JP2013049069A - Take-up control device and take-up control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably take up a strip by faithfully controlling the rotational speed of a mandrel to an intended command without being influenced by tension fluctuation of the strip even when the tension fluctuation of the strip occurs by tension disturbance.SOLUTION: The take-up control device 1 controls the rotational speed of the mandrel 13 for taking up the strip 15 which has been hot-rolled and includes a compensation part 5, a drive motor 6, and a tension disturbance observer 7. The drive motor 6 rotates the mandrel 13 by commanded torque, and outputs a rotational speed response value of the mandrel 13. The tension disturbance observer 7 estimates disturbance torque applied to the drive motor 6 based on a torque command value and the rotational speed response value. The compensation part 5 compensates the torque commanded to the drive motor 6 based on the disturbance torque, and transmits compensated torque command value to the drive motor 6 and the tension disturbance observer 7.

Description

  The present invention relates to a winding control device and a winding control method for controlling the rotation speed of a mandrel that winds up a hot-rolled metal material.

  Conventionally, in the steel field, a metal material heated to about a few hundred hundred degrees Celsius is thinly stretched by the clamping and rotating action of a pair of rolls, and then this rolled strip-like metal material (hereinafter referred to as a strip) is coiled. A so-called hot rolling line is widely known.

  In a hot rolling line, generally, a pinch roll and a coiler are disposed after a finishing mill that rolls a heated metal material to a desired thickness, and a strip fed from the finishing mill is rotated by a pinch roll. Then, the strip is wound up sequentially by rotating the coiler. Note that a mandrel is usually used as the rotating mandrel of the coiler, and the coiler can take up the strip by rotating the mandrel with a driving source.

  In such a hot rolling line, in order for the coiler to start winding the strip properly during the period from when the strip is delivered from the finishing mill to when it winds around the coiler via the pinch roll, The rotation speed of the mandrel is controlled.

  On the other hand, during the period when the strip fed from the finishing mill is wound around the coiler via the pinch roll, the strip between the finishing mill and the mandrel is pressed by the clamping action of the finishing mill against the strip and the rotating action of the mandrel. The tension is applied to. In this state, the rotation speed of the mandrel is controlled in order to properly control the tension applied to the strip until winding, and the winding speed of the strip is controlled through the control of the mandrel. On the other hand, the pinch roll serves to deliver the strip in a direction toward the mandrel without applying any particular load to the strip during this period.

  In addition, as a related art related to such a hot rolling line, for example, before the strip comes out of the finishing mill, the mandrel for winding the strip is driven by current control, and after the strip comes out of the finishing mill, There is an apparatus for controlling the speed of the mandrel (see Patent Document 1). In addition, during the period from when the strip tail end exits the finishing stand to when the winding of the strip is completed, the speed of the mandrel is controlled, and the load current value applied to the mandrel immediately before the strip tail end exits from the finishing stand. There is also a winding control method (see Patent Document 2) in which the speed of the pinch roll is controlled so as to always match the current value.

  Also, after the tail end of the strip comes out of the finish rolling mill, the pinch roll is rotated at a lower rotational speed (peripheral speed) than the strip transport speed when winding the strip by controlling the electric motor that rotates the pinch roll. In addition, there is a method (see Patent Document 3) that captures the record of the current of the electric motor that rotates the pinch roll and controls the pinch roll gap between the upper and lower sides based on this. There is also a method (see Patent Document 4) for controlling the feed speed and the peripheral speed within a range in which the rubbing of the strip that occurs when the peripheral speed of the pinch roll is suppressed as compared with the feed speed of the strip. .

JP-A-7-75824 JP-A 63-80921 JP 2006-150403 A JP-A-8-257636

  By the way, in the hot rolling line described above, from the viewpoint of improving the quality of a strip as a product, not only the reduction of quality defects such as rubbing or bending of the strip that occurs when winding the strip, but also the strip is coiled. It is also necessary to pay attention to the improvement of the shape (hereinafter referred to as “coil winding shape”).

