JP2006021243A - System and method for controlling crown in hot-rolling mill - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a crown control means by which an uniform crown in the longitudinal direction on a material to be rolled. <P>SOLUTION: The crown controller 100 which is constituted of a setup means 101 for outputting a first manipulated variable which is the target manipulated variable of a rolling mill 151 to a desired crown, crown measuring means (170, 171) which are arranged before and behind the rolling mill 151, crown lock-on means (111, 121) for storing a crown at a prescribed distance from the nose in the rolling direction of the material 153 to be rolled as a lock-on crown, control means (112, 122) of the crown in the longitudinal direction for outputting the corrective quantity of the first manipulated variable so as to reduce the deviation between the crowns which are measured by the crown measuring means (170, 171) and the lock-on crown and a manipulated variable computing means for outputting the second manipulated variable which is the manipulated variable of the rolling mill 151 is provided. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a crown control device for a hot rolling mill and a control method therefor, and more particularly to a crown control device suitable for uniformizing a plate crown in the longitudinal direction of a steel plate and a control method therefor in a stickel mill that performs reciprocating rolling. .

In crown control of a rolling mill that rolls steel sheets and the like, for example, Patent Document 1 discloses a control for calculating a first error (control error) that is a difference between a desired control amount and an actual value, and an operation amount. A control method for independently calculating a second error (model error) that is a difference between a control command input to a model and an actual value and correcting the next control command using the first error and the second error is provided. It is disclosed.
JP 2001-236102 A (paragraphs 0006 to 0007, FIG. 1)

However, the control method described in Patent Document 1 is a method of learning a control model in units of steel plates or slabs, and when applied to the crown control of a Steckel mill, it is not possible to improve the average crown accuracy of the steel plates. Although it was possible, a uniform crown in the longitudinal direction could not be realized because no consideration was given to uniform crown accuracy in the steel sheet.
Furthermore, it is conceivable to perform feedback control in the longitudinal direction of the steel plate so that the deviation between the crown target value and the measured value of the crown meter is small, but the crown near the steel plate tip has a large deviation from the target value. In other words, since the deviation of this portion cannot be reduced by feedback control, there is a problem in that many portions that are incompatible with the target quality in the vicinity of the tip of the steel plate are cut.

  Therefore, the problem to be solved by the present invention is to provide a crown control means capable of realizing a uniform crown in the longitudinal direction in the material to be rolled.

  In order to solve the above-described problems, the present invention provides a setup means (101) for outputting a first operation amount that is a target operation amount of the rolling mill (151) for a desired crown, and an entry side of the rolling mill (151). And / or crown measuring means (170, 171) installed on the exit side, and crown lock-on means (111, 111) for storing the crown at a predetermined distance from the tip in the rolling direction of the material to be rolled (153) as a lock-on crown. 121) and a longitudinal crown control that outputs a first correction amount that is a correction amount of the first operation amount so as to reduce the deviation between the crown measured by the crown measuring means (170, 171) and the lock-on crown. Operation amount calculation for outputting a second operation amount that is an operation amount of the rolling mill (151) from the means (112, 122), the first operation amount and the first correction amount. Providing composed crown control device (100) and means.

  According to the present invention, the crown can be made highly uniform in the longitudinal direction of the steel sheet in the rolling step in the hot rolling mill.

  Next, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings referred to below, the same reference numerals represent the same components.

(First embodiment)
FIG. 1 is a diagram illustrating the overall configuration of the first embodiment of the present invention. In FIG. 1, the control device 100 receives crown information from a control target 150 that is a hot rolling mill, and outputs a control signal for controlling a bending force (bending force) to the backup roll 161 to the control target 150.
Next, the control target 150 of this embodiment will be described. In the present embodiment, the control object 150 is a hot-rolling stickel mill, and a rough material 152 having a thickness of about 30 mm produced by a roughing mill, which is a previous process, is reciprocated by the mill 151 about 3 to 7 times. Rolled to produce hot rolled steel sheet 154 of about 2 mm to 10 mm. Hereinafter, each rolling process of reciprocating rolling is called a pass.
The steel plate 153 being rolled is gradually rolled from the state of the plate by being reciprocally rolled while being wound around the inlet side coiler 162 and the outlet side coiler 163. Furthermore, the control object 150 of this embodiment includes an entry-side crown meter 170 and an exit-side crown meter 171 that measure the crown of the steel plate 153 on the entry side and the exit side of the mill 151.
In the present embodiment, the terms “entry side” and “outgoing side” are used, which is used to indicate an absolutely determined direction with respect to the mill 151 of the controlled object 150 and is used as a rough material. The direction in which 152 flows into the mill 151 is referred to as “entry side”, and the direction in which the hot-rolled steel sheet 154 flows out from the mill 151 is referred to as “exit side”. That is, the direction in which the steel plate 153 to be reciprocally rolled enters and exits the mill 151 does not necessarily match.

