JP2018192490A - Meandering control device and meandering control method - Google Patents

Abstract

To provide a meandering control device and a meandering control method capable of suppressing meandering of a threading material by improving meandering control of the threading material.SOLUTION: A meandering control device for controlling meandering of a belt-like threading material conveyed continuously, includes an adjustment device for adjusting a position in a width direction of the threading material, a detection part for detecting a meandering amount of the threading material on the downstream side of the adjustment device, and a control part for controlling the adjustment device based on the meandering amount, in which the control part further controls the adjustment device based on information of a meandering prediction amount of the threading material.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a meandering control device and a meandering control method installed in a processing line for a strip-shaped sheet material such as a steel strip.

  In a line in which cold rolling, heat treatment, surface treatment, or the like is performed on a steel strip as one of the strip-shaped plate members, a meandering phenomenon may occur in which the transport position of the steel strip is shifted in the width direction. If the steel strip meanders in the processing line, there is a possibility that uniform processing cannot be performed in the width direction of the steel strip, or the steel strip may contact components around the processing line. For this reason, a meandering control apparatus is installed in the processing line, and control which suppresses meandering of a steel strip is performed.

  For example, Patent Literature 1 discloses a meandering control method and a meandering control device for a steel strip that corrects meandering of the steel strip in response to fluctuations in the conveyance speed and fluctuations in position in the width direction at both ends of the steel strip. As disclosed in Patent Document 1, the conventional meandering control device detects the meandering amount of the steel strip by the width direction position detector installed on the downstream side of the steering roll so that the meandering amount becomes zero. To control the adjusting device. In addition, the meandering control device described in Patent Document 1 corrects the center of the steel strip in the width direction based on the detected meandering amount while correcting the control gain of the control unit in accordance with the transport speed of the steel strip. Is generated.

  Patent Document 2 discloses a meandering control method for a strip plate that sequentially detects the operation amount of the upstream side steering device and the meandering amount of the strip plate, and adjusts the manipulation amount of the downstream side steering device based on the detected value. Yes. In the meandering control method described in Patent Document 2, the meandering amount of the strip in the upstream steering device is detected based on the optical sensor, the meandering amount of the strip is predicted based on the detected value, and the downstream steering device The amount of operation is controlled.

JP-A-6-262237 JP-A-6-345304

  However, the conventional meandering control device as described in Patent Document 1 controls the adjusting device based on the actual meandering amount of the sheet passing material, and the meandering amount suddenly increases. It is difficult to suppress meandering because the control operation is not in time. Further, as in the meandering control device described in Patent Document 1, when the control gain of the control unit is corrected in accordance with the conveyance speed, the meandering control device is also applied to a very small meandering within the permissible range on the plate. May react, and there is a risk of reducing the plate-passability. For this reason, there is a limit to increasing the value of the control gain.

  Moreover, since the meandering control method described in Patent Document 2 uses only the predicted meandering amount, it cannot cope with the actual meandering amount. Therefore, it is desirable to control the adjusting device while properly using the predicted meandering amount and the actual meandering amount.

  Therefore, the present invention has been made in view of the above problems, and the object of the present invention is to improve the meandering control of the sheet passing material, and not only to the actual meandering of the sheet passing material but also to the expected meandering. Correspondingly, it is an object to provide a meandering control device and a meandering control method capable of suppressing meandering of a sheet material.

  In order to solve the above-described problems, according to an aspect of the present invention, in a meandering control device that controls meandering of a belt-like through-plate material that is continuously conveyed, an adjustment device that adjusts the position in the width direction of the through-plate material; A detection unit that detects a meandering amount of the plate material on the downstream side of the device, and a control unit that controls the adjusting device based on the meandering amount, and the control unit is further based on information on a meandering prediction amount of the plate material A meandering control device for controlling the adjusting device is provided.

  The information on the meandering prediction amount includes information on a plurality of meandering prediction amounts predicted corresponding to a plurality of prediction positions in the conveying direction of the sheet passing material, and the control unit reaches the adjusting device at the prediction position where the meandering is predicted. The controller may be controlled based on the information on the meandering prediction amount before.