  Specifically, in order to improve the quality of the strip, pay attention to fluctuations in the tension of the strip in the hot rolling line, in particular the tension applied to the strip from the finishing mill to the mandrel via the pinch roll. Thus, it is necessary to control the winding speed of the strip. Thus, problems such as meandering of the strip during winding and excessive friction between the strip and the pinch roll must be prevented. In order to realize this, it is necessary to faithfully control the rotation speed of the mandrel during winding of the strip without being affected by fluctuations in the tension of the strip.

  However, in the above-described prior art, disturbances other than factors on the hot rolling line system, such as fluctuations in the thickness of the strips that are sequentially clamped by the finishing mill or the like, or leveling errors between the hot rolling line apparatus and the strip, etc. When the tension of the strip fluctuates, it is difficult to achieve a mandrel rotational speed that is faithful to the intended command without being affected by disturbances that cause the tension fluctuation of the strip (hereinafter referred to as tension disturbance).

  The present invention has been made in view of the above circumstances, and even when the tension fluctuation of the strip occurs due to the tension disturbance, it is not affected by the tension fluctuation of the strip and is faithful to the intended command. Another object of the present invention is to provide a winding control device and a winding control method capable of stably winding a strip by controlling the rotation speed of a mandrel.

  In order to solve the above-described problems and achieve the object, a winding control device according to the present invention is a torque command value in a winding control device that controls the rotation speed of a mandrel that winds a hot-rolled metal strip. A drive unit that transmits the torque indicated by the received torque command value to the mandrel to rotate the mandrel and outputs a rotation speed response value of the mandrel rotated in response to the torque; A torque observer for estimating a disturbance torque applied to the drive unit in accordance with a fluctuation in tension of the metal band due to a disturbance based on the torque command value and the rotation speed response value, and corresponding to a speed command value of the mandrel Then, the torque commanded to the drive unit is compensated based on the disturbance torque, and the torque command value indicating the compensated torque is set to the drive unit and Characterized in that and a compensation unit for transmitting the torque observer.

  In the winding control device according to the present invention, in the above invention, the torque observer simulates the operation of the drive unit that rotates the mandrel according to the torque command value, and fluctuations in tension of the metal band due to disturbance. A driving unit model that calculates a simulation value of the rotation speed of the mandrel rotated under a condition that does not occur, and an estimation unit that estimates the disturbance torque using a difference between the simulation value and the rotation speed response value. It is characterized by having.

  Further, the winding control method according to the present invention is a winding control method for controlling the rotation speed of a mandrel that winds a hot-rolled metal strip, and the driving unit transmits torque to the mandrel to rotate the mandrel. And obtaining a rotational speed response value of the mandrel rotated in response to the torque, and based on the torque command value instructing the torque to the drive unit and the rotational speed response value, the metal due to disturbance A disturbance torque applied to the drive unit according to the tension fluctuation of the belt is estimated, a torque instructed to the drive unit corresponding to the speed command value of the mandrel is compensated based on the disturbance torque, and the drive unit is On the other hand, it is instructed to rotate the mandrel with the compensated torque.

  According to the present invention, even when the tension fluctuation of the strip occurs due to the tension disturbance, the rotation speed of the mandrel is controlled faithfully to the intended command without being affected by the tension fluctuation of the strip, and stable. The effect is that the strip can be wound up.

FIG. 1 is a block diagram illustrating a configuration example of a winding control device according to an embodiment of the present invention. FIG. 2 is a block diagram illustrating a configuration example of a tension disturbance observer of the winding control device according to the embodiment of the present invention. FIG. 3 is a flowchart showing an example of a processing flow of the tension disturbance observer when the winding control device controls the rotation speed of the mandrel during strip winding. FIG. 4 is a diagram illustrating a mandrel speed control result by a winding control device that does not include a tension disturbance observer. FIG. 5 is a diagram illustrating a mandrel speed control result by a winding control device including a tension disturbance observer.

  Exemplary embodiments of a winding control device and a winding control method according to the present invention will be explained below in detail with reference to the accompanying drawings. In addition, this invention is not limited by this embodiment.

(Embodiment)
First, the configuration of the winding control device according to the embodiment of the present invention will be described. FIG. 1 is a block diagram illustrating a configuration example of a winding control device according to an embodiment of the present invention. The winding control device 1 according to this embodiment has a mandrel according to the tension generated in the mandrel 13 when the strip 15 delivered from the finishing mill 11 of the hot rolling line shown in FIG. 13 is a device for controlling the rotational speed of 13.

