EP3568243B1 - Verfahren für eine zugregelung - Google Patents

Verfahren für eine zugregelung Download PDF

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Publication number
EP3568243B1
EP3568243B1 EP18700485.8A EP18700485A EP3568243B1 EP 3568243 B1 EP3568243 B1 EP 3568243B1 EP 18700485 A EP18700485 A EP 18700485A EP 3568243 B1 EP3568243 B1 EP 3568243B1
Authority
EP
European Patent Office
Prior art keywords
speed
tension
strip
variant
shaped material
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
EP18700485.8A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3568243A1 (de
Inventor
Jörn Sieghart
Ronny PETERS
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.)
SMS Group GmbH
Original Assignee
SMS Group 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
Application filed by SMS Group GmbH filed Critical SMS Group GmbH
Publication of EP3568243A1 publication Critical patent/EP3568243A1/de
Application granted granted Critical
Publication of EP3568243B1 publication Critical patent/EP3568243B1/de
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
    • B21B2265/00—Forming parameters
    • B21B2265/02—Tension
    • B21B2265/06—Interstand tension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2275/00—Mill drive parameters
    • B21B2275/02—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2275/00—Mill drive parameters
    • B21B2275/02—Speed
    • B21B2275/06—Product speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2275/00—Mill drive parameters
    • B21B2275/02—Speed
    • B21B2275/08—Coiler speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/46—Roll speed or drive motor control