  The control unit may control the adjusting device based on information on the meandering prediction amount when the meandering prediction amount exceeds the prediction reference value.

  The control unit calculates the control amount of the adjusting device based on the meandering amount when the meandering amount exceeds the lower limit value, and sets the meandering amount and the meandering prediction amount when the meandering prediction amount exceeds a prediction reference value larger than the lower limit value. Based on this, the control amount of the adjusting device may be calculated to control the adjusting device.

  The control unit may change the control gain based on the meandering prediction amount while performing feedback control of the control amount of the adjusting device based on the meandering amount.

  The control unit may control the adjusting device based on the larger value of the meandering amount and the meandering prediction amount.

  When the meandering prediction amount exceeds the prediction reference value, the control unit obtains a control amount of the adjustment device that causes the meandering prediction amount to be less than the meandering allowable value, and controls the adjustment device based on the obtained control amount. Good.

  The control unit controls the adjustment device based on the control amount of the adjustment device which is calculated based on the amount of meandering and the control amount of the adjustment device where the predicted amount of meandering is less than the meandering allowable value. You may go.

  The control unit may obtain a control amount and an operating speed of the adjusting device that cause the meandering prediction amount to be less than the meandering allowable value, and control the adjusting device based on the obtained control amount and operating speed.

  The control unit may further predict the occurrence of buckling of the plate material, obtain a control amount of the adjusting device so that buckling does not occur, and control the adjusting device based on the obtained control amount and operation speed.

  In order to solve the above-described problem, according to another aspect of the present invention, in the meandering control method for controlling meandering of the belt-like threading plate material that is continuously conveyed, the control unit determines the position in the width direction of the threading plate material. A meandering control method for controlling the adjusting device based on the meandering amount of the passing plate material detected on the downstream side of the adjusting device to be adjusted, and further controlling the adjusting device based on the information on the predicted meandering amount of the passing plate material. Provided.

  As described above, according to the present invention, it is possible to improve the meandering control of the passing plate material and to suppress the meandering of the passing plate material corresponding to not only the actual meandering of the passing plate material but also the predicted meandering.

It is a figure which shows the meandering control apparatus which concerns on the 1st Embodiment of this invention. It is explanatory drawing which shows an example of the calculation result by the simulator of the meander control apparatus which concerns on the same embodiment. It is explanatory drawing which shows the calculation point (prediction position) of the meandering prediction amount. It is a flowchart which shows the process example by the simulator of the meander control apparatus which concerns on the same embodiment. It is a flowchart which shows the process example by the meander control part of the meander control apparatus which concerns on the embodiment. It is a flowchart which shows the process example by the simulator of the meander control apparatus which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows the process example by the meander control part of the meander control apparatus which concerns on the embodiment. It is a flowchart which shows the process example by the simulator of the meander control apparatus which concerns on the 3rd Embodiment of this invention. It is a flowchart which shows the 1st example of the control amount setting process by the simulator of the meandering control apparatus which concerns on the embodiment. It is a flowchart which shows the 2nd example of the control amount setting process by the simulator of the meandering control apparatus which concerns on the embodiment. It is a flowchart which shows the process example by the meander control part of the meander control apparatus which concerns on the 3rd Embodiment of this invention.

  Exemplary embodiments of the present invention will be described below in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

  In this specification, the “predicted meandering amount Xs” is different from the actual meandering amount X of the steel strip S detected by the width direction position detector, and is the predicted value of the meandering amount of the steel strip S calculated by the simulator. Say. “Meandering prediction amount information” refers to a data group of the meandering prediction amount Xs calculated for each of a plurality of prediction positions (calculation points). The “lower limit value Y” refers to a value serving as a reference for starting control of the adjusting device based on the meandering amount X detected by the width direction position detection unit. The “prediction reference value Ys” refers to a value serving as a reference for starting control of the adjusting device based on the meandering prediction amount Xs calculated by the simulator. “Meander allowable value Ya” refers to a value serving as a reference for determining whether or not the meandering prediction amount Xs predicted by the simulator is within an allowable range. Moreover, in this embodiment, the steel strip S “before reaching the adjusting device” means before the steel strip S reaches at least the upstream steering roll.

