JP2010162553A - Device and method for controlling rolling mill - Google Patents

Device and method for controlling rolling mill Download PDF

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JP2010162553A
JP2010162553A JP2009004422A JP2009004422A JP2010162553A JP 2010162553 A JP2010162553 A JP 2010162553A JP 2009004422 A JP2009004422 A JP 2009004422A JP 2009004422 A JP2009004422 A JP 2009004422A JP 2010162553 A JP2010162553 A JP 2010162553A
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tension
rolling mill
fluctuation
rolled
torque
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JP5140607B2 (en
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Satoru Hattori
哲 服部
Fumi Tachibana
文 立花
Atsushi Baba
淳 馬場
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Hitachi Ltd
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Hitachi Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To suppress variation in thickness on the outlet side of a rolling mill, which is generated by variation in speed of tension reels on the inlet side and outlet side due to the tension variation of a material to be rolled. <P>SOLUTION: A controller for the rolling mill is the controller for the rolling mill 1, wherein tension imparting/rotating means 2, 3 for imparting tension to the material u to be rolled and also performing torque unifying control are provided at least on either side of the inlet side and the outlet side of the rolling mill 1 for unwinding and winding the material u to be rolled which is rolled with the rolling mill 1, and a first tension variation predicting means 32 for predicting the tension variation of the material u to be rolled at least on either side of the inlet side and the outlet side is included, and on the basis of the predicted result of the tension variation obtained by the first tension variation predicting means 32, correction for adding the torque of variation balancing with the torque of the tension variation determining from the predicted tension variation to the torque command of the tension imparting/rotating means 2 on the side on which the tension variation is predicted so that the speed of the tension imparting/rotating means 2 is not changed in accordance with the tension variation of the material u to be rolled is performed. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、圧延機に係わり、より詳細には被圧延材の巻出しおよび巻取りに用いるテンションリールの制御に係わる圧延機の制御装置およびその制御方法に関する。   The present invention relates to a rolling mill, and more particularly to a rolling mill control apparatus and control method for controlling a tension reel used for unwinding and winding a material to be rolled.

図８は、従来の圧延機の一例として最も単純なシングルスタンド圧延機Ｓ１００の制御構成を示す概念図である。
シングルスタンド圧延機Ｓ１００は、圧延機１の圧延方向(図８中、矢印で示す)に対して圧延機１の入側に、被圧延材ｕを繰り出す入側テンションリール２（以下、入側ＴＲ２と称す）を有し、出側に、圧延機１で圧延された被圧延材ｕを巻き取る出側テンションリール３(以下、出側ＴＲ３と称す）を有している。 FIG. 8 is a conceptual diagram showing a control configuration of the simplest single stand rolling mill S100 as an example of a conventional rolling mill.
A single stand rolling mill S100 includes an entry side tension reel 2 (hereinafter referred to as an entry side TR2) that feeds the material to be rolled u to the entry side of the rolling mill 1 with respect to the rolling direction of the rolling mill 1 (indicated by an arrow in FIG. 8). And a delivery-side tension reel 3 (hereinafter referred to as delivery-side TR3) that winds the material to be rolled u rolled by the rolling mill 1.

入側ＴＲ２および出側ＴＲ３は、それぞれ電動機にて駆動され、この電動機と電動機を駆動制御するための装置として、それぞれ入側ＴＲ制御装置５および出側ＴＲ制御装置６が設置されている。
この構成により、シングルスタンド圧延機Ｓ１００における圧延は、入側ＴＲ２から巻き出された被圧延材ｕを圧延機１で圧延した後、出側ＴＲ３で巻き取ることにより行われる。 The entry-side TR2 and the exit-side TR3 are each driven by an electric motor, and an entrance-side TR control device 5 and an exit-side TR control device 6 are installed as devices for driving and controlling the motor and the motor, respectively.
With this configuration, rolling in the single stand rolling mill S100 is performed by rolling the material to be rolled u unwound from the entry side TR2 by the rolling mill 1 and then winding it at the exit side TR3.

ここで、圧延機１には、上作業ロールＲs1と下作業ロールＲs2との間の距離であるロールギャップを変更することで、被圧延材ｕの圧延後の板厚(製品板厚)を制御するためのロールギャップ制御装置７と、圧延機１の速度(上・下作業ロールＲs1、Ｒs2の周速度)を制御するためのミル速度制御装置４が設置されている。
圧延時、圧延速度設定装置１０より速度指令がミル速度制御装置４に対して出力され、ミル速度制御装置４は、圧延機１の速度(上・下作業ロールＲs1、Ｒs2の周速度)を一定とするような制御を実施する。 Here, the rolling mill 1 controls the thickness (product thickness) of the material to be rolled u after rolling by changing the roll gap, which is the distance between the upper work roll Rs1 and the lower work roll Rs2. A roll gap control device 7 for controlling the speed and a mill speed control device 4 for controlling the speed of the rolling mill 1 (the peripheral speeds of the upper and lower work rolls Rs1, Rs2) are installed.
During rolling, a speed command is output from the rolling speed setting device 10 to the mill speed control device 4, and the mill speed control device 4 keeps the speed of the rolling mill 1 (the peripheral speeds of the upper and lower work rolls Rs1, Rs2) constant. The following control is performed.

圧延機１の入側(図８の圧延機１の左側)、出側(図８の圧延機１の右側)では、被圧延材ｕに張力をかけることで圧延を安定かつ効率的に実施する。
そのために必要な張力を計算するのが、入側張力設定装置１１および出側張力設定装置１２である。
入側・出側張力設定装置１１、１２にて計算された入側および出側張力設定値から、それぞれ入側張力電流変換装置１５および出側張力電流変換装置１６において、入側および出側の設定張力を被圧延材ｕに加えるために入側ＴＲ２および出側ＴＲ３のそれぞれの電動機の必要な電動機トルクを得るための電流値を求め、それぞれの電流値を入側ＴＲ制御装置５および出側ＴＲ制御装置６に与える。 On the entry side (the left side of the rolling mill 1 in FIG. 8) and the exit side (the right side of the rolling mill 1 in FIG. 8) of the rolling mill 1, rolling is performed stably and efficiently by applying tension to the material u. .
It is the entry side tension setting device 11 and the exit side tension setting device 12 that calculate the tension required for this purpose.
From the input side and output side tension setting values calculated by the input side and output side tension setting devices 11 and 12, in the input side tension current conversion device 15 and the output side tension current conversion device 16, respectively, In order to apply the set tension to the material u to be rolled, current values for obtaining necessary motor torques of the respective motors on the entry side TR2 and the exit side TR3 are obtained, and the respective current values are obtained as the entry side TR control device 5 and the exit side. This is given to the TR control device 6.

入側ＴＲ制御装置５および出側ＴＲ制御装置６では、それぞれ与えられた電流となるように電動機の電流を制御し、入側ＴＲ２および出側ＴＲ３に与えられるそれぞれの電動機トルクにより被圧延材ｕに所定の張力を与える。
入側・出側張力電流変換装置１５、１６は、ＴＲ(テンションリール)機械系およびＴＲ(テンションリール)制御装置のモデルに基き張力設定値となるような電流設定値（電動機トルク設定値）を演算するが、制御モデルに誤差を含むため、圧延機１の入側および出側に設置された入側張力計８および出側張力計９で測定された実績張力を用いて、入側張力制御１３および出側張力制御１４により張力設定値に補正を加えて、入側・出側張力電流変換装置１５、１６に付与し、入側・出側張力電流変換装置１５、１６が入側ＴＲ制御装置５および出側ＴＲ制御装置６へ設定する電流値を変更する。 In the entry side TR control device 5 and the exit side TR control device 6, the current of the motor is controlled so as to become the given current, and the material to be rolled u is controlled by the respective motor torques given to the entry side TR2 and the exit side TR3. Is given a predetermined tension.
The inlet-side / outside-side tension current converters 15 and 16 have current setting values (motor torque setting values) that become tension setting values based on models of the TR (tension reel) mechanical system and the TR (tension reel) control device. Although calculation is performed, since the control model includes an error, the entry side tension control is performed using the actual tension measured by the entry side tension meter 8 and the exit side tension meter 9 installed on the entry side and the exit side of the rolling mill 1. 13 and the output side tension control 14, the tension set value is corrected and applied to the input side / output side tension current converters 15, 16. The input side / output side tension current converters 15, 16 are input side TR control. The electric current value set to the apparatus 5 and the output side TR control apparatus 6 is changed.

また、被圧延材ｕの板厚は製品品質上重要であるため、板厚制御が実施される。
圧延機１の出側(図８の圧延機１の右側)の板厚は、出側板厚計１７にて検出された実績板厚から出側板厚制御装置１８が圧延機１のロールギャップをロールギャップ制御装置７を用いて、上・下作業ロールＲs1、Ｒs2を操作することで制御される。
前記したように、シングルスタンド圧延機においては、巻取および巻出に用いられる出側ＴＲ３および入側ＴＲ２は、それぞれの電動機が発生するトルクを一定とするトルク一定制御が用いられ、入側・出側張力計８、９で検出した実績張力を用いて電動機電流指令を補正することで被圧延材ｕにかかる張力を一定とする制御が行われている。 Moreover, since the plate | board thickness of the to-be-rolled material u is important on product quality, plate | board thickness control is implemented.
The sheet thickness on the delivery side of the rolling mill 1 (the right side of the rolling mill 1 in FIG. 8) is determined by the delivery side thickness control device 18 from the actual sheet thickness detected by the delivery side thickness gauge 17 to roll the roll gap of the rolling mill 1. It is controlled by operating the upper and lower work rolls Rs1, Rs2 using the gap control device 7.
As described above, in the single stand rolling mill, the output side TR3 and the input side TR2 used for winding and unwinding use constant torque control that makes the torque generated by the respective motors constant. Control for making the tension applied to the material u to be rolled constant by correcting the motor current command using the actual tension detected by the delivery side tension meters 8 and 9 is performed.

なお、入側・出側ＴＲ２、３のそれぞれの電動機の電動機トルクは、電動機電流により得られるので、トルク一定制御を電流一定制御とする場合もある。（特許文献１および特許文献２参照。）
トルク一定制御でＴＲ(テンションリール)制御を行う場合、特許文献３に示すように圧延機に適用される板厚制御と干渉して出側板厚精度が悪化するという問題が有る。出側板厚に対する影響は出側張力に比べて入側張力のほうが大きいので、圧延機１と入側ＴＲ２における問題点を、以下説明する。 In addition, since the motor torque of each of the motors on the entry side / exit side TRs 2 and 3 is obtained by the motor current, the constant torque control may be set as the constant current control. (See Patent Document 1 and Patent Document 2.)
When TR (tension reel) control is performed with constant torque control, there is a problem that the exit side plate thickness accuracy deteriorates due to interference with plate thickness control applied to a rolling mill as shown in Patent Document 3. Since the entry side tension has a larger influence on the exit side plate thickness than the exit side tension, problems in the rolling mill 1 and the entry side TR2 will be described below.