Definitions

  • the invention relates to a method for tension control in the case of strip-shaped material, in particular in the case of a metal strip, between two clamping points, at least one of the clamping points having a rotary drive for influencing the tensile stress of the material.
  • the clamping points can be, for example, two adjacent roll stands
  • a decisive criterion for a rolling mill is the rolling stability.
  • the rolling stability depends largely on the stability of the tension of the metal strip to be rolled.
  • Tension regulators that is to say regulators which regulate the controlled variable train, are basically known in the prior art, e.g. B. from the EP 2 454 033 B1 or the generic DE 10 2006 048 421 A1 .
  • the hydraulic adjustment in a roll stand for adjustment of the work rolls can serve as an actuator of the known tension controls.
  • the work rolls are preferably position-controlled, since the position control acts faster on the train than a control of the train by adjusting the speed of the rotary drives of the rolls.
  • Force control is often used on the last stands of a tandem mill in order to introduce a certain surface roughness onto the rolled metal strip.
  • the rotary drive of the rolls of a rolling stand with variable speed setting serve as an actuator for the tension control.
  • the invention is therefore based on the object of developing a known method for regulating the tension in the case of a strip-shaped material between two tensioning points in such a way that the tension control becomes more effective and faster.
  • This object is achieved by the method claimed in claim 1.
  • This method is characterized in that the controller output signal, as part of its conversion into the control signal, is varied at least temporarily as a function of a variable g (t) representing the speed of the metal strip.
  • the term “at least temporarily” means that the inventive conversion of the controller output signal into the control signal does not always have to take place during tension control.
  • the conversion according to the invention can be exposed to the tension control during individual phases, for example before the tension control has reached a steady state.
  • a (physical) variable representing the speed of the strip-shaped material is to be interpreted broadly.
  • the term means the speed of the metal belt itself.
  • it also includes any other physical variable that allows an indication of the size of the speed of the metal strip between the two clamping points.
  • it also includes the rotational speed or the circumferential speed of rolls in a roll stand if such a roll stand functions as a clamping point within the meaning of the invention.
  • the size also does not necessarily have to be a measured value.
  • metal strip is always used only as an example. It stands synonymously for strip-shaped material made of any material to which the invention relates in general.
  • the present invention only relates to tension controls in which a rotary drive functions as an actuator and in which an actuating signal therefore specifies speeds or changes in speed for the rotary drive.
  • the core idea of the invention is that the output signal of the tension regulator - unlike in the prior art - does not serve directly as a control signal for a rotary drive in a clamping point, for example in a roll stand, but is processed or converted beforehand.
  • This conversion according to the invention advantageously has the effect that tension disturbances in the metal strip caused by changes in speed are pre-controlled.
  • the inventive conversion of the controller output signal into the control signal for the rotary drive enables a previously very expensive and time-consuming commissioning of a tension controller to be significantly simplified and shortened. A large number of metal strips that were previously used for test purposes, in particular for jump tests, during commissioning, and the time required by specialist staff to set the tension controller dynamics for different speed ranges, can be significantly reduced when using the method according to the invention.
  • a first variant and a second variant are described for the tension control according to the invention.
  • Claims 2 to 5 relate to the first variant, while claims 6 and 7 relate to the second variant.
  • the following dependent claims 8 to 20 each relate to both variants.
  • the first variant of the tension control according to the invention described in claim 2 describes a feedforward control that does not have any speed-dependent influence on the line gain V (t) and nevertheless makes necessary changes to the tension controller output signal R (t) relative to the variable g (t) representing the speed of the metal strip .
  • This first variant of the tension control according to the invention works with learning points. If the number of learning points is increased towards infinity, the tension correction is made directly dependent on the system speed and thus also on its line gain.
  • V (t) is an amplification factor which represents the course of the variable g (t) representing the speed of the metal strip (200), preferably normalized to the predetermined constant g (t 0), over time.
  • learning points t i are based on real interference, such as B. manual reference train changes, redistributions, general disruptions from the process, etc. generated. Because of these disruptive influences / events, as they are also shown in claim 3, the ambient conditions for the tension control change.
  • the aforementioned learning points help to adapt the controller output immediately and precisely to the currently changed conditions of the mass flow.
  • the first variant of the tension control according to the invention describes an adaptive feedforward control. The tension control becomes faster overall, the control signal S (t) probably only needs to make small, perhaps ideally even no more corrections if the system changes its speed after and during a fault.
  • the dependent claim 4 describes different situations when the train control is operated according to the first variant, i. H.
  • the output of the tension controller R (t) is increased or decreased directly with the gain factor V (t), which can change continuously with the system speed, and is thus converted into the control signal S (t).
  • variant 2 offers the possibility of significantly reducing the effort involved in commissioning the tension control by changing the dynamics of the control by the factor V (t) analogous to the speed is changed automatically and this therefore does not have to be set by experiments or only to a lesser extent.
  • the tension control can optionally be switched from the second variant to the first variant as soon as and as long as the variable representing the speed of the metal strip, in particular the speed of the metal strip itself, exceeds a predetermined positive speed limit.
  • This speed limit is defined, for example, by the lower threshold value g min1 of variant 1 if this is greater than the upper threshold value g max2 of the second variant.
  • the temporary switchover means that the speed correction continues to be changed according to the mass flow, but the tension controller keeps the gain constant at high speeds.
  • the controller gain must z. B. can then be kept constant when the dynamics of the rotary drives is or becomes the limiting variable for the dynamics of the tension regulator.
  • Both the first and the second variant are preferably operated when the tension control is in a steady state.
  • the control signal S (t) or the gain factor V (t) is advantageously calculated in the first and / or in the second variant, taking into account the lead k of the metal strip, preferably by multiplication with a function f (k).
  • the tension control according to the invention is preset or precontrolled even better for speed-changing disturbances and is therefore even more effective and even faster.
  • the advance k itself can either depend on the variable g (t), which represents the speed of the metal strip, in the form k (g (t)), or it can be specified as a constant.
  • control signal S (t) always specifies a speed or a change in speed for a rotary drive in the context of the present invention
  • the controller output signal R (t) can either change the speed for the rotary drive or a change in the thickness of the metal strip in a roll stand pretend. In the latter case, the controller output signal must be converted into the control signal for the rotary drive.
  • the two tensioning points between which the metal strip is clamped under tension can be two preferably adjacent rolling stands of a rolling train, at least one of the rolling stands having the rotary drive for driving one of its rollers in rotation.
  • a thickness control then takes place on the first roll stand in the rolling direction and on the second roll stand downstream in the rolling direction the tension control according to the invention with a control of the rotary drive there as an actuator.
  • the preceding speed control significantly relieves the downstream tension control, ie the control signal only needs to output minor changes in speed to the rotary drive.