<< 1. First embodiment >>
<1-1. Basic configuration example of meander control device>
First, an example of the basic configuration of the meander control apparatus 1 according to the first embodiment of the present invention will be described with reference to FIG. FIG. 1 is a schematic diagram illustrating a configuration example of the meandering control device 1 according to the present embodiment.

  The meandering control device 1 according to the present embodiment includes an adjustment device 10, a width direction position detection unit 19, and a control unit 20. The meandering control device 1 is installed, for example, in a processing line for a steel strip S that is an embodiment of a strip-shaped plate material, and controls the amount of meandering of the steel strip S being conveyed. In the meandering control device 1 according to the present embodiment, the meandering control unit 21 of the control unit 20 controls the adjustment device 10 based on the detection result of the width direction position detection unit 19, and is further controlled by the simulator 25 of the control unit 20. Control is performed based on the information of the calculated meandering prediction amount. The strip-shaped through plate material is not limited to the steel strip S, and may be various strip-shaped transported articles that are continuously transported. Hereinafter, in the present embodiment, an example of controlling the meandering of the steel strip S as the sheet passing material will be described.

  The adjusting device 10 includes an upstream side steering roll 11, a downstream side steering roll 13, a support base 15, and a driving device 17. The upstream side steering roll 11 and the downstream side steering roll 13 are supported, for example, on both ends of the rotating shaft by the support base 15 and send the steel strip S to the downstream side while rotating according to the steel strip S being conveyed. The drive device 17 is driven by a drive signal from the meandering control unit 21 to change the position or inclination of the support base 15. Thereby, the position of the width direction of the steel strip S conveyed by the upstream side steering roll 11 and the downstream side steering roll 13 is adjusted.

  For example, a hydraulic cylinder is used as the driving device 17, but other driving devices may be used. When the driving device 17 is a hydraulic cylinder, the cylinder expands and contracts when the hydraulic pressure supplied to the cylinder is controlled by the meandering control unit 21. The position or inclination of the support base 15 can be changed by expanding and contracting the cylinder, and the position in the width direction of the steel strip S can be adjusted. The operation of the support base 15 by driving the driving device 17 may be a pivot operation centered on a predetermined pivot point, for example, or a reciprocating slide operation along a predetermined direction.

  The width direction position detector 19 is installed further downstream of the downstream side steering roll 13 and detects the meandering amount X of the steel strip S sent out from the adjusting device 10. In the meandering control apparatus 1 according to this embodiment, the width direction position detection unit 19 corresponds to the detection unit of the present invention. The width direction position detection unit 19 outputs a signal indicating the detected meandering amount X to the meandering control unit 21 of the control unit 20. For example, the width direction position detection unit 19 may detect the positions of both ends of the steel strip S in the width direction, obtain the center position of the steel strip S in the width direction, and set the amount of deviation from the reference center position as the meandering amount X. . Alternatively, the position of any one of the ends in the width direction of the steel strip S may be detected, and the amount of deviation from the reference end position may be the meandering amount X. The width direction position detection unit 19 may be configured by using an optical edge sensor, may be configured by using an image sensor having an image sensor or the like, or may be configured by using other detectors. May be.

  The optical edge sensor includes, for example, a light emitting portion provided on one side of the front and back surfaces of the steel strip S and a light receiving provided on the other surface side at the end in the width direction of the steel strip S. Part. For example, the light emitting unit emits laser parallel light toward the light receiving unit, and the light receiving unit detects the position of the end of the steel strip S based on the width of the received laser parallel light. The image sensor includes, for example, a camera that captures an end portion in the width direction of the steel strip S, and an imaging processing unit that obtains the position of the end portion of the steel strip S based on information captured by the camera.