Next, the definition of the crown and the configuration of the entry side (exit side) crown meter 170 (171) of the present embodiment will be described with reference to the figure illustrating the crown shown in FIG.
In general, the crown of the steel plate 153 is the difference between the thickness of the center of the steel plate 153 and the thickness at a certain distance from the edge of the steel plate 153. In FIG. 2, the crown is C, the center plate thickness of the steel plate 153 is hc, When the plate thickness at a predetermined distance from the edge of 153 is he,
C = hc−he (1)
Defined by The measurement point of he is generally set at a place where the distance from the edge of the steel plate 153 is 40 mm, but may be a place where the distance is 70 mm.

As shown in FIG. 2, the entry-side crown meter 170 and the exit-side crown meter 171 according to the present embodiment have a plurality of plate thickness measuring means arranged in the width direction of the steel plate 153, thereby simultaneously The measurement point 201 can be measured.
According to the inlet crown meter 170 and the outlet crown meter 171 of the present embodiment configured as described above, the plate thickness in the width direction of the steel plate 153 can be detected continuously as a plate thickness retention distribution at the same time. The crown can be calculated in real time.

  In the actual Steckel mill control device, many signals are exchanged in addition to the crown and bending amount. In this embodiment, a thickness distribution in the plate width direction is mainly given to the work roll 160 for the sake of explanation. A case where the control is performed with a bending force that is generated will be described as an example. In this embodiment, the target value of the bending force applied to the backup roll 161 is added by the operation amount (bending amount) output from the control device 100 to the backup roll 161. The entry-side crown meter 170 and the exit-side crown meter 171 detect the crowns of the steel plates 153 before and after the mill 151 and output them to the control device 100 as measured values.

Next, with reference to FIG. 1 as appropriate, each part constituting the control device 100 will be described in detail.
(Control model)
The control model 103 is a mathematical expression describing the relationship between the bending amount applied to the backup roll 161 and the crown of the steel plate 153 obtained thereby, and in the present embodiment, the following algebraic expression is used as an example. .

  The parameters of the mathematical formulas (2), (3), and (4) will be described. CH is an entry side crown, Ch is an exit side crown, Hc is an entry side plate thickness, hc is an exit side plate thickness, B is a bending amount, P is the roll rolling load, CRW is the work roll crown, CRB is the backup roll crown, εH is the incoming crown ratio, εh is the outgoing crown ratio, A1 to A6 are factors determined by the plate thickness, plate width, tension, etc. Respectively.

(Setup method)
The setup means 101 determines a target crown (hereinafter referred to as a schedule) for each pass so that the target crown can be obtained in the final pass, and the input side crown CH and the input side plate thickness Hc that are control set values in the next pass. Bending amount given by equations (2), (3), and (4) of the control model 103 after estimating the outlet side thickness hc, the roll reduction load P, the work roll crown CRW, and the backup roll crown CRB And a bend amount B _set that achieves the schedule is output to the inter-pass FF control means 102 based on the relationship between the value and the crown amount on the exit side.
Note that the setup unit 101 of the present embodiment outputs the bending amount B _set in each path using the control model 103. For example, a table showing a correspondence relationship between the schedule and the bending amount is stored in advance. By storing in the setup means 101, it is possible to refer to this table and output the bending amount B _set in each path. In this case, the bending amount B _set can be output without using the control model 103.

(Inter-path FF control means)
The control device 100 according to the present embodiment performs control to reduce a deviation from the lock-on crown by feedback control and feed-forward control using a crown at a predetermined position described later as the steel plate 153 as a lock-on crown. At this time, if the lock-on crown is different from the schedule in each pass of reciprocating rolling, the crown of the final steel plate 153 after rolling may not match the target crown in the final pass. In order to improve this problem, in this embodiment, an inter-pass FF (feed) that calculates and corrects an operation amount that eliminates the deviation between the lock-on crown and the schedule after the next pass using a control model. A forward control unit 102 is provided.
Here, for example, FIG. 3 is a flowchart for explaining the operation of the inter-path FF control means 102. The operation of the inter-path FF control unit 102 will be described with reference to FIG.
First, the pass-to-pass FF control means 102 has an input _- side lock-on crown C _rock-e taken from an input _- side crown lock-on means 111 or an output _- side lock-on crown C _rock- A deviation ΔCp between _d and the schedule of the path set by the setup unit 101 is calculated (step S101).
Although it was decided to calculate the deviation ΔCp with the inlet side locking On Crown C _rock-e or egress crown lock on the crown C _rock-d, in general, the exit side lock-on crown C _rock-d Used. However, when the accuracy and reliability of the entry-side crown meter are high, the entry-side lock-on crown C _rock-e can be used. Further, it is also possible to use the input side lock-on crown C _rock-e and the output side crown lock-on crown C _rock-d at a predetermined ratio and use them together.