図９は、従来のシングルスタンド圧延機Ｓ１００の入側ＴＲ２と圧延機１間の圧延現象を示す概念図である。
図９に示すように、入側ＴＲ２においては、入側ＴＲ制御装置５の出力である電動機トルク２２と、入側張力２４(Ｔｂ)と機械条件（リール径Ｄおよびリールギア比Ｇｒ）より決定される張力トルク２５との和、つまり電動機トルク２２と張力トルク２５との和を積分することで、入側ＴＲ(テンションリール)速度２０が決定される。なお、Ｊは、入側ＴＲ２の慣性モーメント(ｋｇ・ｍ２)である。
圧延機１においては、ロールギャップ変更量２３（＝ΔＳ）を図示するような所定の係数(Ｍ／(Ｍ＋Ｑ))を積算した値と、圧延機１の入側張力２４を図示するような所定の係数((∂Ｐ／∂Ｔｂ)／(Ｍ＋Ｑ))を積算した値とにより、出側板厚２６が決定され、この決定された出側板厚２６からマスフロー一定則により圧延機入側速度２１が決定される。そして、圧延機入側速度２１と入側ＴＲ速度２０との差を積分したものが入側張力２４となる。
なお、図９において、Ｍはミル定数Ｍ(ｋＮ／ｍ)であり、Ｑは塑性定数Ｑ(ｋＮ／ｍ)であり、(∂Ｐ／∂Ｔｂ)／(Ｍ＋Ｑ)は、入側張力変動∂Ｔｂによる圧延荷重Ｐ(ｋＮ)の変動の出側板厚への影響係数(ｋｂ)である。 FIG. 9 is a conceptual diagram showing a rolling phenomenon between the entry side TR <b> 2 of the conventional single stand rolling mill S <b> 100 and the rolling mill 1.
As shown in FIG. 9, at the entry side TR2, it is determined from the motor torque 22 that is the output of the entry side TR control device 5, the entry side tension 24 (T b ), and the machine conditions (reel diameter D and reel gear ratio Gr). The incoming TR (tension reel) speed 20 is determined by integrating the sum of the tension torque 25 and the sum of the motor torque 22 and the tension torque 25. J is the moment of inertia (kg · m 2 ) of the entry TR2.
In the rolling mill 1, a value obtained by accumulating a predetermined coefficient (M / (M + Q)) as illustrated in the figure and the roll gap change amount 23 (= ΔS) and a predetermined value as illustrated in the inlet side tension 24 of the rolling mill 1 are illustrated. coefficient by a ((∂P / ∂T b) / (M + Q)) the value obtained by integrating, exit side thickness 26 is determined, the rolling mill entry side speed 21 from the side plate thickness 26 out of the determined by the constant mass flow law Is determined. The difference between the rolling mill entry side speed 21 and the entry side TR speed 20 is integrated to obtain the entry side tension 24.
In FIG. 9, M is the mill constant M (kN / m), Q is the plastic constant Q (kN / m), and (∂P / ∂T b ) / (M + Q) is the input side tension fluctuation. It is an influence coefficient (k b ) of the fluctuation of the rolling load P (kN) due to ∂T b on the outlet side plate thickness.

圧延機１における、基本法則としてマスフロー一定則がある。これは、圧延機１の入側(図８に示す圧延機１左側)と圧延機１の出側(図８に示す圧延機１右側)の被圧延材ｕが連続することより、
Ｈ・Ｖｅ＝ｈ・Ｖｏ …… （１）
Ｈ ： 圧延機１の入側板厚
ｈ ： 圧延機１の出側板厚
Ｖｅ ： 圧延機１の入側板速
Ｖｏ ： 圧延機１の出側板速
で表される。 In the rolling mill 1, there is a constant mass flow law as a basic law. This is because the material to be rolled u on the entrance side of the rolling mill 1 (left side of the rolling mill 1 shown in FIG. 8) and the exit side of the rolling mill 1 (right side of the rolling mill 1 shown in FIG. 8) are continuous.
H ・ V e = h ・ V o (1)
H: Thickness of entry side of rolling mill 1
h: Outboard thickness of the rolling mill 1
V e : entry side plate speed of the rolling mill 1
V o : Expressed by the exit side plate speed of the rolling mill 1.

マスフロー一定則の式（１）から、入側板厚一定の場合、入側板速が変動すると出側板厚が変動することを意味する。
シングルスタンド圧延機(図８に示す一つの圧延機１)の場合、入側板速は入側ＴＲ速度となる。入側ＴＲ２は、電動機トルク２２に張力トルク２５が合致するように入側ＴＲ速度２０を変化させるが、この変化は入側ＴＲ２の慣性と圧延機１および圧延現象によって行われ、入側速度２０の変化を抑制する制御手段がない。
そのため、圧延機１において、板厚制御で出側板厚(圧延機１の出側の被圧延材ｕの板厚)を一定とするためロールギャップ変更量２３(＝ΔＳ)を操作すると、それに応じて圧延機入側速度２１(圧延機１の入側の被圧延材ｕの速度)が変化し、入側張力２４(＝ΔＴ)の偏差ΔＴｂが発生する。 From equation (1) of the constant mass flow rule, when the inlet side plate thickness is constant, it means that the outlet side plate thickness changes when the inlet side plate speed changes.
In the case of a single stand rolling mill (one rolling mill 1 shown in FIG. 8), the entry side plate speed is the entry side TR speed. The entry side TR2 changes the entry side TR speed 20 so that the tension torque 25 matches the electric motor torque 22. This change is made by the inertia of the entry side TR2, the rolling mill 1, and the rolling phenomenon. There is no control means to suppress the change of
Therefore, when the roll gap change amount 23 (= ΔS) is manipulated in the rolling mill 1 in order to make the outlet side thickness (the thickness of the material u to be rolled out on the outlet side of the rolling mill 1) constant by controlling the thickness, accordingly, mill entry side speed 21 (speed of the material to be rolled u of inlet side of the rolling mill 1) changes Te, the deviation [Delta] T b of the entry side tension 24 (= [Delta] T) is generated.

これを抑制するために入側ＴＲ速度２０が変動するが、この変動によって出側板厚変動が発生する。入側ＴＲ２によって行われる入側張力抑制系２７は圧延条件によっては特許文献３に示すように時定数が大きい場合が有り、大きなうねりを持つ出側板厚変動の原因となる場合がある。
入側張力２４は、圧延現象によっても抑制される。入側張力２４が変動すると、圧延機１の圧延荷重Ｐが変化し、それに伴って圧延機入側速度２１が変動する。この入側張力圧延現象系２８(図９参照)によっても入側張力２４は変動する。入側張力圧延現象系２８の応答は、入側張力抑制系２７に比べて非常に速いため、図９の入側圧延現象は、図１０のように変換できる。 In order to suppress this, the entry side TR speed 20 fluctuates, and this fluctuation causes an exit side plate thickness fluctuation. Depending on the rolling conditions, the entry side tension suppression system 27 performed by the entry side TR2 may have a large time constant as shown in Patent Document 3, which may cause a variation in the exit side plate thickness having a large undulation.
The entry side tension 24 is also suppressed by a rolling phenomenon. When the entry side tension 24 fluctuates, the rolling load P of the rolling mill 1 changes, and the rolling mill entry side speed 21 fluctuates accordingly. The entry side tension 24 varies also by this entry side tension rolling phenomenon system 28 (see FIG. 9). Since the response of the entry side tension rolling phenomenon system 28 is much faster than that of the entry side tension suppression system 27, the entry side rolling phenomenon of FIG. 9 can be converted as shown in FIG.

なお、図１０は、図９の圧延現象の部分を簡略化したブロック図である。
図１０より、圧延機１のロールギャップ変更量２３(＝ΔＳ)は、同位相で入側張力２４の偏差ΔＴｂとなって表れ、それが入側ＴＲ２で積分された状態で入側ＴＲ速度２０が変化することがわかる。従って、ロールギャップ変更量２３(＝ΔＳ)、入側張力２４の偏差ΔＴｂ、入側ＴＲ速度２０の変化、および出側板厚の変化は図１１のような関係となる。 FIG. 10 is a simplified block diagram of the rolling phenomenon portion of FIG.
Than 10, the rolling mill 1 of the roll gap change amount 23 (= [Delta] S) is manifested by a deviation [Delta] T b of the inlet side tension 24 in the same phase, the inlet side TR velocity in a state in which it is integrated with the inlet side TR2 It can be seen that 20 changes. Therefore, the roll gap change amount 23 (= ΔS), the deviation ΔT b of the entry side tension 24, the change of the entry side TR speed 20, and the change of the exit side plate thickness are in the relationship as shown in FIG.

図１１は、ロールギャップ変更量２３、入側張力２４(Ｔｂ)、入側ＴＲ速度２０、および出側板厚の関係を表す図である。
図１１に示すように、ロールギャップ変更量２３が変化すると、圧延機１の入側速度が変化し、入側張力２４が変化する。入側張力２４の変化に伴い、入側ＴＲ２はトルク一定制御を行っているため、入側ＴＲの慣性による動作で入側ＴＲ速度２０が変化する。
入側ＴＲ速度２０が変動するとマスフロー一定則(式（１）参照)により出側板厚変動が発生する。 FIG. 11 is a diagram showing the relationship among the roll gap change amount 23, the entry side tension 24 (T b ), the entry side TR speed 20, and the exit side plate thickness.
As shown in FIG. 11, when the roll gap change amount 23 changes, the entry side speed of the rolling mill 1 changes and the entry side tension 24 changes. As the input side tension 24 changes, the input side TR2 performs constant torque control, so the input side TR speed 20 changes due to the inertia of the input side TR.
When the inlet TR speed 20 fluctuates, the outlet plate thickness varies according to the mass flow constant law (see equation (1)).

出側板厚変動が発生すると、出側板厚制御装置１８(図８参照)が出側板厚を一定とするためロールギャップ変更量２３を操作する。これら一連の動作が継続すると、図１０に示すように、出側板厚が振動するようになる。
なお、実際には出側板厚計１７(図８参照)は圧延機１から離れた場所に設置されるため出側板厚制御装置１８(図８参照)が用いる出側板厚の検出までに遅れ時間が存在するが、出側板厚の振動周期に対して充分に遅れ時間が短い場合は無視できる。
なお、本願に係る文献公知発明として、次の特許文献１〜３がある。 When the delivery side plate thickness variation occurs, the delivery side plate thickness control device 18 (see FIG. 8) operates the roll gap change amount 23 to keep the delivery side plate thickness constant. When these series of operations are continued, the outlet side plate thickness vibrates as shown in FIG.
Actually, since the delivery side thickness gauge 17 (see FIG. 8) is installed at a location away from the rolling mill 1, a delay time is detected until the delivery side thickness is detected by the delivery side thickness control device 18 (see FIG. 8). However, it can be ignored when the delay time is sufficiently short with respect to the oscillation cycle of the outlet side plate thickness.
In addition, there exist the following patent documents 1-3 as a literature well-known invention which concerns on this application.

特開平１０−２７７６１８号公報Japanese Patent Laid-Open No. 10-277618 特開２０００−８４６１５号公報JP 2000-84615 A 特許４１０７７６０号公報Japanese Patent No. 4107760

上述したように、従来用いられる圧延機１において、入側ＴＲ２および出側ＴＲ３をトルク一定制御（電流一定制御）にすることは、出側板厚変動を発生させる圧延機１の入側および出側速度の変動要因となる。
これは、トルク一定制御を行った場合は、入側・出側ＴＲ２、３のトルクを一定とするためにテンションリール速度が入側・出側ＴＲ２、３の慣性により変化してしまうためである。その結果、マスフロー一定則(式(１)参照)より出側板厚変動が発生する。 As described above, in the conventionally used rolling mill 1, making the entrance side TR <b> 2 and the exit side TR <b> 3 have constant torque control (constant current control) means that the entrance side and the exit side of the rolling mill 1 that generate the exit side plate thickness fluctuations. It becomes a fluctuation factor of speed.
This is because when the torque constant control is performed, the tension reel speed changes due to the inertia of the entry / exit TRs 2 and 3 in order to make the torque of the entry / exit TRs 2 and 3 constant. . As a result, the outlet side plate thickness variation occurs according to the mass flow constant law (see Equation (1)).