  That is, as shown in FIG. 1, the winding control device 1 includes a reception unit 2 that receives an instruction signal from a speed instruction device (not shown) that instructs the rotation speed of the mandrel 13, and a command value of the rotation speed. PI control unit 3 and control gain multiplication unit 4 for converting the torque to a torque command value, a compensation unit 5 for compensating torque corresponding to the tension fluctuation of the strip 15, a drive motor 6 for rotating the mandrel 13, A tension disturbance observer 7 for estimating a disturbance torque of the drive motor 6 caused by the tension disturbance.

  The accepting unit 2 accepts a speed command signal S1 transmitted by an external speed instruction device (not shown). The speed command signal S1 is a signal for instructing a winding speed when the strip 15 processed to be thin in the hot rolling line is wound around the mandrel 13, that is, a rotation speed of the mandrel 13.

  The receiving unit 2 has a function as a correcting unit that corrects the preset speed command signal S1 using the speed response value of the mandrel 13 fed back. Specifically, the reception unit 2 receives the speed response signal S6 fed back from the drive motor 6 every time the speed command signal S1 is received as described above. Next, the accepting unit 2 uses the speed command value of the obtained speed command signal S1 and the speed response value of the speed response signal S6 fed back, for example, subtracts the speed response value from the speed command value. The speed command value is corrected by executing a subtraction process. Thereafter, the reception unit 2 transmits a speed command signal S2 corresponding to the corrected speed command value to the PI control unit 3.

  Here, the preset speed command value is a command value that takes into account the tension fluctuation of the strip 15 caused by factors other than the tension disturbance if the correction process is executed using the fed back speed response value. That is, if the rotational speed of the mandrel 13 is controlled according to the corrected speed command value, it is not affected by the tension fluctuation of the strip 15 due to factors other than the tension disturbance. It should be noted that factors other than this tension disturbance can easily occur normally when the strip 15 is conveyed in the hot rolling line, such as a change in state before and after the tail end 15a of the strip 15 comes out of the finishing mill 11. This is a possible factor.

  The PI control unit 3 and the control gain multiplication unit 4 are for converting a speed command value for the mandrel 13 into a torque command value for the drive motor 6. Specifically, the PI control unit 3 receives the speed command signal S2 from the reception unit 2, and executes proportional control and integration control on the obtained speed command signal S2 each time. The control gain multiplication unit 4 multiplies the signal thus processed by the PI control unit 3 by an appropriate control gain. The speed command value of the speed command signal S2 described above is converted into a torque command value for the drive motor 6 by the action of the PI control unit 3 and the control gain multiplication unit 4. The converted torque command value is a command value for instructing the drive motor 6 with a torque necessary for rotating the mandrel 13 at a rotation speed according to the speed command value of the speed command signal S2. A torque command signal S3 corresponding to this torque command value is transmitted to the compensation unit 5.

  The compensation unit 5 compensates the torque of the drive motor 6 in response to the tension fluctuation of the strip 15 caused by the tension disturbance. That is, the compensation unit 5 compensates the torque instructed to the drive motor 6 in response to the speed command value of the mandrel 13 based on the speed command signal S2 based on the disturbance torque caused by the tension disturbance.

  Specifically, the compensation unit 5 is realized by using an adder or the like, receives the torque command signal S3 from the control gain multiplication unit 4, and receives the tension disturbance torque signal S4 from the tension disturbance observer 7 each time. Next, the compensator 5 adds the disturbance torque to the torque indicated by the torque command value of the torque command signal S3, for example, based on the disturbance torque indicated by the obtained tension disturbance torque signal S4. This torque is compensated. Thereafter, the compensation unit 5 outputs a torque command value that indicates the torque after compensation. Specifically, the compensation unit 5 transmits a torque command signal S5 corresponding to the torque command value to the drive motor 6 and the tension disturbance observer 7.