Next, the inter-path FF control means 102 calculates ∂B / ∂C (step S102). Here, for example, in the case where all the deviations ΔCp calculated in step S101 are eliminated in the next pass, ∂B / ∂C is A2 / hc from Equation (2).
Then, the bending amount B _set of the next pass is corrected (step S103). Here, similarly, in the case where all the deviations ΔCp are eliminated in the next pass, the bending correction amount ΔB is
ΔB = (∂B / ∂C) · ΔCp (5)
The bending amount B ₀ output by the inter-pass FF control unit 102 with respect to the bending amount B _set output by the setup unit 101 is
B ₀ = B _set + (∂B / ∂C) · ΔCp (6)
It becomes.

(Entry side crown lock-on means)
Next, for example, FIG. 4 is a flowchart for explaining the operation of the entry-side crown lock-on means 111. The operation of the entry-side crown lock-on means 111 will be described with reference to FIG.
First, the entry-side crown lock-on means 111 integrates the distance from the tip of the steel plate 153 (step S201). Then, the timing at which this integrated distance reaches the predetermined value αp is detected by the determination process in step S202, and the crown C _act-e received by the entry-side crown receiving means 110 is taken in and locked on (step S203). . This locked-on crown C _act-e is stored as an entry-side lock _- on crown C _{rock-e and} used as an entry-side lock-on crown during the path.
In addition, since the crown from the front-end | tip of the steel plate 153 to a fixed distance ((alpha) p) is not an appropriate crown by the influence of a plate | board temperature fall etc., a lock-on crown is defined except this range.

(Outside crown lock-on means)
Next, for example, FIG. 5 is a flowchart for explaining the operation of the exit-side crown lock-on means 121. The operation of the exit-side crown lock-on means 121 will be described with reference to FIG.
Similar to the entry-side crown lock-on means 111, the exit-side crown lock-on means 121 integrates the distance from the tip of the steel plate 153 (step S301). Then, the timing at which the integrated distance reaches the predetermined value αp is detected by the determination process in step S302, and the crown C _act-d received by the outgoing crown receiving means 120 at this time is taken in and locked on (step S303). . This locked-on crown C _act-d is stored as an outgoing lock-on crown C _{rock-d and} used as an outgoing lock-on crown during the path.

(Entry side longitudinal direction crown control means)
FIG. 6 is a diagram illustrating the configuration of the entry-side longitudinal direction crown control means 112 and the exit-side longitudinal direction crown control means 122. The entry-side longitudinal direction crown control means 112 and the exit-side longitudinal direction crown control means 122 will be described with reference to FIG.
In this embodiment, since the Steckel mill performs reciprocating rolling, the entry side (exit side) crown meter 170 (171) measures the crown on the entrance side of the mill and the case of measuring the crown on the exit side. There is.
Paying attention to this point, when the entry side (exit side) crown meter 170 (171) measures the crown on the entrance side of the mill, the entry side (exit side) longitudinal crown control means 112 (122) Serves as a feedforward control means, and when the entry side (exit side) crown meter 170 (171) measures the crown on the exit side of the mill, the entry side (exit side) longitudinal crown control means 112 (122 ) Is configured to include a control method switching means 600 for switching the control means so as to function as a feedback control means in the entry side (outside) longitudinal crown control means 112 (122).

The control method switching means 600 of the incoming side (outgoing side) longitudinal direction crown control means 112 (122) is a crown FB (feedback) means 601 that performs feedback control and a crown FF (feed forward) that performs feedforward control according to the processing described later. ) Switch to the means 602.
The crown FB means 601 includes a proportional element (Kp) 603 and an integral element (Ki / S) 604. The deviation ΔC ₁ between the entry side lock-on crown C _rock-e and the actually measured entry side crown C _act-e or the deviation between the exit side lock-on crown C _rock-d and the actually measured exit side crown C _act-d. captures the [Delta] C _2, which is a vendor correction amount .DELTA.B ₁ or .DELTA.B ₂ as smaller, and outputs the calculated by proportional integral control.
On the other hand, when the crown FF unit 602 is selected by the control method switching unit 600, ΔB ₁ or ΔB ₂ is calculated by multiplying ΔC ₁ or ΔC ₂ by the gain Kf by the proportional element 605, and then the input side crown The tracking means 606 detects that the portion of the steel plate 153 whose crown has been measured has been received directly below the work roll 160 by the receiving means 110 or the outgoing crown receiving means 120, and outputs ΔB ₁ or ΔB ₂ at that timing. Since ΔB ₁ or ΔB ₂ is calculated sequentially, this value is output with a time delay.

Here, for example, FIG. 7 is a flowchart for explaining the operation of the entry-side longitudinal direction crown control means 112 described above. The operation of the entry-side longitudinal direction crown control means 112 will be described with reference to FIG. 7 (see FIG. 6 as appropriate).
First, the entry-side longitudinal direction crown control means 112 takes out the number of passes of the pass (step S401). Then, it is determined whether or not the path is an odd path (step S402).
Here, in the entry-side process, the steel plate 153 is rolled from the entry side to the exit side in the odd-numbered path, so the entry-side crown meter 170 measures the crown before rolling. For this reason, in the case of an odd-numbered path, the control method switching means 600 is switched to the crown FF means 602 side (step S403).
Conversely, in the case of an even number of passes, the steel sheet 153 is rolled from the exit side toward the entry side, so the entry side crown meter 170 measures the crown after rolling. For this reason, the control system switching means 600 is switched to the crown FB means 601 side (step S404).