圧延機１で生産される被圧延材ｕにとって最も重要なのは出側板厚精度(製品板厚精度)であり、入出側の張力は操業の安定性のためには重要であるが、製品板厚を維持するためであれば多少は変動しても圧延操業上、問題ない。
本発明は上記実状に鑑み、張力変動に起因する入側・出側テンションリールの速度変動によって発生する圧延機の出側板厚変動を抑制する圧延機の制御装置およびその制御方法の提供を目的とする。 The most important thing for the material u to be rolled by the rolling mill 1 is the delivery side plate thickness accuracy (product plate thickness accuracy), and the entry / exit side tension is important for the stability of operation, but the product plate thickness is There is no problem in rolling operation even if it fluctuates slightly if it is to maintain.
SUMMARY OF THE INVENTION In view of the above circumstances, the present invention has an object to provide a rolling mill control device and a control method thereof that suppress fluctuations in the thickness of the outlet side of the rolling mill caused by speed fluctuations of the inlet and outlet tension reels caused by tension fluctuations. To do.

上記目的を達成すべく、第１の本発明に関わる圧延機の制御装置は、圧延機で圧延される被圧延材の巻出しおよび巻取り用に圧延機の入側・出側のうちの少なくとも何れか側に、被圧延材に張力を付与するとともにトルク一定制御を実施する張力付与回転手段を備えた圧延機の制御装置であって、入側・出側のうちの少なくとも何れか側の被圧延材の張力変動を予測する第１張力変動予測手段を備え、該第１張力変動予測手段による張力変動予測結果に基づいて、張力変動が予測された側の張力付与回転手段のトルク指令に、被圧延材の張力変動に応じて当該張力付与回転手段の速度が変化しないように、予測された張力変動から求めた該張力変動のトルクと釣り合う変動分のトルクを加える補正を行っている。   In order to achieve the above object, a control device for a rolling mill according to the first aspect of the present invention provides at least one of an entry side and an exit side of a rolling mill for unwinding and winding a material to be rolled by the rolling mill. A rolling mill control device provided with tension applying rotation means for applying tension to a material to be rolled and performing constant torque control on either side of the material to be rolled. The first tension fluctuation prediction means for predicting the tension fluctuation of the rolled material is provided, and based on the tension fluctuation prediction result by the first tension fluctuation prediction means, the torque command of the tension applying rotation means on the side where the tension fluctuation is predicted, In order to prevent the speed of the tension applying rotation means from changing according to the tension fluctuation of the material to be rolled, correction is performed to add a torque corresponding to the fluctuation of the tension fluctuation obtained from the predicted tension fluctuation.

第２の本発明に関わる圧延機の制御方法は、圧延機で圧延される被圧延材の巻出しおよび巻取り用に圧延機の入側・出側のうちの少なくとも何れか側に、被圧延材に張力を付与するとともにトルク一定制御を実施する張力付与回転手段を備えた圧延機の制御方法であって、制御装置が、入側・出側のうちの少なくとも何れか側の被圧延材の張力変動を予測し、該張力変動予測結果に基づいて、張力変動が予測された側の張力付与回転手段のトルク指令に、被圧延材の張力変動に応じて当該張力付与回転手段の速度が変化しないように、予測された張力変動から求めた該張力変動のトルクと釣り合う変動分のトルクを加える補正を行っている。   The rolling mill control method according to the second aspect of the present invention provides a method for rolling at least one of the entry side and the exit side of a rolling mill for unwinding and winding the material to be rolled by the rolling mill. A control method for a rolling mill provided with a tension applying rotation means for applying a constant torque control while applying tension to a material, wherein the control device is configured to control the material to be rolled on at least one of the entry side and the exit side. Tension fluctuation is predicted, and based on the tension fluctuation prediction result, the torque command of the tension applying rotating means on the side where the tension fluctuation is predicted changes to the speed of the tension applying rotating means according to the tension fluctuation of the material to be rolled. In order to avoid this, correction is performed to add a torque corresponding to a fluctuation that balances the torque of the tension fluctuation obtained from the predicted tension fluctuation.

本発明によれば、被圧延材の張力変動に起因する入側・出側のうちの少なくとも何れか側のテンションリールの速度変動によって発生する圧延機の出側板厚変動を抑制する圧延機の制御装置およびその制御方法を実現できる。   According to the present invention, control of a rolling mill that suppresses fluctuations in the thickness of the outlet side of the rolling mill caused by the speed fluctuation of the tension reel on at least one of the entry side and the exit side caused by the tension fluctuation of the material to be rolled. A device and its control method can be realized.

第１実施形態のシングルスタンド圧延機の制御構成を示す概念図である。It is a conceptual diagram which shows the control structure of the single stand rolling mill of 1st Embodiment. 第１実施形態のシングルスタンド圧延機の出側板厚変動を抑制するための基本概念を示す概念図である。It is a conceptual diagram which shows the basic concept for suppressing the exit side board thickness fluctuation | variation of the single stand rolling mill of 1st Embodiment. 第１実施形態の入側張力制御装置による入側ＴＲの制御方法の概要を示す図である。It is a figure which shows the outline | summary of the control method of entrance TR by the entrance tension control apparatus of 1st Embodiment. 第１実施形態の出側板厚制御装置のロールギャップ指令より入側張力変動を予測して電動機トルク設定を補正することで、入側ＴＲ速度の変動を抑制して圧延機の出側板厚を一定とするための制御ブロックを示す図である。By predicting entry side tension fluctuation from the roll gap command of the delivery side thickness control apparatus of the first embodiment and correcting the motor torque setting, fluctuations in entry side TR speed are suppressed and the delivery side sheet thickness of the rolling mill is kept constant. It is a figure which shows the control block for doing. 第１実施形態の非干渉制御装置の詳細を示す図である。It is a figure which shows the detail of the non-interference control apparatus of 1st Embodiment. 第１実施形態の制御出力切換え装置の概要を示す概念図である。It is a conceptual diagram which shows the outline | summary of the control output switching apparatus of 1st Embodiment. 第２実施形態の入側張力変動抽出装置の概要を示す図である。It is a figure which shows the outline | summary of the entrance side tension | tensile_strength fluctuation | variation extraction apparatus of 2nd Embodiment. 従来の圧延機の一例として最も単純なシングルスタンド圧延機の制御構成を示す概念図である。It is a conceptual diagram which shows the control structure of the simplest single stand rolling mill as an example of the conventional rolling mill. 従来のシングルスタンド圧延機の入側ＴＲと圧延機との間の圧延現象を示す概念図である。It is a conceptual diagram which shows the rolling phenomenon between entrance side TR and the rolling mill of the conventional single stand rolling mill. 図９の圧延現象の部分を簡略化したブロック図である。It is the block diagram which simplified the part of the rolling phenomenon of FIG. ロールギャップ変更量、入側張力、入側ＴＲ速度、および出側板厚の関係を表す図である。It is a figure showing the relationship between roll gap change amount, entrance tension, entrance TR speed, and exit side plate thickness.

以下、本発明の実施形態について添付図面を参照して説明する。
図１は、本発明に係る第１実施形態のシングルスタンド圧延機Ｓの制御構成を示す概念図である。 Embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a conceptual diagram showing a control configuration of a single stand rolling mill S according to the first embodiment of the present invention.

＜＜第１実施形態＞＞
＜シングルスタンド圧延機Ｓの概要＞
第１実施形態のシングルスタンド圧延機Ｓは、入側テンションリール２(以下、入側ＴＲ２と称す)をトルク一定制御で動作させる場合において、圧延機１の入側(図１中の圧延機１の左側)の被圧延材ｕの張力変動量を予測してそれによって発生するトルク変動に合わせて、入側ＴＲ２へのトルク指令を該トルク変動に釣り合うように補正することで、入側ＴＲ２のテンションリール速度変動を抑制し、圧延機１の出側(図１中の圧延機１の右側)板厚、すなわち圧延製品の板厚を一定としている。 << First Embodiment >>
<Outline of single stand rolling mill S>
The single stand rolling mill S of the first embodiment is configured so that the entry side tension reel 2 (hereinafter referred to as entry side TR2) is operated with constant torque control. By adjusting the torque command to the entry side TR2 in accordance with the torque fluctuation generated by predicting the tension fluctuation amount of the material to be rolled u on the left side), the torque of the entry side TR2 is corrected. The tension reel speed fluctuation is suppressed, and the thickness of the exit side of the rolling mill 1 (the right side of the rolling mill 1 in FIG. 1), that is, the thickness of the rolled product is made constant.

また、出側板厚制御装置１８からの被圧延材ｕの板厚を制御する板厚制御出力(指令)による被圧延材ｕの圧延機１の入側の張力変動を予測し、該予測された側の入側ＴＲ２のトルク指令を、該予測された張力変動によるトルク変化と逆方向に操作し、該トルク変化による被圧延材ｕの張力変動を相殺し被圧延材ｕの入側の張力変動を抑制し、圧延機１の出側板厚(圧延製品の板厚)を一定としている。   In addition, a fluctuation in tension on the entry side of the rolling mill 1 of the material to be rolled u is predicted by a plate thickness control output (command) for controlling the plate thickness of the material u to be rolled from the exit side thickness control device 18, and the prediction is made. By operating the torque command of the incoming side TR2 in the direction opposite to the torque change due to the predicted tension fluctuation, the tension fluctuation of the material to be rolled u due to the torque change is offset, and the tension fluctuation on the inlet side of the material to be rolled u And the exit side plate thickness (rolled product plate thickness) of the rolling mill 1 is kept constant.

さらに、上述の圧延機１の入側の被圧延材ｕの張力変動量を予測して入側ＴＲ２へのトルク指令を該張力変動量のトルク変動に釣り合うように補正し、入側ＴＲ２のテンションリール速度変動を抑制する第１の制御と、板厚制御出力(指令)による張力変動を予測して、入側ＴＲ２のトルク指令を該張力変動によるトルク変化と逆方向に操作し張力変動を抑制する第２の制御とを、後記する圧延設定情報と圧延実績情報とに応じて切換え、最適な制御を行うことで、圧延製品の板厚を可及的に一定としている。   Further, the tension fluctuation amount of the material to be rolled u on the entry side of the rolling mill 1 described above is predicted, and the torque command to the entry side TR2 is corrected so as to be balanced with the torque fluctuation of the tension fluctuation amount. Predicts tension fluctuation due to reel speed fluctuation and first control and sheet thickness control output (command), and controls torque fluctuation on the input side TR2 in the opposite direction to the torque fluctuation due to the tension fluctuation. The second control to be performed is switched according to rolling setting information and rolling record information described later, and optimal thickness control is performed to make the plate thickness of the rolled product as constant as possible.