  • the controller output signal on the one hand represents the said change in the decrease in thickness of the metal strip for the thickness control on the first roll stand and in this respect acts as a control signal for the decrease in thickness on the first roll stand.
  • the controller output signal R (t) can then, on the other hand, be converted into the control signal for the rotary drive according to the first or second variant of the tension control according to the invention, the conversion also including a conversion of the change in the decrease in thickness into a change in the speed for the rotary drive.
  • the two tensioning points between which the tension of the metal strip is regulated with the method according to the invention can alternatively be a pair of rollers as the first tensioning point and a reel device downstream of the roller pair as the second tensioning point.
  • the rotary drive required for the tension control according to the invention can then be present either in the pair of rollers for driving at least one of its rollers in rotation and / or in the reel device for driving the reel in rotation.
  • the pair of rolls can be a pair of driver rolls or a pair of work rolls in a roll stand.
  • Figure 100 shows a schematic 100 of a tension control according to the present invention.
  • the basis of the invention is a control loop for a tension control, as shown in Figure 1 is generally shown.
  • the control loop provides that the actual tension of a metal strip is measured or otherwise determined with the aid of a determination device 160 when the metal strip is clamped between two tensioning points under tension or passes through these tensioning points under tension.
  • train is synonymous with tensile stress.
  • the actual tension determined in this way is compared in a target / actual value comparator 110 with a specified target tension for the metal strip, and the result of this comparison, which is typically a difference, is used as a control deviation e ( t) is output to a regulator device 120.
  • the regulator device generates a regulator output signal R (t) at its output.
  • This controller output signal R (t) typically represents a change in speed for a rotary drive.
  • the controller output signal R (t) is not used directly as a control signal for Control of an actuator 140 in the form of a rotary drive, but rather the present invention provides that the controller output signal is first converted into a control signal S (t) in a conversion device 130 in a suitable manner, as described below. Only the actuator S (t) is then actually used to control the rotary drive 140.
  • the rotary drive 140 is controlled in such a way that the tension of the metal strip 200 is regulated to the specified target value when the metal strip runs through the controlled system 150, which essentially consists of two tensioning points consists.
  • the regulation described works preferably continuously over time, so that the determination of the actual tension of the metal strip described in the introduction takes place continuously within the controlled system and the determined actual tension is continuously regulated to the specified target tension.
  • Figure 2 shows the functional structure of the in Figure 3 conversion device 130 shown in detail.
  • the conversion device 130 receives the controller output signal R (t) as an input variable and outputs the said control signal S (t) as an output variable to the rotary drive 140 as an actuator.
  • the converter 130 also receives a variable g (t) representing the speed of the metal strip 200. This can be the specific speed of the metal strip itself; however, it can also be any other physical variable act, which allows an indication of the size of the speed of the metal strip between the two tensioning points.
  • the derivative signal a (t) then enables an acceleration correction for the rotary drive.
  • the tension control according to the invention and in particular the conversion device 130 can be operated in a first variant or, alternatively, in a second variant; Depending on the variant, the function blocks F1 and F2 are operated or designed differently within the conversion device 130. The respectively different design or mode of operation of the conversion device 130 for both variants is primarily described mathematically below.
  • the block F2 provides within the conversion device 130 the generation of a gain factor V (t) in which the received input signal g (t) is preferably normalized to a predetermined constant g (t 0 ).
  • Figure 3 illustrates the generation of the actuating signal S (t) as an output signal of the conversion device 130 according to the first variant on the basis of specific examples for the input signals g (t) and R (t).
  • the gain factor V (t) is identical in its time curve to the input signal g (t), ie the normalization factor g (t 0 ) was set to 1 here as an example.
  • various other intermediate signals A1 (t), Z (t) and A2 (t) are generated within the conversion device 130, from which the control signal S (t) is ultimately calculated.
  • the calculation of the intermediate signals is shown mathematically above and, as said, in Figure 3 explained using an example.
  • the feedforward control is immediately and precisely adapted to the current conditions, in particular to speed-related changes in the mass flow.
  • the future controller output signal R (t) ie the controller output signal copied to the pilot control branch in the form of the signal Z (t) after the learning time set in each case; please refer Figure 2 so that the control signal S (t) does not change in total when the learning times are set.
  • the newly learned mass flow disturbance is automatically precontrolled by the conversion device 130 in that the mass flow control is again changed linearly to the system speed by the actuating signal S (t).
  • the controller output signal R (t) must make no or only very small corrections when the system changes its speed, i.e. when there is a change in g (t) .
  • Fig. 3 shows exemplary signal curves for the input signals R (t) and g (t) and the control signal S (t) calculated therefrom according to formula 2 in the conversion device 130.
  • a comparison of the controller output signal R (t), which is typically used directly in the prior art as a control signal for a downstream rotary drive, with the control signal S (t) calculated according to the invention shows, in particular between times t 0 and t 2 , that the controller output signal R ( t) was weighted or varied to calculate the control signal S (t) with the variable g (t) representing the speed of the metal strip or the gain factor V (t).
  • FIG Figure 4 An example of such a calculation of the actuating signal S (t) according to the second variant is shown in FIG Figure 4 shown. Also in Figure 4 A comparison of the controller output signal R (t) with the control signal S (t) shows that the controller output signal is varied or weighted according to the invention as a function of the gain factor V (t) or as a function of the variable g (t) representing the speed of the metal strip. In contrast to the weighting according to the first variant, the weighting in the second variant takes effect much more directly; this is shown by the actually proportional gain of the local maxima and minima, in particular in the area ⁇ t. In the first variant, these are not amplified or only amplified to a lesser extent, as can be seen from the signal curve S (t) in FIG Figure 3 is recognizable.
  • the second variant can not only be used when the tension control is in a steady state, but also before the steady state is reached, e.g. B. when threading metal strip into a system, in particular between the two tensioning points, or during a tension build-up sequence, etc.
  • V t 1
  • the tension control is in a steady state, it can be operated according to the invention either according to the first or the second variant.
  • this steady state begins at the point in time t 0 with the speed g (t 0 ).
  • the steady state it is also possible to switch between the first and the second variant.
  • a switch to the second variant can take place if a more favorable control behavior can be achieved by changing the speed of the system, in that the dynamics of the tension regulator are also changed due to the speed change.
  • the dynamics are adjusted at least partially automatically by converting the variable R (t) into S (t) according to the invention.
  • the direct amplification of the controller signal R (t) during the conversion into the control signal S (t) has the advantage that the controller can be started up more quickly, since the dependence of the control dynamics on the speed is at least partially due to the conversion R according to the invention (t) is solved for S (t).
  • the resulting continuous adaptation of the dynamics of the controller to the requirements during and after the change in speed can also be more precise than the conventional setting for different operating points.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Metal Rolling (AREA)
EP18700485.8A 2017-01-16 2018-01-12 Verfahren für eine zugregelung Active EP3568243B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017200560.2A DE102017200560A1 (de) 2017-01-16 2017-01-16 Verfahren für eine Zugregelung
PCT/EP2018/050720 WO2018130636A1 (de) 2017-01-16 2018-01-12 Verfahren für eine zugregelung