  The control unit 20 includes a meandering control unit 21 and a simulator 25. In the meandering control apparatus 1 according to the present embodiment, the control unit 20 corresponds to a control unit of the present invention. The simulator 25 calculates the meandering prediction amount Xs of the steel strip S based on the transport state or transport conditions of the steel strip S transported through the processing line. For example, the simulator 25 communicates with an arithmetic processing unit such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), an input unit for a user to input parameters used for the calculation, and the meandering control unit 21. A communication interface and a storage unit that stores parameters, software programs, and the like used for computation are provided. For example, a keyboard or a touch panel is used as the input unit. As the storage unit, for example, at least one of a storage element such as a RAM (Random Access Memory) or a ROM (Read Only Memory), a CD-ROM, a HDD (Hard Disk Drive), or a storage device is used. The simulator 25 may include a display device that displays information on the calculated meandering prediction amount Xs.

  FIG. 2 shows an example of the calculation result of the meandering prediction amount Xs calculated by the simulator 25. The simulator 25 of the meandering control apparatus 1 according to the present embodiment uses the meandering prediction amount Xs at a plurality of calculation points P (P1, P2,... Pn) set at regular intervals along the conveying direction of the steel strip S. Is calculated. The simulator 25 may calculate the occurrence prediction of buckling in combination with the meandering prediction amount Xs at each calculation point P.

  As shown in FIG. 3, the meandering prediction amount Xs may be an amount of deviation between the center position in the width direction of the steel strip S and the reference center position at each calculation point P of the steel strip S. Alternatively, the meandering prediction amount Xs may be an amount of deviation between the position of one of the end portions at each calculation point P of the steel strip S and the reference position. The interval between the calculation points P may be constant or random. When the meandering control device 1 is installed in an annealing furnace, the simulator 25, for example, the size of the steel strip S, the mechanical properties of the steel strip S, the shape of the steel strip S, the temperature in the furnace, the temperature of the steel strip S, the steel strip The meandering prediction amount Xs can be calculated based on at least one of the tension of S, the conveyance speed, and the conveyance roll shape. The simulator 25 is based on, for example, at least one of the size of the steel strip S, the mechanical characteristics of the steel strip S, the temperature in the furnace, the temperature of the steel strip S, the tension of the steel strip S, the conveyance speed, and the conveyance roll shape. Occurrence of buckling can be predicted.

  The size of the steel strip S is, for example, dimensions such as the thickness of the steel strip S and the length in the width direction. The mechanical characteristics of the steel strip S are characteristics such as yield point (YP) and hardness, for example. The tension of the steel strip S is the tension applied to the steel strip S being conveyed. A conveyance roll shape is the diameter of the some conveyance roll which is installed on a processing line and conveys the steel strip S, the shape of a surrounding surface, etc. Information on the size of the steel strip S, the mechanical characteristics of the steel strip S, the shape of the steel strip S, and the shape of the transport roll may be input in advance by the user, for example, or may be input from another computing device. The furnace temperature, the conveyance speed, and the tension of the steel strip S are detected by, for example, a sensor installed in the processing line.

  The simulator 25 may calculate the meandering prediction amount Xs by further using information other than those exemplified here. The method for calculating the meandering prediction amount Xs by the simulator 25 is not particularly limited.

  The meandering control unit 21 controls the adjusting device 10 based on the meandering amount X of the steel strip S detected by the width direction position detection unit 19, and further based on information on the meandering prediction amount Xs calculated by the simulator 25. To control the adjusting device 10. The meandering control unit 21 communicates with the simulator 25, for example, an arithmetic processing unit such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), an input unit for a user to input parameters or the like used for the calculation, and the simulator 25. A communication interface and a storage unit that stores parameters, software programs, and the like used for computation are provided. For example, a keyboard or a touch panel is used as the input unit. As the storage unit, for example, at least one of a storage element such as a RAM (Random Access Memory) or a ROM (Read Only Memory), a CD-ROM, a HDD (Hard Disk Drive), or a storage device is used. The meandering control unit 21 may include a display device that displays a control state or the like of the adjusting device 10.