以下、第１実施形態のシングルスタンド圧延機Ｓについて詳細に説明する。
＜シングルスタンド圧延機Ｓの構成＞
図１に示すシングルスタンド圧延機Ｓは、圧延機１の入側(図１中の圧延機１の左側)の被圧延材ｕの速度が一定となるように補正を行うための圧延機１の入側の被圧延材ｕの張力の変動を予測する入側張力変動予測装置３２、出側板厚制御装置１８からの板厚制御出力(指令)による圧延機１の入側の被圧延材ｕの張力変動を非干渉化とする非干渉制御装置３３´、および入側張力変動予測装置３２の出力と非干渉制御装置３３の出力とを切換える張力補正切換え装置３４(図１中、二点鎖線で示すＨ)以外の構成は、図８に示すシングルスタンド圧延機Ｓ１００と同様である。
従って、シングルスタンド圧延機Ｓ１００と同一の構成要素には、同一の符号を付して示し、詳細な説明は省略する。 Hereinafter, the single stand rolling mill S of the first embodiment will be described in detail.
<Configuration of single stand rolling mill S>
A single stand rolling mill S shown in FIG. 1 includes a rolling mill 1 for performing correction so that the speed of the material to be rolled u on the entry side of the rolling mill 1 (left side of the rolling mill 1 in FIG. 1) is constant. The entry side tension fluctuation predicting device 32 for predicting the fluctuation of the tension of the entry side rolled material u and the sheet thickness control output (command) from the exit side thickness control device 18 of the entry side rolled material u of the rolling mill 1. A non-interference control device 33 ′ that makes the tension fluctuation non-interactive, and a tension correction switching device 34 that switches between the output of the input side tension fluctuation prediction device 32 and the output of the non-interference control device 33 (in FIG. 1, a two-dot chain line) The configuration other than H) is the same as that of the single stand rolling mill S100 shown in FIG.
Therefore, the same components as those of the single stand rolling mill S100 are denoted by the same reference numerals, and detailed description thereof is omitted.

ここで、入側張力変動予測装置３２、非干渉制御装置３３´、および張力補正切換え装置３４は、例えば、ＰＬＣ(programmable logic controller)に格納される制御プログラムにＣ言語等で記述されており、該制御プログラムが実行されることにより具現化される。
なお、入側張力変動予測装置３２、非干渉制御装置３３´、および張力補正切換え装置３４は、他のプログラム言語、例えば、アセンブラ等で記述されてもよく、或いは、回路を用いて実現してもよく、特に限定されないのは勿論である。 Here, the entry side tension fluctuation prediction device 32, the non-interference control device 33 ′, and the tension correction switching device 34 are described in a C program or the like in a control program stored in a PLC (programmable logic controller), for example. This is realized by executing the control program.
The entry side tension fluctuation prediction device 32, the non-interference control device 33 ′, and the tension correction switching device 34 may be described in other program languages, for example, an assembler or the like, or may be realized by using a circuit. Of course, there is no particular limitation.

＜シングルスタンド圧延機Ｓの出側板厚変動の抑制＞
図２は、シングルスタンド圧延機Ｓの出側板厚変動(図１中の圧延機１の右側の被圧延材ｕの板厚変動)を抑制するための基本概念を示す概念図である。
前記課題を解決する手段として、理想的には図２に示す出側板厚変動の抑制を行うことになる。なお、図２に示す入側張力トルク変動予測装置３０は、後記する入側張力変動予測装置３２または非干渉制御装置３３に相当するものであり、図１には特に図示していない。
圧延機(１)入側(図１中の圧延機１の左側)の被圧延材ｕの張力変動の原因となる圧延機入側速度２１の変動要因としては、ロールギャップ変更量２３(＝ΔＳ)の他にも種々の原因が考えられる。 <Suppression of fluctuations in sheet thickness of the single stand rolling mill S>
FIG. 2 is a conceptual diagram showing a basic concept for suppressing the variation in the outlet side thickness of the single stand rolling mill S (the variation in the thickness of the material to be rolled u on the right side of the rolling mill 1 in FIG. 1).
As means for solving the above-described problem, ideally, the variation in the outlet side plate thickness shown in FIG. 2 is suppressed. 2 corresponds to an input side tension fluctuation prediction device 32 or a non-interference control device 33 described later, and is not particularly shown in FIG.
As a fluctuation factor of the rolling mill entry side speed 21 that causes the tension fluctuation of the material u to be rolled on the rolling mill (1) entry side (left side of the rolling mill 1 in FIG. 1), the roll gap change amount 23 (= ΔS). There are various other causes.

例えば、圧延機１の上・下作業ロールＲs1、Ｒs2の偏心等の機械的な振動や、被圧延材ｕの母材板厚変動といったものも考えられる。
具体的には、図１に示す圧延機１の上・下作業ロールＲs1、Ｒs2が偏心すると、その半径が長い箇所では、被圧延材ｕの圧延機入側速度２１が速くなるとともに、その半径が短い箇所では、被圧延材ｕの圧延機入側速度２１が遅くなり、機械的な振動が生じる
また、圧延機１だけでなく、入側ＴＲ２でも、リール径が円周方向で不均一になる場合等も考えられる。例えば、入側ＴＲ２のリール径が長い箇所では、入側ＴＲ２の巻き出し力が増加し、入側ＴＲ２のリール径が短い箇所では、入側ＴＲ２の巻き出し力が低下する。
それらを、まとめて入側張力外乱(変動)要因２９とする。 For example, mechanical vibrations such as eccentricity of the upper and lower work rolls Rs1 and Rs2 of the rolling mill 1, and fluctuations in the thickness of the base material of the material u to be rolled can be considered.
Specifically, when the upper and lower work rolls Rs1 and Rs2 of the rolling mill 1 shown in FIG. 1 are decentered, the rolling mill entry-side speed 21 of the material to be rolled u is increased and the radius is increased at a location where the radius is long. In a short part, the rolling mill entry side speed 21 of the material to be rolled u becomes slow and mechanical vibrations occur. In addition to the rolling mill 1, the reel diameter is not uniform in the circumferential direction not only in the rolling mill 1. The case where it becomes is also considered. For example, the unwinding force of the entry side TR2 increases at a location where the reel diameter of the entry side TR2 is long, and the unwinding force of the entry side TR2 decreases at a location where the reel diameter of the entry side TR2 is short.
These are collectively referred to as an entry side tension disturbance (fluctuation) factor 29.

図２に示すように、ロールギャップ変更量２３(＝ΔＳ)と入側張力外乱要因２９とにより圧延機入側速度２１の変動が発生し、入側張力２４が変化する。
そのため、ロールギャップ変更量２３(＝ΔＳ)と入側張力外乱要因２９とによる圧延機入側速度２１の変動分を予測または実測し、入側張力トルク変動予測装置３０にて入側張力トルク２５の変動分を予測して入側張力トルク変動予測値３１として、入側ＴＲ２を駆動する電動機５２(図３参照)の電動機トルク２２を補正する。
これにより、この入側張力トルク２５の変動分を予測した入側張力トルク変動予測値３１が正確であれば、入側張力トルク変動予測値３１が、実際の入側張力トルク２５の変動分と打ち消しあって入側ＴＲ速度２０変動原因となる張力トルク変動が発生しない。 As shown in FIG. 2, the roll-side change speed 23 changes due to the roll gap change amount 23 (= ΔS) and the entry-side tension disturbance factor 29, and the entry-side tension 24 changes.
Therefore, the fluctuation amount of the rolling mill entry-side speed 21 due to the roll gap change amount 23 (= ΔS) and the entry-side tension disturbance factor 29 is predicted or measured, and the entry-side tension torque fluctuation prediction device 30 enters the entry-side tension torque 25. And the motor torque 22 of the motor 52 (see FIG. 3) that drives the input TR2 is corrected as an input side tension torque fluctuation predicted value 31.
As a result, if the input side tension torque fluctuation predicted value 31 in which the fluctuation amount of the input side tension torque 25 is predicted is accurate, the input side tension torque fluctuation predicted value 31 is calculated as the actual input side tension torque 25 fluctuation value. There is no tension torque fluctuation that cancels out and causes the incoming TR speed 20 fluctuation.

そのため、入側ＴＲ２の速度である入側ＴＲ速度２０は、変動しないことになり、前記マスフロー一定則(式(１)参照)より、圧延機１の出側(図１に示す圧延機１の右側)の被圧延材ｕの板厚変動(圧延製品の板厚変動)も発生しない。
入側張力外乱要因２９(図２参照)については、前記したように、入側ＴＲ２、圧延機１等の機械系のガタ等の種々の要因が考えられるが、圧延機(１)出側の被圧延材ｕの板厚、すなわち製品板厚に与える影響は小さいと考えられる。
これに対して、図１に示す出側板厚制御装置１８によるロールギャップ変更量２３(＝ΔＳ)により発生する圧延機１の出側板厚変動(図１に示す圧延機１の右側の被圧延材ｕの板厚変動)は、板厚制御に起因するものであり、場合によっては大きな板厚変動となる。
そのため、これを抑制することを目的とした方法につき以下、説明する。 Therefore, the entry side TR speed 20 which is the speed of the entry side TR2 does not fluctuate, and the exit side of the rolling mill 1 (of the rolling mill 1 shown in FIG. 1) is determined based on the mass flow constant law (see equation (1)). The thickness variation of the material to be rolled u on the right side (the thickness variation of the rolled product) does not occur.
Regarding the entry side tension disturbance factor 29 (see FIG. 2), as described above, various factors such as backlash of the mechanical system such as the entry side TR2 and the rolling mill 1 can be considered. It is considered that the influence on the thickness of the material to be rolled u, that is, the product thickness is small.
On the other hand, variation in the exit side plate thickness of the rolling mill 1 caused by the roll gap change amount 23 (= ΔS) by the exit side thickness control device 18 shown in FIG. 1 (the material to be rolled on the right side of the rolling mill 1 shown in FIG. 1). The thickness variation of u) is caused by the thickness control, and in some cases, the thickness varies greatly.
Therefore, a method aimed at suppressing this will be described below.

＜入側ＴＲ２の制御方法＞
図３は、第１実施形態の入側張力制御装置による入側ＴＲ２の制御方法の概要を示す図である。なお、図３に示すように、入側張力制御装置とは、入側張力設定装置１１、入側張力電流変換装置１５、入側ＴＲ制御装置１５等(図１参照)をいう。
ここで、図３に示す入側張力制御装置による入側ＴＲ２の制御方法は、従来と同様の構成である。
入側ＴＲ２は、被圧延材ｕに巻出し張力、すなわち圧延機１の入側張力(図１に示す圧延機１の左側の被圧延材ｕの張力)を与えるための装置である。 <Control method of incoming TR2>
FIG. 3 is a diagram illustrating an overview of a method of controlling the entry side TR2 by the entry side tension control device of the first embodiment. As shown in FIG. 3, the entry side tension control device refers to the entry side tension setting device 11, the entry side tension current conversion device 15, the entry side TR control device 15, and the like (see FIG. 1).
Here, the control method of the entry side TR2 by the entry side tension control device shown in FIG. 3 has the same configuration as the conventional one.
The entry side TR2 is a device for applying unwinding tension to the material to be rolled u, that is, the entry side tension of the rolling mill 1 (the tension of the material to be rolled u on the left side of the rolling mill 1 shown in FIG. 1).