(Exit-side longitudinal crown control means)
For example, FIG. 8 is a flowchart for explaining the operation of the exit-side longitudinal direction crown control means 122. The operation procedure of the exit-side longitudinal direction crown control means 122 will be described with reference to FIG. 8 (see FIG. 6 as appropriate).
The processing procedure in the exit-side longitudinal crown control means 122 is substantially the same as that of the entrance-side longitudinal crown control means 112. First, the exit-side longitudinal direction crown control means 122 takes out the number of passes of the pass (step S501). Then, it is determined whether the path is an even path (step S502).
In the processing on the exit side, in the even-numbered pass, the steel plate 153 is rolled from the exit side toward the entrance side, so the exit-side crown meter 171 measures the crown before rolling. For this reason, in the case of an even-numbered path, the control method switching means 600 is switched to the crown FF means 602 side (step S503).
Conversely, in the case of an odd number of passes, the steel sheet 153 is rolled from the exit side toward the entry side, so the exit side crown meter 171 measures the crown after rolling. For this reason, the control system switching means 600 is switched to the crown FB means 601 side (step S504).

(Operation amount calculation means)
Control input calculation means 130, a bending amount B ₀ of the path input from the path between the FF control unit 102, real-time entry side longitudinally crown control unit 112 and egress the path longitudinally crown control unit 122 outputs The real-time bending amount of the path, which is a combination of the vendor correction amounts ΔB ₁ and ΔB ₂ , is output to the control target 150 as the operation amount B _ref .

(Operation of control device)
Next, for example, FIG. 9 is a flowchart for explaining the overall operation of the control device 100. With reference to the flowchart shown in FIG. 9, the overall operation of the control device 100 including the above-described units will be described.
First, the control device 100 determines a schedule for each pass of reciprocating rolling so that a steel plate having a target crown is produced as described above by the set-up means 101, and refers to the control model 103 to determine this schedule. An actual bending amount _Bset is calculated (step S601).

Next, the inter-pass FF control means 102 responds based on the results of the previous pass so that the value of the crown that did not satisfy the target in the previous pass can be resolved in the next pass after the second pass. Then, the bending amount B _set output by the setup unit 101 is corrected, and the corrected bending amount B ₀ is output (step S602).
By this correction, the crown obtained in each pass becomes a value determined by the rolling schedule, so that the final crown accuracy of the steel sheet can be controlled to a desired value.
In the present embodiment, as described above, the bending amount B _set is corrected so that the value of the crown that did not satisfy the target in the previous pass can be eliminated in the next pass. It is also possible to make corrections in a distributed manner.

Next, the entry-side crown receiving means 110 receives the output of the entry-side crown meter 170, and the entry-side crown lock-on means 111 receives a predetermined distance (αp) from the top of the steel plate 153 on the entry side of the mill 151 in each path. Load the crown C _act-e in), stored as the entry side locked on the crown C _rock-e for (lock-on) (step S603).
At the same time, the output-side crown receiving means 120 receives the output of the output-side crown meter 171, and the output-side crown lock-on means 121 receives a predetermined distance (αp) from the top of the steel plate 153 on the output side of the mill 151 in each path. in reading the crown C _act-d, and stores (lock-on) as egress lock on the crown C _rock-d (step S604).

Then, after the lock-on of the entry-side crown lock-on means 111 is established by the entry-side longitudinal direction crown control means 112, the measured values of the input _- side lock-on crown C _rock-e and the input crown output from the entry-side crown receiving means 110 are measured. Based on the deviation ΔC _{1 from} C _act-e , a correction amount ΔB ₁ for correcting the bending force is output (step S605).
Similarly, the output side longitudinal direction crown control means 122 outputs a correction amount ΔB ₂ for correcting the bending force based on the deviation ΔC ₂ (step S606).
Here, as can be seen from the flowcharts shown in FIG. 7 and FIG. 8, the feed-forward control and the feedback control are the processes in the entry-side longitudinal direction crown control means 112 and the exit-side longitudinal direction crown control means 122. Each pass is executed alternately.

Then, the operation amount calculation unit 130 adds the bending amount output from the inter-pass FF control unit 102 and the vendor correction amounts ΔB ₁ and ΔB ₂ for correcting the bending amount, and then adds the final bending amount B _ref is output (step S607).