  Specifically, the meandering control unit 21 adjusts the meandering amount X of the steel strip S detected by the width direction position detection unit 19 to zero while the meandering prediction amount Xs is a relatively small value. A control amount of 10 is set. For example, the meandering control unit 21 performs feedback control such as PID control so that the meandering amount X becomes zero. In addition, the meandering control unit 21 performs the adjustment of the adjustment device 10 based on the meandering amount X and the meandering prediction amount Xs of the steel strip S detected by the width direction position detection unit 19 while the meandering prediction amount Xs is a large value. Set the control amount. That is, when the meandering amount X of the steel strip S is predicted to increase, the meandering control unit 21 operates the adjusting device 10 in advance in accordance with the time when the region where the meandering predicted amount Xs is large reaches the adjusting device 10. The position of the steel strip S in the width direction is adjusted. Thereby, the actual meandering amount X of the steel strip S is suppressed on the downstream side of the adjusting device 10, and the rapid increase of the actual meandering amount X of the steel strip S is suppressed.

  The control unit 20 of the meandering control apparatus 1 according to the present embodiment is provided with the meandering control unit 21 and the simulator 25 separately. However, the control unit 20 in which the meandering control unit 21 and the simulator 25 are integrated. It may be. The meandering control unit 21 and the simulator 25 may be a control unit 20 including three or more devices.

<1-2. Example of operation of meander control device>
Next, an example of the operation of the meandering control apparatus 1 by the control unit 20 including the meandering control unit 21 and the simulator 25 will be specifically described. In the meandering control device 1 according to the present embodiment, the meandering control unit 21 of the control unit 20 has a portion where the meandering prediction amount Xs increases when the meandering prediction amount Xs calculated by the simulator 25 is large. By increasing the control gain of the feedback control of the adjusting device 10 by the meandering control unit 21 before reaching, the meandering amount X of the steel strip S is suppressed from actually increasing. Hereinafter, an example of an operation will be described by dividing the process by the simulator 25 and the process by the meandering control unit 21.

(1-2-1. Simulator processing example)
FIG. 4 is a flowchart illustrating an example of processing by the simulator 25. First, the simulator 25 acquires simulation conditions (step S10). For example, the simulator 25 reads information on the size of the steel strip S, the mechanical characteristics of the steel strip S, the shape of the steel strip S, the transport speed, and the transport roll shape input by the user. Moreover, the simulator 25 acquires information on the tension of the steel strip S being conveyed. When the meandering control device 1 is installed in the annealing furnace, the simulator 25 may acquire information on the furnace temperature. Furthermore, the simulator 25 may acquire information on the control amount D of the adjusting device 10 from the meandering control unit 21. The simulator 25 may acquire information on the tension of the steel strip S and the temperature in the furnace, for example, by receiving a sensor signal. Alternatively, the simulator 25 may acquire information on the tension of the steel strip S and the furnace temperature via the meandering control unit 21.

  Next, the simulator 25 determines whether or not the simulation needs to be executed (step S14). For example, the simulator 25 determines that the simulation needs to be performed when the simulation condition is newly acquired, that is, when the processing line in which the meandering control device 1 is installed is started. Moreover, the simulator 25 may determine that the execution of the simulation is necessary when the acquired simulation condition is changed from the condition at the time of the previous simulation execution. When the simulator 25 determines that the execution of the simulation is unnecessary (S14 / No), the simulator 25 proceeds to step S22 as it is. On the other hand, when the simulator 25 determines that the execution of the simulation is necessary (S14 / Yes), the process proceeds to step S18, executes the simulation, and then proceeds to step S22. In step S18, the simulator 25 calculates the meandering prediction amount Xs as illustrated in FIG. In the meandering control device 1 according to the present embodiment, the simulator 25 does not have to calculate the occurrence of buckling.