  Here, the torque command value of the torque command signal S3 described above is a command value that takes into account the tension fluctuation of the strip 15 caused by the factor of the tension disturbance when the torque compensation process is executed using the fed back disturbance torque. That is, if the drive motor 6 transmits the torque after the torque compensation process to the mandrel 13, the rotation speed of the mandrel 13 is not affected by the tension fluctuation of the strip 15 caused by the tension disturbance. The disturbance torque is a load torque applied to the drive motor 6 via the mandrel 13 according to the tension fluctuation of the strip 15 caused by the tension disturbance.

  The drive motor 6 is realized using a drive motor, a speed sensor, and the like, and rotates the mandrel 13 when winding the strip 15 and detects the rotation speed of the mandrel 13. Specifically, the drive motor 6 receives the torque command signal S5 from the compensation unit 5, and transmits the torque indicated by the torque command value of the received torque command signal S5 to the mandrel 13 each time. Thereby, the drive motor 6 rotates the mandrel 13 at a rotation speed according to the torque command signal S5.

  Further, the drive motor 6 is based on the drive power when the mandrel 13 is rotated as described above, and the rotational speed when the mandrel 13 is actually rotated in response to the torque transmitted to the mandrel 13 is as follows. It is detected as a rotation speed response value of the mandrel 13. Thereafter, the drive motor 6 rotates the mandrel 13 and outputs a speed response signal S6 indicating the detected rotational speed response value each time. The speed response signal S6 is fed back to the receiving unit 2 and the tension disturbance observer 7 described above as shown in FIG.

  The tension disturbance observer 7 estimates a disturbance torque applied to the drive motor 6 according to the tension fluctuation of the strip 15 due to the tension disturbance. Specifically, the tension disturbance observer 7 receives the torque command signal S5 fed forward from the compensator 5 and receives the speed response signal S6 fed back from the drive motor 6 each time. Next, the tension disturbance observer 7 rotates the mandrel 13 based on the torque command value indicated by the obtained torque command signal S5 and the rotation speed response value of the mandrel 13 indicated by the speed response signal S6. The disturbance torque applied to the drive motor 6 is estimated. Thereafter, the tension disturbance observer 7 transmits a tension disturbance torque signal S4 indicating the estimated disturbance torque to the compensation unit 5.

  Next, the configuration and operation of the above-described tension disturbance observer will be described in detail. FIG. 2 is a block diagram illustrating a configuration example of a tension disturbance observer of the winding control device according to the embodiment of the present invention. FIG. 3 is a flowchart showing an example of a processing flow of the tension disturbance observer when the winding control device controls the rotation speed of the mandrel during strip winding.

  As shown in FIG. 2, the tension disturbance observer 7 includes a mandrel motor model 7a and an estimated value calculation unit 7b. The mandrel motor model 7a and the estimated value calculation unit 7b are realized using various parameters such as the inertia of the motor (including the coil) of the drive motor 6, the control period, the cutoff frequency of the filter, and the like to discretize the control system Bilinear transformation is used.

  The mandrel motor model 7 a models the motor function of the drive motor 6 that rotates the mandrel 13. The mandrel motor model 7a simulates the operation of the drive motor 6 described above by inputting a torque command signal S5 for instructing torque to the actual drive motor 6. The estimated value calculation unit 7b functions as an estimation unit that estimates disturbance torque, and calculates an estimated value of disturbance torque applied to the drive motor 6 based on the simulation result of the mandrel motor model 7a and the speed response signal S6.

  Specifically, as shown in FIG. 3, the tension disturbance observer 7 first acquires a torque command value that is the same as the torque command value that instructs the drive motor 6 to provide torque (step S <b> 101). In step S101, the mandrel motor model 7a receives the torque command signal S5 described above, and acquires a torque command value indicated by the received torque command signal S5.

  Next, the tension disturbance observer 7 estimates the mandrel speed based on the acquired torque command value (step S102). In step S102, the mandrel motor model 7a simulates the operation of the drive motor 6 using the acquired torque command value. That is, the mandrel motor model 7a transmits the torque instructed by the torque command value of the torque command signal S5 to the mandrel 13, thereby simulating the operation of rotating the mandrel 13. As a result of this simulation, the mandrel motor model 7a uses this torque to estimate the theoretical rotation speed when the mandrel 13 rotates without torque loss, that is, the mandrel speed.