  As described above, according to the control device of the present embodiment described above, in each pass of rolling, the entry side (exit side) crown lock-on means stores the crown near the top of the steel plate, and enters side (exit side) longitudinal direction crown control. The means takes in the incoming (outgoing) lock-on crown, the crown taken in after the lock-on and the deviation, and performs longitudinal crown control for controlling the bending amount so as to eliminate the deviation until the pass is completed. As a result, after the lock-on timing, the longitudinal entry-side (exit-side) crown is controlled to a value close to the entry-side (exit-side) lock-on crown, and the crown of the steel sheet can be made uniform in the longitudinal direction. Furthermore, it can be used also for shape control of cold reverse rolling by setting it as the structure provided with the shape detector which measures the shape of a board in the width direction.

Further, the signal obtained from the same crown meter by the control method switching means of the entry side (exit side) longitudinal direction crown control means is used as the feedback amount of feedback control or the addition / subtraction amount of feedforward control, focusing on the rolling direction. Can be switched appropriately.
As a result, with the configuration of the present embodiment in which crown meters are provided on both the entrance side and the exit side of the mill, the lock-on crown and the crown and deviation taken in after the lock-on are eliminated without time delay by feed-forward control and remain. Deviation can be eliminated by feedback control. For this reason, the crown in the longitudinal direction can be made uniform with high accuracy.

In this embodiment, the crown meter, the crown receiving means, the crown lock-on means, and the longitudinal crown control means are provided on the entry side and the exit side of the mill, respectively. On the other hand, a configuration in which a crown meter, a crown receiving means, a crown lock-on means, and a longitudinal crown control means are provided may be adopted.
In this case, the crown in the longitudinal direction of the steel sheet can be made uniform by sequentially switching the feedforward control and the feedback control according to the rolling direction.

(Second Embodiment)
A second embodiment of the present invention will be described. The present embodiment is a mechanism for tuning the control model 103 using various performance information accumulated in the rolling process by adding to the control device 100 of the first embodiment (see FIG. 1). The tuning mechanism and method of this embodiment will be described in detail.

FIG. 10 is a diagram illustrating the overall configuration of the second embodiment. As shown in FIG. 10, in this embodiment, the configuration of the control target 150 is the same as that of the control target 150 of the first embodiment, and in the hot rolling process, the rolling speed output from the control target 150, The control model 103 is tuned using actual data such as rolling load and steel plate temperature.
The present embodiment is configured in addition to the first embodiment and includes all the same components as those of the control device 100 of the first embodiment. In FIG. Only the components related to the tuning of the model 103 are extracted and shown. Furthermore, among the components shown in FIG. 10, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

Next, each component of the tuning mechanism 900 of this embodiment will be described.
(Data storage means for control model tuning)
The control model tuning data storage unit 901 transmits the schedule of each path output by the setup unit 101 and the corresponding entry side lock-on crown and exit side lock-on crown to the tuning database 902.
Furthermore, performance data such as the rolling speed, rolling load, and steel plate temperature of the control object 150 taken in from the control object 150 is transmitted to the tuning database 902 in parallel.

(Tuning database)
The tuning database 902 classifies the schedule transmitted from the control model tuning data storage unit 901, the lock-on crown, the actual data, and the like for each type of the hot-rolled steel sheet 153 produced by the control target 150. Is a database composed of a plurality of hierarchical databases stored.
Here, FIG. 11 shows a configuration example of the control model tuning data storage unit 901 and the tuning database 902. Normally, the parameters of the control model 103 have different values depending on the steel type of the steel plate 153 and the like. Therefore, the control model tuning data storage unit 901 categorizes the data sets (hereinafter referred to as “data sets”) acquired for a certain rolling, for example, by steel type, manufactured plate thickness, and plate width. Store in the database 1001.

  Further, FIG. 12 shows an example of information stored in the stratified database 1001. As shown in FIG. 12, in the stratified database 1001, in addition to the schedule (schedule crown) output by the setup means 101 for each pass of the rolling process to be reciprocally rolled, the corresponding lock-on crown, and the crown deviation It can be seen that data necessary for tuning the control model 103 such as load, bender, and estimated work roll crown are stored.

(Control model tuning means)
The control model tuning means 903 refers to the tuning database 902, extracts data necessary for tuning, and executes tuning of the control model 103.
In the present embodiment, in order to tune the control model 103, the control model 103 expressed by Equation (2) is rewritten in the form of Equation (6) below, so that δ _C which is the tuning amount for each layer Tune the target.

Here, for example, FIG. 13 is a flowchart for explaining the operation of the control model tuning means 903. The operation procedure of the control model tuning unit 903 will be described with reference to FIG. 13 (see FIGS. 10 and 11 as appropriate).
First, the control model tuning unit 903 specifies the schedule output by the setup unit 101 and the stratification in which the deviation of the corresponding lock-on crown has increased (step S701).
Then, the actual data is input again to the control model 103 and the crown is estimated (step S702) for the subsequent data after the corresponding stratified error becomes large.

Then, a data string of the difference between the estimated crown value output in step S702 and the lock-on crown is calculated, and δ _C is estimated with maximum likelihood (step S703). Here, the simplest as the maximum likelihood estimation method is a method of correlating the average data sequence [delta] _C, it is conceivable to produce a dedicated function to improve the accuracy. For example, a method that increases the likelihood of δ _C by using a function including the steel sheet temperature and the roll length term of the work roll to increase the accuracy of fitting the model can be considered.