  Next, the simulator 25 determines whether or not the calculated meandering prediction amount Xs includes a value exceeding a preset prediction reference value Ys (step S22). For example, the prediction reference value Ys is set to a value larger than the lower limit value Y that serves as a reference for executing control of the adjusting device 10 based on the meandering amount X detected by the width direction position detection unit 19. As a result, when the meandering prediction amount Xs by simulation is relatively small, the control device D control amount D is feedback-controlled based on the actual meandering amount X, while when the meandering prediction amount Xs becomes large, it is actually The control gain of the adjusting device 10 is increased in advance so that the meandering amount X of the adjusting device 10 does not increase. The control amount D of the adjusting device 10 may be, for example, a control instruction value corresponding to the amount of rotation or movement of the adjusting device 10 or may be an instruction value of the driving amount of the driving device 17.

  When the meandering prediction amount Xs does not include a value exceeding the prediction reference value Ys (S22 / No), the simulator 25 returns to step S10 and continues the process. On the other hand, when the meandering prediction amount Xs includes a value exceeding the prediction reference value Ys (S22 / Yes), the simulator 25 determines whether the meandering portion Px is the calculation point P where the meandering prediction amount Xs exceeds the prediction reference value Ys. Position tracking is started (step S26).

  Next, the simulator 25 determines whether or not the distance L from any one of the meandering parts Px to the upstream steering roll 11 of the adjusting device 10 is between the preset control end distance Le and the control start distance Ls. (See FIG. 3) (step S30). The control end distance Le and the control start distance Ls are taken into consideration, for example, the processing speed of the control unit 20, the transport speed of the steel strip S, the time from the control instruction output of the meandering control unit 21 until the adjusting device 10 is driven, and the like. Is set. Thus, by increasing the control gain of the adjusting device 10 before the meandering portion Px reaches the upstream side steering roll 11, the adjusting device 10 can be controlled in a feed-forward manner.

  When the distance L between all the meandering parts Px is not between the control end distance Le and the control start distance Ls (S30 / No), the simulator 25 repeats the determination of the distance L in step S30. On the other hand, when the distance L between any of the meandering parts Px is between the control end distance Le and the control start distance Ls (S30 / Yes), the simulator 25 changes the control gain for the meandering control part 21. An instruction is output (step S34). At this time, the simulator 25 may output an instruction indicating only that the control gain should be increased, or alternatively, an instruction for setting an increase amount of the control gain corresponding to the P meandering prediction amount Xs for each meandering portion Px may be given. It may be output. When the increase amount of the control gain is varied, for example, the increase amount of the control gain may be increased as the meandering prediction amount Xs is increased.

  Next, the simulator 25 determines whether or not the distance L from all the meandering parts Px to the upstream side steering roll 11 is equal to or less than the control end distance Le (step S38). While the distance L of any meandering part Px exceeds the control end distance Le (S38 / No), the simulator 25 repeats the determination of the distance L in step S38. On the other hand, when the distance L of all the meandering parts Px is equal to or less than the control end distance Le (S38 / Yes), the simulator 25 outputs an instruction to cancel the control gain change to the meandering control part 21 ( Step S42). Thereafter, the simulator 25 returns to step S10 and continues the process.

(1-2-2. Processing Example of Meandering Control Unit)
FIG. 5 is a flowchart illustrating an example of processing by the meandering control unit 21. First, the meandering control unit 21 acquires a sensor signal from the width direction position detection unit 19 (step S50). Next, the meander control unit 21 determines whether or not the meandering amount X of the steel strip S detected based on the sensor signal of the width direction position detection unit 19 exceeds a preset lower limit value Y (step S54). . The lower limit value Y is set as an allowable value of the meandering amount that does not require correction of the meandering of the steel strip S, and when the lower limit value Y is exceeded, control of the position in the width direction of the steel strip S is executed.

  When the detected meandering amount X of the steel strip S exceeds the lower limit value Y (S54 / Yes), the meandering control unit 21 proceeds directly to step S62, while the meandering amount X of the steel strip S is equal to or lower than the lower limit value Y ( (S54 / No), the meandering amount X is set to zero so that the meandering correction of the steel strip S by the meandering control device 1 is not executed (step S58), and the process proceeds to step S62. In step S62, the meandering control unit 21 determines whether or not an instruction is input from the simulator 25 to increase the control gain (step S62).