  Subsequently, the tension disturbance observer 7 acquires the current speed response value of the mandrel drive source (step S103). In step S103, the estimated value calculation unit 7b receives the speed response signal S6 described above, and acquires the actual rotation speed response value of the mandrel 13 indicated by the received speed response signal S6. The rotational speed response value in step S103 is an actual measured value of the rotational speed of the mandrel 13 obtained by the drive motor 6 serving as the mandrel drive source transmitting the torque indicated by the torque command value in step S101 to the mandrel 13. It is.

  Next, the tension disturbance observer 7 estimates the tension disturbance torque currently applied to the mandrel drive source (step S104). In step S104, the estimated value calculation unit 7b acquires the estimated value of the rotation speed of the mandrel 13 estimated in step S102 from the mandrel motor model 7a. The estimated value calculation unit 7b subtracts the rotational speed response value (actual value) of the mandrel 13 acquired in step S103 from the acquired estimated rotational speed value, and based on the calculated value, the tension An estimated value of the disturbance torque currently applied to the drive motor 6 due to the disturbance is calculated.

  Subsequently, the tension disturbance observer 7 outputs the obtained tension disturbance torque estimated value (step S105), and then returns to the above-described step S101 to repeat the processing procedure after step S101. In step S105, the estimated value calculation unit 7b transmits a tension disturbance torque signal S4 indicating the calculated estimated value of the disturbance torque to the compensation unit 5 (see FIG. 1).

  Here, the winding control device 1 provided with the tension disturbance observer 7 as described above controls the torque of the mandrel 13 by the drive motor 6 when controlling the rotation speed of the mandrel 13 that winds the hot-rolled strip 15. The torque by the command signal S5 is transmitted to rotate the mandrel 13, and the rotation speed response value of the mandrel 13 rotated in response to the transmitted torque is acquired. Next, based on the torque command value instructing the torque to the drive motor 6 and the acquired rotation speed response value, the disturbance torque applied to the drive motor 6 according to the tension fluctuation of the strip 15 due to the disturbance is estimated. Thereafter, the torque instructed to the drive motor 6 corresponding to the speed command value of the mandrel 13 is compensated based on the estimated disturbance torque, and the mandrel 13 is rotated by the compensated torque to the drive motor 6. Instruct. Thereafter, the above procedure is repeated as appropriate. In the present invention, the rotational speed of the mandrel 13 when winding the strip 15 is controlled by such a winding control method.

  Next, as shown in FIG. 1, a hot rolling line in which the strip 15 rolled by the finishing mill 11 is wound around the mandrel 13 via the pinch roll 12 is illustrated as an example of the present invention. The effect by this winding control apparatus 1 is demonstrated, showing the specific Example of this winding control apparatus 1. FIG.

  In this embodiment, a steel strip is illustrated as an example of the strip 15. As shown in FIG. 1, the strip 15 is rolled to a thickness of 0.8 to 25 mm by the action of roller rotation while being sandwiched from above and below by the finishing mill 11 as shown in FIG. 1. The strip-shaped strip 15 rolled in this way is fed from the finishing mill 11 and then guided to the mandrel 13 while being pinched by the pinch roll 12 while being transported in the transport direction indicated by the thick line arrow in FIG. The The strips 15 that have reached the mandrel 13 are sequentially wound up by the mandrel 13. At this time, the rotation speed of the mandrel 13 is always controlled by the winding control device 1.

  Here, as described above, the strip 15 wound by the mandrel 13 is tensioned in a direction opposite to the conveying direction. The tension of the strip 15 is a factor that can easily be assumed to occur normally when the strip 15 is conveyed in a hot rolling line, such as a synergistic effect of clamping by a roller such as the finishing mill 11 and winding by a mandrel 13. Or may be caused by a tension disturbance that is difficult to imagine.

  In a state where at least one of these two tensions is generated, a tension torque is applied to the drive motor 6 that rotates the mandrel 13. The tension torque is a torque that is applied from the mandrel 13 to the drive motor 6 due to the tension when the strip 15 is wound around the mandrel 13 in a state where tension is generated.

  On the other hand, the tension of the strip 15 greatly fluctuates due to a clamping state of the strip 15 such as a state change before and after the tail end portion 15a comes out of the finishing mill 11 or a tension disturbance. For this reason, the tension torque applied to the drive motor 6 varies with such a variation in the tension of the strip 15.