Publications (2)

Publication Number Publication Date
EP3568243A1 EP3568243A1 (de) 2019-11-20
EP3568243B1 true EP3568243B1 (de) 2021-03-10

Family

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EP18700485.8A Active EP3568243B1 (de) 2017-01-16 2018-01-12 Verfahren für eine zugregelung

Country Status (5)

Country Link
US (1) US11426778B2 (ru)
EP (1) EP3568243B1 (ru)
DE (1) DE102017200560A1 (ru)
RU (1) RU2732460C1 (ru)
WO (1) WO2018130636A1 (ru)

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AU475854B2 (en) * 1972-09-06 1976-09-02 Mitsubishi Electric Corporation System for controlling rolling mills
US3848443A (en) * 1973-05-31 1974-11-19 Westinghouse Electric Corp Automatic control method and apparatus for a rolling mill
US4132095A (en) * 1977-08-04 1979-01-02 United States Steel Corporation Automatic gauge control method and apparatus for tandem strip mills
US4307591A (en) * 1980-03-31 1981-12-29 Westinghouse Electric Corp. Rolling mill looper control system
US4662202A (en) * 1985-07-23 1987-05-05 Cargill, Incorporated Low tension cascade mill speed control by current measurement with temperature compensation
US4998427A (en) * 1989-11-29 1991-03-12 Aeg Westinghouse Industrial Automation Corporation Method for rolling on-gauge head and tail ends of a workpiece
US5012660A (en) * 1989-11-29 1991-05-07 Aeg Westinghouse Industrial Automation Corporation Control system and method for compensating for speed effect in a tandem cold mill
SU1738400A1 (ru) * 1990-04-02 1992-06-07 Кузнецкий металлургический комбинат им.В.И.Ленина Способ регулировани межклетевого нат жени и устройство дл его осуществлени
GB9007854D0 (en) 1990-04-06 1990-06-06 Emhart Ind Take out device
US5103662A (en) * 1990-05-01 1992-04-14 Allegheny Ludlum Corporation Tandem rolling mill tension control with speed ratio error discrimination
FR2735046B1 (fr) * 1995-06-08 1997-07-11 Lorraine Laminage Procede de laminage a froid avec compensation d'ovalisation des cylindres de laminage.
RU2268800C2 (ru) * 2002-12-19 2006-01-27 Закрытое акционерное общество "Ново-Краматорский машиностроительный завод" Способ регулирования натяжения полосы в процессе прокатки между клетями многоклетьевого стана с печными моталками
DE102006048421B4 (de) 2006-10-12 2012-08-30 Siemens Ag Verfahren zum Regeln eines Istzuges auf einen Sollzug mittels eines mittels eines Modells der Zugregelstrecke adaptierten Zugreglers
EP2277639A1 (de) 2009-07-15 2011-01-26 Siemens Aktiengesellschaft Bandzug- und Schlingenregelung
RU147042U1 (ru) * 2014-07-01 2014-10-27 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Магнитогорский государственный технический университет им. Г.И. Носова" Устройство автоматического регулирования натяжения металла в двух межклетевых промежутках черновой группы стана горячей прокатки

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Also Published As

Publication number Publication date
US11426778B2 (en) 2022-08-30
US20190366403A1 (en) 2019-12-05
RU2732460C1 (ru) 2020-09-16
WO2018130636A1 (de) 2018-07-19
DE102017200560A1 (de) 2018-07-19
EP3568243A1 (de) 2019-11-20

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