図３に示す入側張力制御装置は、まず、入側張力設定装置１１において、被圧延材ｕを所定板厚にするための圧延スケジュールに従って被圧延材ｕの入側張力が決定され、入側張力電流変換装置１５に被圧延材ｕの入側の張力指令が発せられる。
入側張力電流変換装置１５においては、入側張力設定装置１１で設定される圧延機(１)入側の被圧延材ｕの張力に、Ｄ／２Ｇｒ(Ｄ：入側ＴＲ２の直径、Ｇｒ：入側ＴＲ２と電動機５２とのギア比)を積算して入側ＴＲ２を駆動する電動機５２の回転軸のトルクに変換する。なお、入側ＴＲ２の直径Ｄは、入側ＴＲ２の回転速度と被圧延材ｕの板厚から求めることができる。 In the entry side tension control device shown in FIG. 3, first, the entry side tension setting device 11 determines the entry side tension of the material to be rolled u according to the rolling schedule for setting the material u to be rolled to a predetermined plate thickness. A tension command on the entry side of the material to be rolled u is issued to the tension current converter 15.
In the entry side tension current converter 15, the tension of the rolling material u on the rolling mill (1) entry side set by the entry side tension setting device 11 is set to D / 2Gr (D: diameter of the entry side TR2, Gr: The gear ratio between the incoming TR2 and the electric motor 52) is integrated and converted to torque of the rotating shaft of the electric motor 52 that drives the incoming TR2. The diameter D of the entry side TR2 can be obtained from the rotation speed of the entry side TR2 and the thickness of the material u to be rolled.

そして、この電動機５２の回転軸のトルクを、１／ζφ(ζφ：電流−トルク変換係数)を積算して電動機５２に付与する電流に変換し、入側ＴＲ制御装置５に対する電流指令を決定する。ここで、入側ＴＲ２を駆動する電動機５２は、その特性として、ある電流を流したとき、どれ位のトルクが得られるかという電流−トルク変換係数ζφが得られる。
これらの値を用いて、入側張力設定装置１１からの張力指令を、入側ＴＲ制御装置５に出力する電流指令に換算する。こうして換算された電流指令は入側ＴＲ制御装置５に入力される。 Then, the torque of the rotating shaft of the electric motor 52 is converted into a current applied to the electric motor 52 by integrating 1 / ζφ (ζφ: current-torque conversion coefficient), and a current command for the input TR controller 5 is determined. . Here, as a characteristic of the electric motor 52 that drives the entry side TR2, a current-torque conversion coefficient ζφ indicating how much torque can be obtained when a certain current flows is obtained.
Using these values, the tension command from the entry side tension setting device 11 is converted into a current command output to the entry side TR control device 5. The current command converted in this way is input to the incoming TR control device 5.

入側ＴＲ制御装置５は、電動機制御装置５１、電動機５２等より構成されている。
電動機制御装置５１において、電流一定制御(ＡＣＲ)が行われ、入側ＴＲ２を駆動する電動機５２に対して一定の電流が与えられる。そして、電動機５２内では、電流−トルク変換が行われ、入側ＴＲ２に対する電動機トルク２２が付与されることになる。
従って、ロールギャップ変更量２３(＝ΔＳ)から、入側張力２４(＝ΔＴｂ)の偏差ΔＴｂを予測し、これを用いて入側張力設定装置１１より出力される入側張力指令値を補正することで、ロールギャップ変動(ロールギャップ変更量２３(＝ΔＳ))に起因する張力変動、すなわち圧延機１の入側の被圧延材ｕの張力変動を抑制できることになる。
なお、図３では、入側張力設定装置１１からの張力指令の補正は図示していない。 The entry side TR control device 5 includes an electric motor control device 51, an electric motor 52, and the like.
In the motor control device 51, constant current control (ACR) is performed, and a constant current is applied to the motor 52 that drives the incoming TR2. In the electric motor 52, current-torque conversion is performed, and the electric motor torque 22 is applied to the entry side TR2.
Accordingly, the deviation ΔT b of the entry side tension 24 (= ΔT b ) is predicted from the roll gap change amount 23 (= ΔS), and the entry side tension command value output from the entry side tension setting device 11 is used by using this. By correcting, the tension fluctuation caused by the roll gap fluctuation (roll gap change amount 23 (= ΔS)), that is, the tension fluctuation of the material to be rolled u on the entry side of the rolling mill 1 can be suppressed.
In FIG. 3, correction of the tension command from the entry side tension setting device 11 is not shown.

＜入側張力変動予測装置３２＞
図４は、出側板厚制御装置１８(図１参照)のロールギャップ指令より圧延機１の入側の被圧延材ｕの張力変動を予測して電動機トルク２２の設定を補正し、入側ＴＲ速度２０の変動を抑制して圧延機(１)出側の被圧延材ｕの板厚を一定とするための制御ブロックを示す図である。
図４に示すように、出側板厚制御装置１８からのロールギャップ指令に入側張力変動予測装置３２において変換ゲイン(＝ζφ・(Ｍ／Ｍ＋Ｑ)・１／ｋｂ)を乗算することで入側張力変動量を予測する。 <Entry-side tension fluctuation prediction device 32>
FIG. 4 predicts the tension fluctuation of the material to be rolled u on the entrance side of the rolling mill 1 from the roll gap command of the exit side thickness control device 18 (see FIG. 1), corrects the setting of the motor torque 22, and enters the entry TR. It is a figure which shows the control block for suppressing the fluctuation | variation of the speed | rate 20 and making the plate | board thickness of the rolling material u of the rolling mill (1) exit side constant.
As shown in FIG. 4, the roll gap command from the exit side thickness control device 18 is multiplied by a conversion gain (= ζφ · (M / M + Q) · 1 / k b ) in the entry side tension fluctuation prediction device 32. Predict side tension fluctuation.

ここで、変換ゲインとは、ζφ・(Ｍ／Ｍ＋Ｑ)・１／ｋｂであり、ロールギャップ指令に変換ゲインを乗算することで、上・下作業ロールＲs1、Ｒs2間の距離であるロールギャップが変わると張力がどれだけ変わるか、すなわち入側張力変動量が求められる。なお、変換ゲインにおけるζφ、Ｍ、Ｑ、ｋｂ等は、以下のものである。
ζφ：電流−トルク変換係数(Ｎ・ｍ／Ａ)、Ｍ：ミル定数(ｋＮ／ｍ))、Ｑ：塑性定数(ｋＮ／ｍ)、ｋｂ：張力影響係数((∂Ｐ／∂Ｔｂ)／(Ｍ＋Ｑ))(ｍ／ｋＮ))、Ｐ：圧延機１の圧延荷重(ｋＮ)、Ｔｂ：入側張力２４(ｋＮ)
入側張力変動予測装置３２で求められた入側張力変動量を、入側張力設定装置１１からの入側張力指令に加算することで電動機トルク２２(＝Ｔｑ)に入側張力変動量のトルクを加える。 こうして、入側ＴＲ２において、圧延機(１)入側の被圧延材ｕの張力Ｔｂによる入側張力トルク２５の入側張力変動分のトルクと、入側ＴＲ２に電動機トルク２２に加えられた入側張力変動量のトルクとを釣り合わせる。
これによって、被圧延材ｕの張力Ｔｂの変動によって、入側ＴＲ２に、力が圧延機１側または入側ＴＲ２の巻き戻し側の何れか側に加わることを防止し、入側張力抑制系２７の動作による入側ＴＲ速度２０の変動を防止している。
図４では、さらに従来と同様に、後記する入側張力制御１３による補正が行われる。 Here, the conversion gain is ζφ · (M / M + Q ) · 1 / k b, by multiplying the conversion gain to a roll gap command, the roll gap is the distance between the upper part or lower work roll Rs1, Rs2 The amount of tension change, that is, the entry side tension fluctuation amount is obtained. Incidentally, Zetafai in conversion gain, M, Q, k b, etc. are the following.
ζφ: current-torque conversion coefficient (N · m / A), M: mill constant (kN / m)), Q: plastic constant (kN / m), k b : tension influence coefficient ((∂P / ∂T b ) / (M + Q)) (m / kN)), P: rolling load of the rolling mill 1 (kN), T b: the entry side tension 24 (kN)
By adding the input side tension fluctuation amount obtained by the input side tension fluctuation prediction device 32 to the input side tension command from the input side tension setting device 11, the motor side torque fluctuation amount (= T q ) is added to the input side tension fluctuation amount. Apply torque. Thus, in the inlet side TR2, it was added to the rolling mill (1) and torque of the ingress tension fluctuation of the entry side tension torque 25 by the tension T b of the rolled material u of the entry side, motor torque 22 to the entry side TR2 Balance the input side tension fluctuation torque.
Thus, the variation of the tension T b of the rolled material u, the inlet side TR2, the force is prevented from acting on either side of the unwinding side of the rolling mill 1 side or entry side TR2, the entry side tension suppression system The fluctuation of the incoming TR speed 20 due to the operation of 27 is prevented.
In FIG. 4, correction by the entry side tension control 13 to be described later is further performed as in the conventional case.

ここで、圧延機(１)入側の被圧延材ｕの張力は圧延操業の安定性からある範囲を超えて変動することは好ましくないため、入側張力変動予測装置３２では、図４に示すように、入側張力補正量に制限をかける出力リミッタ４０を設けている。
従来のシングルスタンド圧延機Ｓ１００(図８参照)の制御構成に、上記補正を追加する場合は以下のようにする。
図１に示すように、入側張力設定装置１１で決定された入側張力設定値に、入側張力計８にて実測された入側張力実績を合致させるように入側張力制御１３により、入側張力設定装置１１で設定される入側張力指令値が補正される。この入側張力制御１３による補正後の入側張力指令値に、入側張力変動予測装置３２の出力を加算する。 Here, since it is not preferable that the tension of the rolling material u on the rolling mill (1) is changed beyond a certain range due to the stability of the rolling operation, the inlet-side tension fluctuation predicting device 32 shows the configuration shown in FIG. As described above, the output limiter 40 that limits the input side tension correction amount is provided.
When the above correction is added to the control configuration of the conventional single stand rolling mill S100 (see FIG. 8), the following is performed.
As shown in FIG. 1, the entry side tension control 13 adjusts the entry side tension setting value determined by the entry side tension setting device 11 to match the entry side tension result actually measured by the entry side tension meter 8. The entry side tension command value set by the entry side tension setting device 11 is corrected. The output of the input side tension fluctuation prediction device 32 is added to the input side tension command value corrected by the input side tension control 13.