  Therefore, winding of the strip 15 to the mandrel 13 up to the tail end to the tail end 15a is completed without causing problems such as meandering of the strip 15 being wound, and the coil winding shape is also good. Therefore, the winding control device 1 needs to achieve the following. That is, the winding control device 1 suitably responds to both the tension torque described above, specifically, the disturbance torque caused by the tension disturbance and the normal tension torque caused by factors other than the tension disturbance. Then, the winding control of the strip 15 is performed. As a result, the winding control device 1 needs to control the rotation speed of the mandrel 13 faithfully with respect to the intended command without being affected by any tension fluctuation occurring in the strip 15.

  Here, in this embodiment, as shown in FIG. 1, the intended speed command for the situation where the tension fluctuation of the strip 15 is extremely large, that is, the situation before and after the tail end portion 15a of the strip 15 comes out of the finishing mill 11. The control accuracy of the rotation speed of the mandrel 13 was investigated.

  FIG. 4 is a diagram illustrating a mandrel speed control result by a winding control device that does not include a tension disturbance observer. FIG. 5 is a diagram illustrating a mandrel speed control result by a winding control device including a tension disturbance observer. In FIG. 4, a broken line L1 indicates a change over time in the command value of the rotation speed of the mandrel 13 indicated by the speed command signal S1, and a solid line L2 indicates a change in the mandrel 13 indicated by the speed response signal S6. The time-dependent change of a rotational speed response value is shown. Similarly, in FIG. 5, the broken line L3 indicates a change with time in the command value of the rotation speed of the mandrel 13, and the solid line L4 indicates a change with time in the rotation speed response value of the mandrel 13.

  4 and 5, the tension fluctuation of the strip 15 due to the tension disturbance occurs in the period from when the tail end portion 15a of the strip 15 comes out of the finishing mill 11 until 2 seconds elapses to 6 seconds. Has occurred.

  First, in the winding control device not provided with the tension disturbance observer 7, 12 seconds after the tail end portion 15a of the strip 15 comes out of the finishing mill 11, as can be seen by comparing the broken line L1 and the solid line L2 in FIG. During the survey period, the rotational speed response value of the mandrel 13 indicated by the solid line L2 generally follows the rotational speed command value of the speed command signal S1 indicated by the broken line L1 as an overall trend. However, the rotation speed response value (solid line L2) of the mandrel 13 does not follow the rotation speed command value (broken line L1) in the investigation period of 2 to 6 seconds when the tension fluctuation of the strip 15 due to the tension disturbance occurs. There is a difference between the two.

  This means that the torque of the drive motor 6 rotating the mandrel 13 is lost due to disturbance torque via the mandrel 13. In other words, the rotational speed of the mandrel 13 is affected by the tension fluctuation of the strip 15 due to the tension disturbance, and as a result, it is not faithful to the rotational speed instructed by the intended rotational speed command value.

  On the other hand, in the winding control device 1 according to the present invention having the tension disturbance observer 7, as can be seen by comparing the broken line L3 and the solid line L4 in FIG. 5, in the same investigation period as that shown in FIG. The rotational speed response value of the mandrel 13 indicated by the solid line L4 substantially matches the rotational speed command value of the speed command signal S1 indicated by the broken line L3, and stably follows the overall trend. In particular, in the investigation period of 2 to 6 seconds in which the tension fluctuation of the strip 15 due to the tension disturbance occurs, the rotational speed response value (solid line L4) of the mandrel 13 stably follows the rotational speed command value (broken line L3). There is almost no difference between the two.

  This means that the torque of the drive motor 6 that rotates the mandrel 13 is not influenced to such an extent that the rotational speed of the mandrel 13 is fluctuated even if it receives disturbance torque. That is, the rotational speed of the mandrel 13 is faithful to the rotational speed instructed by the intended rotational speed command value even when the tension fluctuation of the strip 15 occurs due to the tension disturbance. In this way, the winding control device 1 provided with the tension disturbance observer 7 is not affected by any tension fluctuation of the strip 15 even if a tension disturbance is applied, and the mandrel 13 is faithful to the intended rotation speed command value. A speed control system capable of controlling the rotation speed, that is, a so-called robust speed control system is realized.