Then, the control model 103 is corrected using the maximum likelihood value of δ _C obtained in step S703 (step S704). In other words, the process of matching the control model 103 with the current characteristics of the control target 150 is performed by updating δ _C in Expression (6) to a newly calculated value.

  As described above, according to the present embodiment described above, the control model itself can be followed by tuning for a long-term change (for example, aging) of the controlled object, so that the accuracy of the control model can be maintained at a constant level over a long period of time. it can.

(Third embodiment)
A third embodiment of the present invention will be described. This embodiment is an example in which the tuning mechanism of the control model shown in the second embodiment is implemented using components installed in a remote place via a communication line. Here, FIG. 14 is a diagram illustrating the overall configuration of the third embodiment. This embodiment will be described with reference to FIG.

First, the configuration of the present embodiment will be described. As shown in FIG. 14, this embodiment is a facility server that receives a control target 150 and a control device 100 having the same configuration as the first embodiment and the second embodiment, and a data set transmitted from the control device 100. It includes a rolling facility 1301 composed of 1310 and a network 1311 composed of, for example, a LAN (Local Area Network) connecting the control device 100 and the facility server 1310.
Further, the tuning database 1305 and the model tuning unit 1306 corresponding to the tuning database 902 and the control model tuning unit 903 of the second embodiment (see FIG. 10) receive the data set and transmit the tuning amount of the control model 103. The data center 1302 includes a center server 1304 that performs processing.
Further, the center server 1304 of the data center 1302 and the facility server 1310 of the rolling facility 1301 are connected to each other via the Internet 1303 which is an example of a communication line.

Next, the operation procedure of this embodiment will be described. In the present embodiment, the correction procedure of the control model 103 is substantially the same as the procedure represented by the flowchart shown in FIG. 13 of the second embodiment.
First, a data set composed of a lock-on crown transmitted from the control object 150, a schedule output by the control device 100, actual data output by the control object 150 in each pass, and the like is a network 1311 in the rolling facility 1301. Is transmitted to the facility server 1310.
Then, the facility server 1310 transmits this data set to the center server 1304 of the data center 1302 via the Internet 1303. The center server 1304 stores the received data set in the tuning database 1305.
The configuration of the tuning database 1305 is the same as that of the control model tuning data storage unit 901 (see FIG. 11) of the second embodiment.

Next, the model tuning means 1306 of the data center 1302 calculates δ _C which is the stratified tuning amount using the data stored in the tuning database 1305 and transmits the calculation result to the facility server 1310. The facility server 1310 then corrects the control model 103 of the control device 100.

  As described above, according to the present embodiment described above, tuning of control models in a plurality of rolling facilities can be performed collectively.

It is the figure which showed the whole structure of 1st Embodiment. It is a figure which shows the description of a crown and the structure of a crown meter. It is a flowchart explaining operation | movement of the FF control means between paths. It is a flowchart explaining operation | movement of an entrance side crown lock-on means. It is a flowchart explaining operation | movement of an exit side crown lock-on means. It is the figure which showed the structure of the entrance side (exit side) longitudinal direction crown control means. It is a flowchart explaining operation | movement of an entrance side longitudinal direction crown control means. It is a flowchart explaining operation | movement of a delivery side longitudinal direction crown control means. It is a flowchart explaining operation | movement of a control apparatus. It is the figure which showed the whole structure of 2nd Embodiment. It is a figure explaining the structure of the data storage means for control model tuning, and the database for tuning. It is the figure which showed the information stored in the stratification database. It is a flowchart explaining operation | movement of a control model tuning means. It is the figure which showed the whole structure of 3rd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Control apparatus 101 Setup means 102 Inter-path FF control means 103 Control model 111 Incoming crown lock-on means 112 Incoming longitudinal crown control means 121 Outgoing crown lock-on means 122 Outgoing longitudinal crown control means 150 Control object 600 Control Method switching means 601 Crown FB means 602 Crown FF means 900 Tuning mechanism 901 Control model tuning data storage means 902 Tuning database 903 Control model tuning means 1301 Rolling facility 1302 Data center 1303 Internet 1304 Tuning database 1305 Control model tuning means

Claims (16)

