquelles les valeurs limites de mise en place inférieure et supérieure (δs1*, δs2*) en fonction d'une force de laminage (F) avec laquelle la bande métallique (1) est laminée dans la cage de laminoir arrière (2b) et détermine de manière dynamique la valeur théorique supplémentaire de mise en place (δs*) et prédéfinit le premier régulateur de tension (8).
  13. Programme informatique selon la revendication 12,
    caractérisé en ce que
    le traitement du code de machine (6) s'effectue par le biais du dispositif de commande (4), en ce que le dispositif de détermination de valeur limite inférieure (10) majore la valeur limite de mise en place inférieure (δs1*) lorsque la force de laminage (F) avec laquelle la bande métallique (1) est laminée dans la cage de laminoir arrière (2b) est supérieure à une valeur limite de force de laminage supérieure (F2), et autrement ajuste un écart entre la valeur limite de mise en place (δs1*) et la valeur théorique supplémentaire de mise en place (δs*) à une valeur prédéterminée (Δ1') et en ce que le dispositif de détermination de valeur limite supérieure (11) abaisse la valeur limite de mise en place supérieure (δs2*) lorsque la force de laminage (F) avec laquelle la bande métallique (1) est laminée dans la cage de laminoir arrière (2b) est inférieure à une valeur limite de force de laminage inférieure (F1), et autrement ajuste un écart entre la valeur limite de mise en place supérieure (δs2*) et la valeur théorique supplémentaire de mise en place (δs*) à une valeur prédéterminée (Δ2').
  14. Programme informatique selon l'une des revendications 9 à 13,
    caractérisé en ce que
    le traitement du code de machine (6) s'effectue par le biais du dispositif de commande (4), en ce que le second régulateur de tension (9) détermine, dans le cas où la tension de bande (Z) est inférieure à la limite de tension de bande inférieure (Z1) ou est supérieure à la limite de tension de bande supérieure (Z2), la valeur théorique supplémentaire de vitesse (δv*) de telle sorte que la tension de bande (Z) est ajustée à la limite de tension de bande inférieure resp. supérieure (Z1, Z2) .
  15. Programme informatique selon l'une des revendications 8 à 14,
    caractérisé en ce que
    le traitement du code de machine (6) s'effectue par le biais du dispositif de commande (4), en ce que le dispositif de commande (4) met en oeuvre un régulateur de position (7) au moyen duquel le releveur de boucles (3) est maintenu sur une position définie (p*).
  16. Programme informatique selon l'une des revendications 8 à 15,
    caractérisé en ce que
    le traitement du code de machine (6) s'effectue par le biais du dispositif de commande (4), en ce que la bande métallique (1) est laminée à chaud dans la cage de laminoir avant (2a) et la cage de laminoir arrière (2b).
  17. Dispositif de commande pour un train de laminage à plusieurs cages destiné au laminage d'une bande métallique (1), dans lequel le dispositif de commande est programmé avec un programme informatique (5) selon l'une des revendications 9 à 16.
  18. Train de laminage à plusieurs cages destiné au laminage d'une bande métallique (1),
    - dans lequel le train de laminage présente une cage de laminoir avant et une cage de laminoir arrière (2a, 2b), dans lesquelles la bande métallique (1) est laminée,
    - dans lequel le train de laminage présente un releveur de boucles (3) disposé entre la cage de laminoir avant (2a) et la cage de laminoir arrière (2b), lequel releveur de boucles est mis en place au niveau de la bande métallique (1) et détecte une traction de bande (Z) qui prévaut dans la bande métallique (1) entre la cage de laminoir avant (2a) et la cage de laminoir arrière (2b),
    - dans lequel le train de laminage présente un dispositif de commande (4) selon la revendication 17 auquel est délivrée la tension de bande (Z) et qui agit sur la cage de laminoir arrière (2b).
EP16165233.4A 2016-04-14 2016-04-14 Controle robuste de tension de bande Active EP3231522B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
EP16165233.4A EP3231522B1 (fr) 2016-04-14 2016-04-14 Controle robuste de tension de bande
ES16165233T ES2732566T3 (es) 2016-04-14 2016-04-14 Control robusto de tensión de banda
BR112018069810-5A BR112018069810B1 (pt) 2016-04-14 2017-02-27 Controle robusto de tensão de tira
CN201780023493.2A CN109070163B (zh) 2016-04-14 2017-02-27 鲁棒的带张力控制
PCT/EP2017/054505 WO2017178145A1 (fr) 2016-04-14 2017-02-27 Régulation de tension de bande robuste
RU2018134024A RU2731220C2 (ru) 2016-04-14 2017-02-27 Надежная регулировка натяжения полосы
US16/091,635 US10780474B2 (en) 2016-04-14 2017-02-27 Robust band tension control

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP16165233.4A EP3231522B1 (fr) 2016-04-14 2016-04-14 Controle robuste de tension de bande

Publications (2)

Publication Number Publication Date
EP3231522A1 EP3231522A1 (fr) 2017-10-18
EP3231522B1 true EP3231522B1 (fr) 2019-03-27

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US (1) US10780474B2 (fr)
EP (1) EP3231522B1 (fr)
CN (1) CN109070163B (fr)
ES (1) ES2732566T3 (fr)
RU (1) RU2731220C2 (fr)
WO (1) WO2017178145A1 (fr)

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Publication number Priority date Publication date Assignee Title
EP4277757A1 (fr) 2021-01-18 2023-11-22 Primetals Technologies Germany GmbH Réduction des changements d'épaisseur dus à la tension lors du laminage

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RU2731220C2 (ru) 2020-08-31
RU2018134024A3 (fr) 2020-05-14
ES2732566T3 (es) 2019-11-25
CN109070163B (zh) 2020-10-30
EP3231522A1 (fr) 2017-10-18
BR112018069810A2 (pt) 2019-01-29
CN109070163A (zh) 2018-12-21
US20190160502A1 (en) 2019-05-30
RU2018134024A (ru) 2020-05-14
WO2017178145A1 (fr) 2017-10-19
US10780474B2 (en) 2020-09-22

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