  As described above, in the embodiment of the present invention, when controlling the rotation speed of the mandrel that winds up the hot-rolled metal strip, the drive motor transmits the torque indicated by the torque command value to the mandrel. Then, the mandrel is rotated and the rotation speed response value of the mandrel rotated in response to the torque is output, and the torque disturbance observer instructs the drive motor to provide the torque command value and the acquired rotation speed response value. The disturbance torque applied to the drive motor according to the tension fluctuation of the metal strip due to the disturbance is estimated, and the compensation unit instructs the drive motor in response to the mandrel speed command value based on the disturbance torque. Compensation is performed, and a torque command value indicating the compensated torque is transmitted to the drive motor and the tension disturbance observer.

  For this reason, the torque command value can be feedback-controlled using the estimated value of the disturbance torque, so that each time the disturbance torque is applied to the drive motor, the torque command value with the disturbance torque can be transmitted to the drive motor. As a result, the torque command value can be controlled with high accuracy according to the fluctuation of the disturbance torque applied to the drive motor, that is, the fluctuation of the tension of the metal strip caused by the tension disturbance that causes this disturbance torque. it can. This makes it possible to control the rotation speed of the mandrel faithfully with respect to the intended command without being influenced by the tension fluctuation of the metal strip due to the tension disturbance. As a result, the metal strip can always be stably wound up without causing problems such as meandering of the metal strip during winding, and finally the winding of the metal strip into a good coil shape can be completed. .

  Further, the tension disturbance observer is configured using a mandrel motor model that can simulate the operation of the drive motor that rotates the mandrel according to the torque command value described above. For this reason, the operation of the drive motor according to the torque command value can be simulated with high accuracy by feeding the torque command value for instructing the torque to the drive motor into the mandrel motor model. As a result, the simulation value of the rotation speed of the mandrel can be calculated with high accuracy under the condition that the tension fluctuation of the metal band due to the tension disturbance does not occur, and the disturbance torque described above can be estimated with high accuracy by using this simulation value. Can do.

  Furthermore, since the rotational speed command value received from the external speed indicating device can be feedback-controlled using the rotational speed response value of the mandrel detected by the drive motor, this rotational speed response value (that is, the measured value of the rotational speed of the mandrel) ) Can be converted into a torque command value. Thus, the rotational speed command value can be controlled with high accuracy in accordance with the tension fluctuation of the metal band caused by factors other than the tension disturbance. As a result, the rotation speed of the mandrel can be controlled faithfully to the intended command without being affected not only by the tension fluctuation of the metal band due to the tension disturbance described above but also by the tension fluctuation of the metal band caused by factors other than the tension disturbance. .

  Here, in the hot rolling line, even if the tension applied to the metal strip at the time of winding varies, if the mandrel rotation speed cannot be controlled faithfully to the intended command, It is difficult to stably wind up a metal band while preventing problems such as band meandering or excessive wear. As a result, not only the coil winding shape becomes non-uniform, but also a defect such as rubbing in the metal band occurs, so that the quality of the metal band is lowered.

  However, according to the present invention, as described above, not only the fluctuation in the tension of the metal band due to the tension disturbance, but also the influence of the tension fluctuation of the metal band due to a factor other than the tension disturbance is faithful to the intended command. Since the mandrel rotation speed can be controlled, the mandrel rotation speed can be controlled faithfully to the intended command even if any tension fluctuation occurs in the metal band during winding. The metal band can be stably wound up while preventing the conveyance trouble of the metal band. As a result, the metal strip can be wound into a good coil winding shape without being affected by any tension fluctuation, and it is possible to prevent the occurrence of defects such as scratches on the metal strip, so that a high-quality metal strip can be obtained. it can.

  In the above-described embodiment, the steel strip is exemplified as an example of the strip 15 that is rolled by the hot rolling line. However, the present invention is not limited thereto, and in the winding control device and the winding control method according to the present invention, Even the strip 15 of other metal material such as copper or aluminum enjoys the same effect as that of the steel strip.