＜非干渉制御装置３３´＞
図５は、非干渉制御装置３３´の詳細を示す図である。
図５に示すように、圧延機１のロールギャップ変更時に発生する張力変動を、抑制するために行われる非干渉制御装置３３´がある。
ここで、非干渉制御装置３３´が行われるのは、以下の理由による。
圧延機(１)入側の速度と、入側ＴＲ２の速度との偏差で張力が決定される。何故なら、この速度差を積分して被圧延材ｕの入側の長さの変化分を求め、被圧延材ｕのヤング率を乗算すると、被圧延材ｕの入側の張力が求まるからである。
圧延機１においては、被圧延材ｕを圧下するため圧延機(１)入側板厚、出側板厚が同じであっても、入側、出側の張力バランスにより圧延機(１)入側と出側の速度は異なる。この異なり方が大きい場合、張力が変動することで圧延機(１)入側の速度が変化するため、入側ＴＲ２の速度が一定だとマスフロー一定則より入側張力および出側板厚が変動する。
これを防止するため、非干渉制御を用いて、入側ＴＲ２の速度を変化させる。
このようなことから、非干渉制御は、圧延機(１)出側板厚を一定にさせるための圧延機(１)入側速度が異なるため、その変化に応じて入側ＴＲ２の速度を変化させた方が良いということで行われる。
上述したように、非干渉制御装置３３´は、張力変動を抑制するために非干渉制御を行うものであり、出側板厚制御装置１８のロールギャップ変更量２３(＝ΔＳ)を用いて張力変動量を予測して、それを抑制するために、入側張力設定装置１１にて設定される電動機トルクの設定を補正することで、圧延機(１)入側の被圧延材ｕの張力変動を防止するのが目的である。 <Non-interference control device 33 '>
FIG. 5 is a diagram showing details of the non-interference control apparatus 33 ′.
As shown in FIG. 5, there is a non-interference control device 33 ′ that is used to suppress tension fluctuation that occurs when the roll gap of the rolling mill 1 is changed.
Here, the non-interference control device 33 ′ is performed for the following reason.
The tension is determined by the deviation between the speed of the rolling mill (1) at the entry side and the speed at the entry side TR2. This is because, by integrating this speed difference, the change in the length of the entry side of the material to be rolled u is obtained, and if the Young's modulus of the material to be rolled u is multiplied, the tension on the entry side of the material to be rolled u is obtained. is there.
In the rolling mill 1, in order to reduce the material u to be rolled, even if the thickness of the rolling mill (1) is the same as the thickness of the inlet side and the thickness of the outlet side, the rolling mill (1) The outgoing speed is different. If this difference is large, the speed on the entry side of the rolling mill (1) changes due to fluctuations in the tension. Therefore, if the speed on the entry side TR2 is constant, the entry side tension and the exit side plate thickness vary according to the mass flow constant law. .
In order to prevent this, the speed of the incoming TR2 is changed using non-interference control.
For this reason, the non-interference control is performed by changing the speed of the entry side TR2 in accordance with the change because the entry speed of the rolling mill (1) for making the exit side plate thickness constant is different. It is done because it is better.
As described above, the non-interference control device 33 ′ performs non-interference control in order to suppress the tension variation, and the tension variation using the roll gap change amount 23 (= ΔS) of the outlet side plate thickness control device 18. In order to predict the amount and suppress it, by correcting the setting of the motor torque set by the entry side tension setting device 11, the tension fluctuation of the rolling material u on the rolling mill (1) entry side is corrected. The purpose is to prevent.

そのため、図４に示す入側張力変動予測装置３２を用いるのとは逆な動作となる。つまり、本実施形態の非干渉制御装置３３´は、入側ＴＲ速度２０を積極的に変動させることになる。
例えば、圧延機(１)入側の被圧延材ｕの張力Ｔｂが増加する張力変動であれば、入側ＴＲ２を駆動する電動機トルク２２の設定を減少させるように制御し、被圧延材ｕの張力Ｔｂの変動を防止する。一方、圧延機(１)入側の被圧延材ｕの張力Ｔｂが減少する張力変動であれば、入側ＴＲ２を駆動する電動機トルク２２の設定を増加させるように制御し、被圧延材ｕの張力Ｔｂの変動を防止する。 For this reason, the operation is the reverse of using the entry-side tension fluctuation prediction device 32 shown in FIG. That is, the non-interference control device 33 ′ of the present embodiment actively changes the incoming TR speed 20.
For example, if the tension T b of the rolling material u on the rolling mill (1) is increased, control is performed to decrease the setting of the motor torque 22 that drives the inlet TR2, and the rolling material u is controlled. to prevent the fluctuation of the tension T b. On the other hand, if the tension T b of the rolling material u on the rolling mill (1) is reduced, the setting of the motor torque 22 for driving the inlet TR2 is controlled to increase, and the rolling material u is controlled. to prevent the fluctuation of the tension T b.

図５に示すように、出側板厚制御装置１８が出力する圧延機１の上・下作業ロールＲs1、Ｒs2間の距離であるロールギャップのロールギャップ変更量２３(＝ΔＳ)に基づき、このロールギャップ変更量２３(＝ΔＳ)に、ζφ・Ｍ／(Ｍ＋Ｑ)・１／ｋｂを乗算して圧延機(１)入側の被圧延材ｕの入側張力変動量を予測し、これに非干渉制御ゲイン４１(ＧDC)を乗算して入側張力補正量として出力する。
ただし、符号は予測される張力変動と逆方向(−)であり、ロールギャップ変動による張力変動分で電動機トルク２２を変更することでフィードフォワード的に入側ＴＲ速度２０を操作するものである。 As shown in FIG. 5, based on the roll gap change amount 23 (= ΔS) of the roll gap, which is the distance between the upper and lower work rolls Rs1 and Rs2 of the rolling mill 1 output by the outlet side thickness control device 18, the gap change amount 23 (= [Delta] S), to predict ζφ · M / (M + Q ) · 1 / k b multiplication to the rolling mill (1) the entry side tension fluctuation amount of the material to be rolled u of the entry side, in which Multiply by the non-interference control gain 41 (G DC ) and output as an input side tension correction amount.
However, the sign is in the opposite direction (−) to the predicted tension fluctuation, and the input side TR speed 20 is operated in a feed-forward manner by changing the motor torque 22 by the tension fluctuation due to the roll gap fluctuation.

前記したように、入側ＴＲ速度２０の変動によって、圧延機１の出側の被圧延材ｕの板厚変動が発生する。
ここで、図２に示すように、入側張力抑制系２７の一巡伝達関数は、
（Ｄ／２Ｊ・Ｇｒ）×（ｈ／Ｖｅ）・（１／ｋｂ）
で表される。
ここで、Ｄ(入側ＴＲ２の直径)、Ｇｒ(入側ＴＲ２と駆動する電動機５２とのギア比)、Ｊ(入側ＴＲ２の慣性モーメント)は、機械的に決まる定数となるので設備によって決定される。 As described above, fluctuations in the sheet thickness u of the material to be rolled u on the exit side of the rolling mill 1 occur due to fluctuations in the entry side TR speed 20.
Here, as shown in FIG. 2, the circular transfer function of the entry side tension suppression system 27 is
(D / 2J · Gr) × (h / V e) · (1 / k b)
It is represented by
Here, D (diameter of the entry side TR2), Gr (gear ratio of the entry side TR2 and the driving motor 52), and J (moment of inertia of the entry side TR2) are mechanically determined constants, and thus are determined by the equipment. Is done.

この伝達関数のゲインが大きい方が、時定数が小さいので入側張力抑制系２７は高速に動作する。
そこで、本発明の課題である前記した入側張力系の振動現象は、入側張力抑制系２７の応答が遅くなるに従って大きくなるので、伝達関数のゲインが大きければ入側張力抑制系２７が高速に動作するので、非干渉制御を適用する。
一方、伝達関数のゲインが小さい場合、時定数が大きく入側張力抑制系２７の応答が遅くなり入側張力系の振動現象が大きくなるので、図４に示す入側張力変動予測装置３２による電動機トルク２２の補正を適用する。
これにより、例えば、被圧延材ｕが柔らかい場合、張力影響係数ｋｂが小さく、張力変動により被圧延材ｕの圧延機(１)入側速度が変化する量が大きいため、圧延機１の出側の被圧延材ｕの板厚変動が大きく発生することから、この場合、非干渉制御を適用する。 The larger the gain of this transfer function, the smaller the time constant, so the entry side tension suppression system 27 operates at high speed.
Therefore, the above-described vibration phenomenon of the entry side tension system, which is the subject of the present invention, increases as the response of the entry side tension suppression system 27 becomes slow. Therefore, if the gain of the transfer function is large, the entry side tension suppression system 27 can operate at high speed. Apply non-interference control.
On the other hand, when the gain of the transfer function is small, the time constant is large, the response of the entry side tension suppression system 27 is delayed, and the vibration phenomenon of the entry side tension system increases, so the electric motor by the entry side tension fluctuation prediction device 32 shown in FIG. Apply torque 22 correction.
Thus, for example, if the material to be rolled u soft, because tension influence coefficient k b is small, the amount of rolling mill (1) entry-side speed changes of the material to be rolled u by the tension fluctuation is large, out of the rolling mill 1 In this case, non-interference control is applied because the thickness variation of the material to be rolled u on the side is greatly generated.

また、板厚が厚く(出側板厚ｈが大)入側ＴＲ速度２０の変動によるマスフロー一定則に従った出側板厚変動が無視できる場合等は、非干渉制御装置３３´による非干渉制御が、入側張力変動予測装置３２(図４参照)による入側張力補正よりも有効なので、これらの場合は、非干渉制御装置３３´を利用する。   In addition, when the plate thickness is thick (the exit plate thickness h is large) and the variation in the exit plate thickness according to the constant mass flow due to the variation in the input TR speed 20 can be ignored, the non-interference control by the non-interference control device 33 'is performed. In this case, the non-interference control device 33 'is used because it is more effective than the input side tension correction by the input side tension fluctuation prediction device 32 (see FIG. 4).

＜張力補正切換え装置３４＞
そこで、圧延機１の入側の被圧延材ｕの張力の補正の方法として、非干渉制御装置３３´(図５参照)と入側張力変動予測装置３２(図４参照)を両方設けて、圧延状態によって切換えるのが張力補正切換え装置３４である。
図６は、張力補正切換え装置３４の概要を示す概念図である。
図６に示すように、張力補正切換え装置３４は、張力影響係数ｋｂ、出側板厚ｈ等の圧延設定情報、入側板速度Ｖｅ等の圧延実績情報から予めルールベース３６に設定してある制御ルールにより非干渉制御３３´の出力Ａと入側張力変動予測装置３２の出力Ｂ(図６中、二点鎖線で示す)とを、出力切換え装置３５を用いて切換えてＣを通して、入側張力設定装置１１からの入側張力設定値に入側張力補正として加える。 <Tension correction switching device 34>
Accordingly, as a method of correcting the tension of the material to be rolled u on the entry side of the rolling mill 1, both a non-interference control device 33 ′ (see FIG. 5) and an entry side tension fluctuation prediction device 32 (see FIG. 4) are provided. The tension correction switching device 34 switches according to the rolling state.
FIG. 6 is a conceptual diagram showing an outline of the tension correction switching device 34.
As shown in FIG. 6, the tension correction switching device 34 is set to the tension influence coefficient k b, rolling setting information such as delivery side thickness h, the rule base 36 in advance from rolling record information such as the entry side speed V e The output A of the non-interference control 33 ′ and the output B (indicated by a two-dot chain line in FIG. 6) of the non-interference control 33 ′ are switched using the output switching device 35 according to the control rule, and the input side is passed through C. It adds to the entry side tension set value from the tension setting device 11 as an entry side tension correction.