  When an instruction is input to increase the control gain (S62 / Yes), the meandering control unit 21 increases the control gain of the feedback control (step S66), and the process proceeds to step S70. The meandering control unit 21 may increase the control gain to a predetermined value, or may increase the control gain to a value set according to the meandering prediction amount Xs. On the other hand, if an instruction to increase the control gain is not input (S62 / No), the meandering control unit 21 determines whether an instruction is input from the simulator 25 to cancel the increase in the control gain (step) S82).

  If an instruction to cancel the increase in control gain is input (S82 / Yes), the meandering control unit 21 cancels the increase in control gain for feedback control (step S86), and the process proceeds to step S70. On the other hand, if the instruction for canceling the increase in control gain is not input (S82 / No), the meandering control unit 21 proceeds to step S70 while maintaining the current control gain setting. After the control gain is set, the meander control unit 21 sets the control amount D of the adjusting device 10 based on the detected meander amount X (step S70). Specifically, the meandering control unit 21 feedback-controls the control amount D of the adjusting device 10 by PID control or the like so that the detected meandering amount X becomes zero.

  Next, the meander control unit 21 outputs a drive signal to the drive device 17 of the adjustment device 10 based on the set control amount D of the adjustment device 10 (step S74). Thereby, the drive device 17 is driven, and the meandering of the steel strip S is corrected by changing the inclination or position of the support base 15 that supports the upstream side steering roll 11 and the downstream side steering roll 13.

  At this time, the operating amount or operating speed of the adjusting device 10 varies depending on the set control gain. When the control gain is increased, the operation amount of the adjusting device 10 is increased and the operation speed is increased as compared with the case where the control gain is not increased. That is, when the meandering prediction amount Xs calculated by the simulator 25 is large, the adjusting device 10 operates in response to a slight deviation in the width direction of the steel strip S. Increases operating speed. In this way, the control gain is increased only when the meandering prediction amount Xs is predicted as a large value, and the meandering of the steel strip S is more easily corrected.

  When the control gain is increased, a drive instruction is output to the adjustment device 10 based on the increased control gain before the time when the meandering portion Px where the meandering prediction amount Xs increases reaches the adjustment device 10. Will be. Therefore, the adjusting device 10 is driven in accordance with the time when the meandering portion Px where the meandering prediction amount Xs increases reaches the adjusting device 10, and the actual deviation of the steel strip S can be suppressed. In addition, the adjustment device 10 does not operate in response to a slight shift in the width direction of the steel strip S until the possibility that the meandering amount X of the steel strip S is large is low, and the plate passing performance is lowered or slipped. Occurrence of wrinkles can be suppressed.

<1-3. Effect>
As described above, the meandering control device 1 according to the present embodiment performs the feedback control of the control amount D of the adjusting device 10 so that the meandering amount X of the steel strip S detected on the downstream side of the adjusting device 10 becomes zero, and the simulator When the meandering prediction amount Xs calculated by 25 is large, the control gain of the feedback control is increased. Therefore, the meandering control device 1 can suppress the actual meandering amount X of the steel strip S corresponding to not only the actual meandering of the steel strip S but also the predicted meandering. Thereby, even if it is a case where the sudden meandering of the steel strip S arises, the meandering amount X can be suppressed. Further, since the control gain is increased only when the meandering prediction amount Xs is large, the adjusting device 10 operates in response to the slight deviation of the steel strip S until the possibility that the meandering amount X is large is low. It is suppressed. Therefore, it is possible to suppress the deterioration of the plate passing property and the occurrence of slip wrinkles.