A crown control device for controlling an operation amount of a rolling mill,
Set-up means for outputting a first operation amount that is a target operation amount of the rolling mill for a desired crown of the material to be rolled;
The crown at a predetermined distance from the tip in the rolling direction of the material to be rolled is acquired from a crown measuring means for measuring the crown of the material to be rolled installed on the entry side and / or the exit side of the rolling mill, and lock-on Crown lock-on means for memorizing as a crown;
A longitudinal crown control means for outputting a first correction amount that is a correction amount of the operation amount so as to reduce a deviation between the crown measured by the crown measurement means and the lock-on crown corresponding thereto;
An operation amount calculating means for outputting a second operation amount that is an operation amount of the rolling mill from the first operation amount and the first correction amount;
A crown control device. A crown control device for controlling an operation amount of a rolling mill,
Set-up means for outputting a first operation amount that is a target operation amount of the rolling mill for a desired crown of the material to be rolled;
The crown at a predetermined distance from the tip in the rolling direction of the material to be rolled is acquired from the entry-side crown measuring means for measuring the crown of the material to be rolled on the entry side of the rolling mill and stored as an entry-side lock-on crown. Entry-side crown lock-on means,
Entry-side longitudinal crown control that outputs a first correction amount that is a correction amount of the first operation amount so as to reduce a deviation between the crown measured by the entry-side crown measuring means and the entry-side lock-on crown. Means,
An operation amount calculating means for outputting a second operation amount that is an operation amount of the rolling mill from the first operation amount and the first correction amount;
A crown control device. The material to be rolled is reciprocally rolled,
The setup means includes
Calculate a target operation amount of the rolling mill in each pass of reciprocating rolling with respect to a desired crown of the material to be rolled, and output as the first operation amount,
The entry side longitudinal direction crown control means includes:
Incoming feedback control means for performing feedback control;
Input-side feedforward control means for performing feedforward control;
According to the rolling direction of the material to be rolled, it is configured to include an entrance side control method switching means for switching between the entrance side feedback control means and the entrance side feedforward control means,
The crown control device according to claim 2. A crown control device for controlling an operation amount of a rolling mill,
Set-up means for outputting a first operation amount that is a target operation amount of the rolling mill for a desired crown of the material to be rolled;
The crown at a predetermined distance from the tip in the rolling direction of the material to be rolled is acquired from the output side crown measuring means for measuring the crown of the material to be rolled on the output side of the rolling mill and stored as an output side lock-on crown. Exit-side crown lock-on means for
Output-side longitudinal crown control that outputs a first correction amount that is a correction amount of the first operation amount so as to reduce a deviation between the output-side lock-on crown and the crown measured by the output-side crown measuring means. Means,
An operation amount calculating means for outputting a second operation amount that is an operation amount of the rolling mill from the first operation amount and the first correction amount;
A crown control device. The material to be rolled is reciprocally rolled,
The setup means includes
Calculate the target operation amount in each pass of reciprocating rolling for the desired crown of the material to be rolled, and output as the first operation amount,
The exit longitudinal crown control means includes:
Outgoing feedback control means for performing feedback control;
An output-side feedforward control means for performing feedforward control;
According to the rolling direction of the material to be rolled, the outlet side control method switching means for switching the outlet side feedback control means and the outlet side feedforward control means is configured.
The crown control apparatus according to claim 4. A crown control device for controlling an operation amount of a rolling mill,
Set-up means for outputting a first operation amount that is a target operation amount of the rolling mill for a desired crown of the material to be rolled;
The crown at a predetermined distance from the tip in the rolling direction of the material to be rolled is acquired from the entry-side crown measuring means for measuring the crown of the material to be rolled on the entry side of the rolling mill and stored as an entry-side lock-on crown. Entry-side crown lock-on means,
Entry-side longitudinal crown control that outputs a first correction amount that is a correction amount of the first operation amount so as to reduce a deviation between the entry-side lock-on crown and the crown measured by the entry-side crown measuring means. Means,
The crown at a predetermined distance from the tip in the rolling direction of the material to be rolled is acquired from the output side crown measuring means for measuring the crown of the material to be rolled on the output side of the rolling mill and stored as an output side lock-on crown. Exit-side crown lock-on means for
An output side longitudinal direction that takes in a deviation between the output side lock-on crown and the crown measured by the output side crown measuring means and outputs a second correction amount that is a correction amount of the first operation amount to reduce the deviation. A crown control unit; and an operation amount calculation unit that outputs a second operation amount that is an operation amount of the rolling mill from the first operation amount, the first correction amount, and the second correction amount. ,
A crown control device. The material to be rolled is reciprocally rolled,
The setup means includes
Calculate the target operation amount in each pass of reciprocating rolling for the desired crown of the material to be rolled, and output as the first operation amount,
The entry side longitudinal direction crown control means includes:
Incoming feedback control means for performing feedback control;
Input-side feedforward control means for performing feedforward control;
According to the rolling direction of the material to be rolled, it is configured to include an entry side control method switching means for switching between the entry side feedback control means and the entry side feedforward control means,
The exit longitudinal crown control means includes:
Outgoing feedback control means for performing feedback control;
An output-side feedforward control means for performing feedforward control;
According to the rolling direction of the material to be rolled, the delivery side control method switching means for switching between the delivery side feedback control means and the delivery side feedforward control means is configured,