張力補正切換え装置３４におけるルールベース３６には、張力影響係数ｋｂ、出側板厚ｈ等の圧延設定情報と入側板速度Ｖｅ等の圧延実績情報に従って、ＡまたはＢのどちらの制御出力を利用すべきかを制御ルールとして設定しておく。
前記したように、被圧延材が柔らかく張力影響係数ｋｂが小さい場合、また、出側板厚ｈが厚い場合、圧延機１の入側板速Ｖｅが小さい場合等においては、図２に示す入側張力抑制系２７の一巡伝達関数のゲインが大きくなるので、時定数が小さく入側張力抑制系は高速に動作するため、非干渉制御装置３３´(図５参照)の非干渉制御を適用する。
一方、図２に示す入側張力抑制系２７の一巡伝達関数のゲインが小さい場合、時定数が大きく、入側張力抑制系の応答が遅くなる。この場合、入側張力系の振動現象は、入側張力抑制系の応答が遅くなるに従って大きくなるので、入側張力変動予測装置３２(図４参照)による入側張力補正を用いる。 The rule base 36 in tension correction switching device 34, the tension influence coefficient k b, according to the rolling record information such as the rolling configuration information and entry side speed V e of such delivery side thickness h, use either of the control output of the A or B Whether to do so is set as a control rule.
As described above, if the tension influence coefficient k b soft and the material to be rolled is small, and when delivery side thickness h is thick, in such case entrance side speed V e of the rolling mill 1 is small, the input shown in FIG. 2 Since the gain of the loop transfer function of the side tension suppression system 27 is large, the time constant is small and the entry side tension suppression system operates at high speed. Therefore, the non-interference control of the non-interference control device 33 ′ (see FIG. 5) is applied. .
On the other hand, when the gain of the circular transfer function of the entry side tension suppression system 27 shown in FIG. 2 is small, the time constant is large and the response of the entry side tension suppression system becomes slow. In this case, since the vibration phenomenon of the entry side tension system becomes larger as the response of the entry side tension suppression system becomes slower, the entry side tension correction by the entry side tension fluctuation prediction device 32 (see FIG. 4) is used.

そこで、例えば、前記ＰＬＣの制御プログラムのソースコードを、次のようにする。
IF （ｋｂ＞ｋ１）AND（ｈ＜ｈ１）AND（Ｖｅ＞Ｖ１）
THEN （出力B（入側張力変動予測装置３２）を選択）
ELSE （出力Ａ（非干渉制御３３´）を選択）
なお、ｋ１、ｈ１、Ｖ１は定数であり、その値は種々の条件により、適宜選択可能である。
結論部としては、（出力Bを選択（入側張力変動予測装置３２を選択）、出力Ａを選択（非干渉制御装置３３´を選択）のほか（どちらも選択しない）ことで、入側張力変動予測装置３２、非干渉制御装置３３´による入側張力設定の補正を行わないことも可能である。 Therefore, for example, the source code of the PLC control program is as follows.
IF (k b > k1) AND (h <h1) AND (V e > V1)
THEN (Select output B (input side tension fluctuation prediction device 32))
ELSE (Select output A (non-interference control 33 '))
Note that k1, h1, and V1 are constants, and the values can be appropriately selected according to various conditions.
As a conclusion part, in addition to (selecting output B (selecting input side tension fluctuation prediction device 32)) and selecting output A (selecting non-interference control device 33 '), neither input side tension is selected. It is also possible not to correct the entry side tension setting by the fluctuation prediction device 32 and the non-interference control device 33 ′.

＜＜第２実施形態＞＞
次に、第２実施形態について、図７を用いて説明する。
図７は、第２実施形態の入側張力変動抽出装置６０の概要を示す図である。
第２実施形態は、入側張力外乱要因２９(図４参照)を、入側張力変動抽出装置６０(図７参照)を用いて低減するものである。
入側張力外乱要因２９(図７、図４参照)としては、例えば入側ＴＲ２が偏心している場合が考えられる。
入側ＴＲ２の偏心により、入側ＴＲ２のリール径Ｄが大きい箇所と小さい箇所とがあることから被圧延材ｕを繰り出すリール径Ｄが、入側ＴＲ２の回転により変動することになる。 << Second Embodiment >>
Next, a second embodiment will be described with reference to FIG.
FIG. 7 is a diagram showing an outline of the entry side tension fluctuation extracting device 60 of the second embodiment.
In the second embodiment, the entry-side tension disturbance factor 29 (see FIG. 4) is reduced using the entry-side tension fluctuation extracting device 60 (see FIG. 7).
As the entry side tension disturbance factor 29 (see FIGS. 7 and 4), for example, the case where the entry side TR2 is eccentric can be considered.
Due to the eccentricity of the entry-side TR2, the reel diameter D for feeding the material to be rolled u varies depending on the rotation of the entry-side TR2 because there are places where the reel diameter D of the entry-side TR2 is large and small.

そのため、入側ＴＲ２のリール径Ｄが大きい箇所は入側ＴＲ速度２０が大きくなるとともに入側ＴＲ２のリール径Ｄが小さい箇所は入側ＴＲ速度２０が小さくなる。そのため、入側ＴＲ速度２０が変動し、結果的に入側張力２４(＝ｔｂ)の偏差Δｔｂが発生する。
入側張力２４の偏差Δｔｂが発生すると、入側ＴＲ２にかかるトルクが変動するため、入側ＴＲ２の回転速度が変化し、マスフロー一定則により出側板厚が変動する。
これを防止するために、図７に示すように、入側ＴＲ２の回転周期に同期した張力変動である入側張力２４の偏差Δｔｂを、入側張力変動抽出装置６０において、フィルタを用いて抽出して記憶し、入側ＴＲ２の回転位置に応じた張力変動を出力し、入側ＴＲ２の回転周期に同期させて入側張力指令を補正する。 For this reason, the entry side TR speed 20 is increased at locations where the reel diameter D of the entry side TR2 is large, and the entry TR speed 20 is reduced at locations where the reel diameter D of the entry side TR2 is small. Therefore, the incoming TR speed 20 varies, and as a result, a deviation Δt b of the incoming tension 24 (= t b ) occurs.
If the deviation Delta] t b of the entry side tension 24 occurs, the torque applied to the inlet side TR2 varies, the rotational speed is changed in the inlet side TR2, thickness at delivery side of the mass flow constant rule varies.
In order to prevent this, as shown in FIG. 7, the deviation Δt b of the inlet side tension 24, which is a tension fluctuation synchronized with the rotation period of the inlet side TR 2, is filtered using a filter in the inlet side tension fluctuation extracting device 60. Extracted and stored, outputs a fluctuation in tension according to the rotational position of the incoming TR2, and corrects the incoming tension command in synchronization with the rotational cycle of the incoming TR2.

すなわち、入側張力変動抽出装置６０を用いて入側ＴＲ２の回転周期成分の張力変動を取り出し、入側ＴＲ２の回転周期に同期させて入側張力指令を補正する。
なお、第１実施形態および第２実施形態においては、圧延機１の入側ＴＲ速度２０を変化させないため、入側ＴＲ２に関して本発明を適用する場合を例示して説明したが、出側ＴＲ３についても入側ＴＲ２と同様に構成することが可能である。 That is, the tension fluctuation of the rotational period component of the incoming side TR2 is extracted using the incoming side tension fluctuation extracting device 60, and the incoming side tension command is corrected in synchronization with the rotational period of the incoming side TR2.
In addition, in 1st Embodiment and 2nd Embodiment, in order not to change the entrance side TR speed 20 of the rolling mill 1, although demonstrated about the case where this invention was applied regarding entrance side TR2, about exit side TR3 Can also be configured in the same manner as the incoming TR2.

また、前記第１実施形態および第２実施形態において、シングルスタンド圧延機Ｓに本発明を適用した場合を例示して説明したが、前記したシングルスタンド圧延機の入側ＴＲ２または出側ＴＲ３、或いは、シングルスタンド圧延機の入側ＴＲ２および出側ＴＲ３以外に、圧延機としてはシングルスタンド圧延機に限定されず、適用可能である。
例えば、多スタンドのタンデム圧延機においても、入側または出側にテンションリールが設置されている場合には、本発明を、入側ＴＲまたは出側ＴＲ、或いは、入側ＴＲおよび出側ＴＲに適宜適用可能である。
また、圧延機１の入側または出側に被圧延材ｕに張力を付与する事を目的とするブライドルロールやピンチロール等の装置を設置し、その装置がトルク一定制御にて駆動されている場合にも適時使用可能である。 Moreover, in the said 1st Embodiment and 2nd Embodiment, although the case where this invention was applied to the single stand rolling mill S was illustrated and demonstrated, entrance side TR2 or exit side TR3 of an above described single stand rolling mill, or In addition to the entry side TR2 and the exit side TR3 of the single stand rolling mill, the rolling mill is not limited to a single stand rolling mill and is applicable.
For example, even in a multi-stand tandem rolling mill, when a tension reel is installed on the entry side or the exit side, the present invention is applied to the entry side TR or the exit side TR, or the entry side TR and the exit side TR. Applicable as appropriate.
In addition, a bridle roll, a pinch roll, or the like is installed on the entry side or the exit side of the rolling mill 1 for the purpose of applying tension to the material to be rolled u, and the apparatus is driven with constant torque control. It can be used in a timely manner.

＜＜作用効果＞＞
圧延機におけるテンションリールに対するトルク一定制御における電流指令（トルク指令）を、予想される張力変動に合わせて補正し、テンションリールの速度変動を抑制することで、圧延機出側の被圧延材ｕの板厚変動、すなわち圧延製品の板厚変動を解決できる。
従って、従来のテンションリールをトルク一定制御（電流一定制御）していただけの場合と比較して、圧延機１の出側の板厚変動を抑制し、圧延製品の板厚精度を向上させることが可能となる。 << Action and effect >>
The current command (torque command) in the constant torque control for the tension reel in the rolling mill is corrected in accordance with the expected tension fluctuation, and the speed fluctuation of the tension reel is suppressed, so that the material u to be rolled on the outlet side of the rolling mill can be controlled. Variations in sheet thickness, that is, variations in sheet thickness of rolled products can be solved.
Therefore, compared with the case where only the conventional tension reel is controlled with constant torque (constant current control), it is possible to suppress variation in the thickness of the outlet side of the rolling mill 1 and improve the thickness accuracy of the rolled product. It becomes possible.

本発明は、冷間圧延機の制御に利用可能であり、実適用上の問題点は無い。   The present invention can be used for control of a cold rolling mill, and there is no problem in practical application.