  In the above-described embodiment, the compensation unit 5 that compensates the torque by adding the estimated value of the disturbance torque to the torque indicated by the torque command value is exemplified. However, the present invention is not limited to this. 5, it is only necessary to execute torque compensation in consideration of the disturbance torque using the torque and the estimated value of the disturbance torque. In this case, calculation processing includes subtraction processing and multiplication processing of the torque and the estimated value of the disturbance torque. , Division processing, addition / subtraction processing, or processing combining these.

  Furthermore, in the above-described embodiment, a subtraction process is performed between the simulation value of the rotational speed obtained by simulation based on the torque command value input by feedforward and the rotational speed response value (actual measurement value) of the mandrel 13. Thus, the estimated value of the disturbance torque is calculated. However, the present invention is not limited to this. If the estimated value of the disturbance torque can be calculated using the simulation value of the rotation speed and the rotation speed response value of the mandrel 13, the calculation at that time is performed. The processing may be any of subtraction processing, multiplication processing, division processing, addition / subtraction processing, or processing combining these.

  In the above-described embodiment, the rotational speed response value of the mandrel 13 is added to the external speed command value to correct the speed command value. However, the present invention is not limited to this, and the speed command value is corrected. The calculation process at this time may be any process in which the rotational speed response value is added to the speed command value, and may be any of a subtraction process, a multiplication process, a division process, an addition / subtraction process, or a combination thereof. .

  Furthermore, in the above-described embodiment, the rotational speed response value of the mandrel 13 is acquired after estimating the mandrel speed in step S102. However, the rotational speed response value is not limited to this, and the rotational speed response value is calculated before the mandrel speed is estimated. You may get it. Further, the disturbance torque estimation process (step S104) described above may be executed with the acquisition of the rotational speed response value as a trigger, or the completion of execution of the mandrel speed estimation process after acquisition of the rotational speed response value is triggered. May be executed.

  Further, the present invention is not limited to the embodiment described above. What was comprised combining each component mentioned above suitably is also contained in this invention. In addition, all other embodiments, examples, operation techniques, and the like made by those skilled in the art based on the above-described embodiments are included in the present invention.

DESCRIPTION OF SYMBOLS 1 Winding control apparatus 2 Reception part 3 PI control part 4 Control gain multiplication part 5 Compensation part 6 Drive motor 7 Tension disturbance observer 7a Mandrel motor model 7b Estimation calculation part 11 Finishing mill 12 Pinch roll 13 Mandrel 15 Strip 15a Tail end S1 , S2 Speed command signal S3, S5 Torque command signal S4 Tension disturbance torque signal S6 Speed response signal

Claims (3)

In a winding control device that controls the rotation speed of a mandrel that winds up a hot-rolled metal strip,
The torque command value is received, the torque indicated by the received torque command value is transmitted to the mandrel to rotate the mandrel, and the rotation speed response value of the mandrel rotated in response to the torque is output. A drive unit;
Based on the torque command value and the rotational speed response value, a torque observer that estimates a disturbance torque applied to the drive unit according to a tension fluctuation of the metal strip due to a disturbance,
Compensation for compensating the torque instructed to the drive unit in accordance with the speed command value of the mandrel based on the disturbance torque, and transmitting the torque command value instructing the compensated torque to the drive unit and the torque observer And
A winding control device comprising: The torque observer is
A drive unit model that simulates the operation of the drive unit that rotates the mandrel according to the torque command value and calculates a simulation value of the rotation speed of the mandrel rotated under a condition in which the tension fluctuation of the metal band due to disturbance does not occur When,
An estimation unit that estimates the disturbance torque using a difference between the simulation value and the rotation speed response value;
The winding control device according to claim 1, further comprising: In a winding control method for controlling the rotation speed of a mandrel for winding a hot-rolled metal strip,
The drive unit transmits torque to the mandrel to rotate the mandrel, obtains a rotation speed response value of the mandrel that has rotated in response to the torque, and a torque command value that instructs the torque to the drive unit Based on the rotation speed response value, the disturbance torque applied to the drive unit according to the tension fluctuation of the metal band due to the disturbance is estimated, and the torque commanded to the drive unit corresponding to the mandrel speed command value In accordance with the disturbance torque, and instructing the drive unit to rotate the mandrel with the compensated torque.

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