The crown control apparatus according to claim 6. A correction is made to eliminate a deviation between the target crown due to the first operation amount in the pass of the reciprocating rolling and the entry-side lock-on crown or the exit-side lock-on crown, and output as the first operation amount in the next pass Further comprising an inter-path feedforward control means for
The crown control device according to claim 3, wherein the crown control device is according to claim 3. The crown control device includes:
It further includes a control model that describes the relationship between the operation amount of the rolling mill and the crown of the material to be rolled.
The setup means includes
Calculating a first manipulated variable for a desired crown using the control model;
The crown control device according to any one of claims 1 to 8, wherein The entry-side crown measurement means and / or the exit-side crown measurement means include:
Arranging two or more plate thickness measuring means fixed in the width direction of the material to be rolled;
The crown control device according to claim 9. For each rolling pass, there is a data set including actual data including information on rolling conditions and physical properties of the material to be rolled, the target crown, and the entry side lock-on crown or the exit side lock-on crown. , Data storing means for control model tuning to store by layer including steel type, sheet thickness, sheet width of the material to be rolled,
A tuning database that stores the data sets in layers by the control model tuning data storage means;
A control model that changes a parameter of the control model using a data set stored in the tuning database so that a deviation between a target crown and the entry-side lock-on crown or the exit-side lock-on crown becomes small Comprising a tuning means,
The control apparatus for a hot rolling mill according to claim 10. The tuning database and the control model tuning means, and the control model tuning data storage means are connected to each other via a communication line;
The crown control apparatus according to claim 11. A crown control method in a rolling mill that performs reciprocating rolling,
In the setup means, for the desired crown of the material to be rolled, a procedure for calculating a first operation amount that is a target operation amount of the rolling mill in each pass of reciprocating rolling;
Using an entry-side crown meter installed on the entry side of the rolling mill, the entry-side crown lock-on means measures the crown at a predetermined distance from the tip in the rolling direction of the material to be rolled, and the entry-side lock-on crown As a procedure to store as
In the entry side longitudinal direction crown control means, when the material to be rolled is rolled from the entry side to the exit side of the rolling mill, feedback control is used, and when rolled from the exit side to the entry side, A step of outputting a correction amount of the first manipulated variable so as to reduce a deviation between the entry-side lock-on crown and the crown measured by the entry-side crown measurement means using feedforward control;
In the operation amount calculation means, a procedure for outputting a second operation amount that is an operation amount of the rolling mill from the first operation amount and the correction amount;
A crown control method comprising: A crown control method in a rolling mill that performs reciprocating rolling,
In the setup means, for the desired crown of the material to be rolled, a procedure for calculating a first operation amount that is a target operation amount of the rolling mill in each pass of reciprocating rolling;
Using an exit-side crown meter installed on the exit side of the rolling mill, an exit-side lock-on crown measures the crown at a predetermined distance from the tip in the rolling direction of the material to be rolled in the exit-side crown lock-on means. As a procedure to store as
In the exit-side longitudinal direction crown control means, when the material to be rolled is rolled from the entry side to the exit side of the rolling mill, feed-forward control is used, and when the material is rolled from the exit side to the entry side. Using a feedback control to output a correction amount of the first manipulated variable so as to reduce a deviation between the output lock-on crown and the crown measured by the output crown measuring means;
In the operation amount calculation means, a procedure for outputting a second operation amount that is an operation amount of the rolling mill from the first operation amount and the correction amount;
A crown control method comprising: A crown control method in a rolling mill that performs reciprocating rolling,
In the setup means, for the desired crown of the material to be rolled, a procedure for calculating a first operation amount that is a target operation amount of the rolling mill in each pass of reciprocating rolling;
Using an entry-side crown meter installed on the entry side of the rolling mill, the entry-side crown lock-on means measures the crown at a predetermined distance from the tip in the rolling direction of the material to be rolled, and the entry-side lock-on crown As a procedure to store as
Using an exit-side crown meter installed on the exit side of the rolling mill, an exit-side lock-on crown measures the crown at a predetermined distance from the tip in the rolling direction of the material to be rolled in the exit-side crown lock-on means. As a procedure to store as
In the entry side longitudinal direction crown control means, when the material to be rolled is rolled from the entry side to the exit side of the rolling mill, feedback control is used, and when rolled from the exit side to the entry side, The first correction amount, which is the correction amount of the first operation amount, is set so as to reduce the deviation between the entry-side lock-on crown and the crown measured by the entry-side crown measuring means using feedforward control. Output procedure,
In the exit-side longitudinal crown control means, a deviation between the exit-side lock-on crown and the crown measured by the exit-side crown measuring means is taken in, and the material to be rolled moves from the entry side to the exit side of the rolling mill. When rolling, feed-forward control is used, and when rolling from the exit side to the entrance side, feedback control is used, and the second correction, which is the correction amount of the first operation amount, that reduces this deviation. The procedure to output the quantity,
In the operation amount calculation means, a procedure for outputting a second operation amount that is an operation amount of the rolling mill from the first operation amount, the first correction amount, and the second correction amount;
A crown control method comprising: The setup means includes
Calculating the first operation amount using a control model that describes the relationship between the operation amount of the rolling mill and the crown of the material to be rolled;
16. The crown control method according to any one of claims 13 to 15, wherein:

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