１ 圧延機
２ 入側ＴＲ（張力付与回転手段）
３ 出側ＴＲ（張力付与回転手段）
５ 入側ＴＲ制御装置(制御装置)
６ 出側ＴＲ制御装置(制御装置)
１１ 入側張力設定装置(制御装置
１２ 出側張力設定装置(制御装置)
１５ 入側張力電流変換装置(制御装置)
１６ 出側張力電流変換装置(制御装置)
１８ 出側板厚制御装置(制御装置)
３２ 入側張力変動予測装置(第１張力変動予測手段、制御装置)
３３´ 非干渉制御装置(第２張力変動予測手段、制御装置)
３４ 張力補正切換え装置(切換え手段、制御装置)
６０ 入側張力変動抽出装置(張力変動抽出手段、制御装置)
ｕ 被圧延材 DESCRIPTION OF SYMBOLS 1 Rolling machine 2 Entry side TR (Tension giving rotation means)
3 Outgoing TR (Tension applying rotation means)
5 Incoming TR control device (control device)
6 Outgoing TR control device (control device)
11 Inlet tension setting device (control device 12 Outlet tension setting device (control device)
15 Input tension current converter (control device)
16 Outlet tension current converter (control device)
18 Outlet thickness control device (control device)
32 Entry-side tension fluctuation prediction device (first tension fluctuation prediction means, control device)
33 'non-interference control device (second tension fluctuation prediction means, control device)
34 Tension correction switching device (switching means, control device)
60 Inlet side tension fluctuation extracting device (tension fluctuation extracting means, control device)
u Rolled material

Claims (12)

圧延機で圧延される被圧延材の巻出しおよび巻取り用に前記圧延機の入側・出側のうちの少なくとも何れか側に、前記被圧延材に張力を付与するとともにトルク一定制御を実施する張力付与回転手段を備えた圧延機の制御装置であって、
前記入側・出側のうちの少なくとも何れか側の前記被圧延材の張力変動を予測する第１張力変動予測手段を備え、
該第１張力変動予測手段による張力変動予測結果に基づいて、前記張力変動が予測された側の張力付与回転手段のトルク指令に、前記被圧延材の張力変動に応じて当該張力付与回転手段の速度が変化しないように、前記予測された張力変動から求めた該張力変動のトルクと釣り合う変動分のトルクを加える補正を行う
ことを特徴とする圧延機の制御装置。 For unwinding and winding of the material to be rolled by a rolling mill, tension is applied to the material to be rolled and at least one of the entry side and the exit side of the rolling mill and constant torque control is performed. A control device for a rolling mill provided with a tension applying rotation means,
Comprising first tension fluctuation prediction means for predicting tension fluctuation of the material to be rolled on at least one of the entry side and the exit side;
Based on the tension fluctuation prediction result by the first tension fluctuation predicting means, the torque command of the tension applying rotating means on the side where the tension fluctuation is predicted is sent to the tension applying rotating means according to the tension fluctuation of the material to be rolled. A control device for a rolling mill, wherein correction is performed so as to add a torque corresponding to a fluctuation that balances the torque of the tension fluctuation obtained from the predicted tension fluctuation so that the speed does not change. 請求項１に記載の圧延機の制御装置において、
前記第１張力変動予測手段は、前記被圧延材の板厚を制御する板厚制御指令による前記被圧延材の張力変動を予測する
ことを特徴とする圧延機の制御装置。 In the control apparatus of the rolling mill of Claim 1,
The control device for a rolling mill, wherein the first tension fluctuation prediction means predicts a tension fluctuation of the material to be rolled according to a plate thickness control command for controlling a plate thickness of the material to be rolled. 請求項１に記載の圧延機の制御装置において、
前記圧延機の圧延設定値および圧延実績に応じて、
前記入側・出側のうちの少なくとも何れか側の前記被圧延材の張力変動を予測し、該張力変動予測結果に基づいて、前記張力変動が予測された側の張力付与回転手段のトルク指令に、前記張力変動に応じて当該張力付与回転手段の速度が変化しないように、前記予測された張力変動から求めた該張力変動のトルクと釣り合う変動分のトルクを加える補正を行う機能と、
前記被圧延材の板厚を制御する板厚制御指令による前記被圧延材の張力変動を予測し、該予測された側の前記張力付与回転手段のトルク指令を、前記予測された張力変動によるトルク変化と逆方向に操作し、前記張力変動が予測された側の前記被圧延材の張力変動を抑制する機能とを、
切換える切換え手段を備えることを特徴とする圧延機の制御装置。 In the control apparatus of the rolling mill of Claim 1,
According to the rolling set value and rolling performance of the rolling mill,
Predict the tension fluctuation of the material to be rolled on at least one of the entry side and the exit side, and based on the tension fluctuation prediction result, the torque command of the tension applying rotation means on the side where the tension fluctuation is predicted And a function of performing a correction for adding a torque corresponding to a fluctuation that balances the torque of the tension fluctuation obtained from the predicted tension fluctuation so that the speed of the tension applying rotation means does not change according to the tension fluctuation;
Predicting the tension variation of the material to be rolled by a plate thickness control command for controlling the plate thickness of the material to be rolled, and determining the torque command of the tension applying rotation means on the predicted side as the torque due to the predicted tension variation. A function of operating in the opposite direction to the change and suppressing the tension fluctuation of the material to be rolled on the side on which the tension fluctuation is predicted,
A rolling mill control device comprising switching means for switching. 請求項１に記載の圧延機の制御装置において、
前記圧延機の圧延設定値および圧延実績に応じて、前記張力変動予測結果に基づいて、前記張力変動が予測された側の張力付与回転手段のトルク指令に、前記張力変動に応じて当該張力付与回転手段の速度が変化しないように、前記予測された張力変動から求められた該張力変動のトルクと釣り合う変動分のトルクを加える補正を行う機能を入切する
ことを特徴とする圧延機の制御装置。 In the control apparatus of the rolling mill of Claim 1,
According to the rolling set value and rolling record of the rolling mill, based on the tension fluctuation prediction result, the tension application to the torque command of the tension applying rotating means on the side where the tension fluctuation is predicted is applied according to the tension fluctuation. A rolling mill control characterized by turning on and off a function of adding a torque corresponding to a fluctuation that balances the torque of the tension fluctuation obtained from the predicted tension fluctuation so as not to change the speed of the rotating means. apparatus. 請求項１に記載の圧延機の制御装置において、
前記第１張力変動予測手段による前記被圧延材の張力変動の予測の際、前記圧延機において周期的に発生する機械的変動による前記張力変動を前記被圧延材の張力変動実績値から抽出する張力変動抽出手段を備える
ことを特徴とする圧延機の制御装置。 In the control apparatus of the rolling mill of Claim 1,
Tension for extracting the tension fluctuation due to the mechanical fluctuation periodically generated in the rolling mill from the tension fluctuation actual value of the rolling material when the tension fluctuation prediction of the rolling material is predicted by the first tension fluctuation prediction means. A control device for a rolling mill, comprising fluctuation extracting means. 請求項１から請求項５のうちの何れか一項に記載の圧延機の制御装置において、
前記張力付与回転手段は、テンションリールまたはブライドルロールまたはピンチロールである
ことを特徴とする圧延機の制御装置。 In the control apparatus of the rolling mill as described in any one of Claims 1-5,
The control device for a rolling mill, wherein the tension applying rotation means is a tension reel, a bridle roll, or a pinch roll. 圧延機で圧延される被圧延材の巻出しおよび巻取り用に前記圧延機の入側・出側のうちの少なくとも何れか側に、前記被圧延材に張力を付与するとともにトルク一定制御を実施する張力付与回転手段を備えた圧延機の制御方法であって、
制御装置が、
前記入側・出側のうちの少なくとも何れか側の前記被圧延材の張力変動を予測し、
該張力変動予測結果に基づいて、前記張力変動が予測された側の張力付与回転手段のトルク指令に、前記被圧延材の張力変動に応じて当該張力付与回転手段の速度が変化しないように、前記予測された張力変動から求めた該張力変動のトルクと釣り合う変動分のトルクを加える補正を行う
ことを特徴とする圧延機の制御方法。 For unwinding and winding of the material to be rolled by a rolling mill, tension is applied to the material to be rolled and at least one of the entry side and the exit side of the rolling mill and constant torque control is performed. A control method of a rolling mill provided with tension applying rotation means
The control unit
Predicting tension fluctuations of the material to be rolled on at least one of the entry side and the exit side;
Based on the tension fluctuation prediction result, to the torque command of the tension applying rotating means on the side where the tension fluctuation is predicted, the speed of the tension applying rotating means does not change according to the tension fluctuation of the material to be rolled. A control method for a rolling mill, wherein correction is performed to add a torque corresponding to a fluctuation that balances the torque of the tension fluctuation obtained from the predicted tension fluctuation. 請求項７に記載の圧延機の制御方法において、
前記被圧延材の張力変動の予測は、前記被圧延材の板厚を制御する板厚制御指令による前記被圧延材の張力変動に対して行う
ことを特徴とする圧延機の制御方法。 In the control method of the rolling mill according to claim 7,
Prediction of the tension fluctuation of the material to be rolled is performed with respect to the tension fluctuation of the material to be rolled by a plate thickness control command for controlling the plate thickness of the material to be rolled. 請求項７に記載の圧延機の制御方法において、
制御装置が、
前記圧延機の圧延設定値および圧延実績に応じて、
前記入側・出側のうちの少なくとも何れか側の前記被圧延材の張力変動を予測し、該張力変動予測結果に基づいて、前記張力変動が予測された側の張力付与回転手段のトルク指令に、前記張力変動に応じて当該張力付与回転手段の速度が変化しないように、前記予測された張力変動から求めた該張力変動のトルクと釣り合う変動分のトルクを加える補正を行う制御と、
前記被圧延材の板厚を制御する板厚制御指令による前記被圧延材の張力変動を予測し、該予測された側の張力付与回転手段のトルク指令を、前記予測された張力変動によるトルク変化と逆方向に操作し、前記張力変動が予測された側の前記被圧延材の張力変動を抑制する制御とを
切換えることを特徴とする圧延機の制御方法。 In the control method of the rolling mill according to claim 7,
The control unit
According to the rolling set value and rolling performance of the rolling mill,
Predict the tension fluctuation of the material to be rolled on at least one of the entry side and the exit side, and based on the tension fluctuation prediction result, the torque command of the tension applying rotation means on the side where the tension fluctuation is predicted In addition, a control for performing correction to add a torque corresponding to a fluctuation that balances the torque of the tension fluctuation obtained from the predicted tension fluctuation so that the speed of the tension applying rotation means does not change according to the tension fluctuation;
Predicting the tension variation of the material to be rolled by a plate thickness control command for controlling the plate thickness of the material to be rolled, and determining the torque command of the tension applying rotation means on the predicted side as the torque variation due to the predicted tension variation. And a control method for switching the control to suppress the tension fluctuation of the material to be rolled on the side where the tension fluctuation is predicted. 請求項７に記載の圧延機の制御方法において、
前記制御装置が、
前記圧延機の圧延設定値および圧延実績に応じて、
前記張力変動予測結果に基づいて、前記張力変動が予測された側の張力付与回転手段のトルク指令に、前記張力変動に応じて当該張力付与回転手段の速度が変化しないように、前記予測された張力変動から求められた該張力変動のトルクと釣り合う変動分のトルクを加える補正を行う制御を入切する
ことを特徴とする圧延機の制御方法。 In the control method of the rolling mill according to claim 7,
The control device is
According to the rolling set value and rolling performance of the rolling mill,
Based on the tension fluctuation prediction result, the torque command of the tension applying rotating means on the side where the tension fluctuation is predicted is predicted so that the speed of the tension applying rotating means does not change according to the tension fluctuation. A control method for a rolling mill characterized by turning on / off a control for adding a torque corresponding to a fluctuation that balances the torque of the tension fluctuation obtained from the tension fluctuation. 請求項７に記載の圧延機の制御方法において、
前記被圧延材の張力変動の予測は、前記圧延機において周期的に発生する機械的変動による前記張力変動を前記被圧延材の張力変動実績値から抽出して行う
ことを特徴とする圧延機の制御方法。 In the control method of the rolling mill according to claim 7,
Prediction of tension fluctuation of the material to be rolled is performed by extracting the tension fluctuation due to mechanical fluctuation periodically generated in the rolling mill from the actual tension fluctuation value of the material to be rolled. Control method. 請求項７から請求項１１のうちの何れか一項に記載の圧延機の制御方法において、
前記張力付与回転手段は、テンションリールまたはブライドルロールまたはピンチロールである
ことを特徴とする圧延機の制御方法。


In the control method of the rolling mill according to any one of claims 7 to 11,
The tension applying rotation means is a tension reel, a bridle roll, or a pinch roll.


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