  Further, the meandering control device 1 according to the present embodiment predicts meandering of the steel strip S without actually transporting the steel strip S on the processing line by calculating the meandering prediction amount Xs by the simulator 25. The adjusting device 10 can be driven. Therefore, compared with a case where a sensor for detecting the position in the width direction of the steel strip S is provided upstream of the adjusting device 10 and the adjusting device 10 is feedforward controlled, it corresponds to the degree of meandering or a sudden increase of the steel strip S. The adjusting device 10 can be driven reliably. Moreover, compared with the case where the sensor which detects the width direction position of the steel strip S is provided in the upstream of the adjusting apparatus 10, and the adjusting apparatus 10 is feedforward-controlled, the number of sensors to be used can be reduced.

  Moreover, the meander control apparatus 1 which concerns on this embodiment can suppress generation | occurrence | production of a buckling and a slip soot even if it is a case where it installs in an annealing furnace. Specifically, the temperature of the steel strip S is high in the annealing furnace, and the yield point (YP) and hardness as mechanical properties of the steel strip S are low. For this reason, when the operating speed of the normal adjusting device is increased, buckling (squeezing) may occur in the steel strip S due to stress in the width direction of the steel strip S. Further, in the process of correcting the meandering of the steel strip S, the steel strip S is slightly slipped in the width direction with respect to the transport roll, and the meandering of the steel strip S is corrected. It is easy for slip wrinkles to be generated on the surface. For this reason, the operating speed of the meandering control device in the annealing furnace has to be slower than that of the meandering control device outside the furnace, and the responsiveness of meandering control is reduced. There was a possibility that it could not be handled.

  On the other hand, according to the meandering control device 1 according to the present embodiment, the time when the meandering portion Px where the meandering prediction amount Xs becomes large reaches the adjusting device 10 based on the information of the meandering prediction amount Xs calculated in advance. Since the adjusting device 10 operates according to the above, it is suppressed that the operation amount of the adjusting device 10 suddenly increases. Therefore, even if the meandering control device 1 according to the present embodiment is installed in an annealing furnace in which the mechanical properties of the steel strip S deteriorate, it suppresses the occurrence of buckling and slip flaws in the steel strip S. Can do.

<< 2. Second embodiment >>
Next, a meandering control apparatus according to the second embodiment of the present invention will be described. The basic configuration of the meandering control apparatus according to the present embodiment is the same as that of the meandering control apparatus 1 according to the first embodiment, while the operation of the meandering control apparatus by the control unit is according to the first embodiment. Different from 1. Hereinafter, with respect to the operation example of the meander control apparatus according to the present embodiment, differences from the first embodiment will be mainly described. The components of the meandering control device will be described using the same reference numerals as those of the meandering control device 1 according to the first embodiment shown in FIG.

<2-1. Example of operation of meander control device>
In the meandering control device 1 according to the present embodiment, the meandering control unit 21 of the control unit 20 has the meandering amount X detected by the width direction position detection unit 19 when the meandering prediction amount Xs calculated by the simulator 25 is large. Alternatively, the feedback control of the adjustment device 10 is executed using the larger value of the meandering prediction amount Xs. Hereinafter, an example of an operation will be described by dividing the process by the simulator 25 and the process by the meandering control unit 21.

(2-1-1. Example of simulator processing)
FIG. 6 is a flowchart illustrating an example of processing by the simulator 25. First, the simulator 25 executes steps S10 to S30 in the same procedure as the process by the simulator 25 of the meandering control apparatus 1 according to the first embodiment. That is, the simulator 25 acquires the simulation conditions (step S10), determines whether or not to execute the simulation (step S14), and determines that the simulation needs to be executed (S14 / Yes), the simulation is performed. If it is determined that the simulation is not required (S14 / No), the process proceeds to step S22. In the meandering control apparatus 1 of the present embodiment, the simulator 25 calculates at least the meandering prediction amount Xs. In the meandering control device 1 according to the present embodiment, the simulator 25 does not have to calculate the occurrence of buckling.

  In step S22, the simulator 25 determines whether or not the calculated meandering prediction amount Xs includes a value exceeding the preset prediction reference value Ys (step S22). When the meandering prediction amount Xs does not include a value that exceeds the preset prediction reference value Ys (S22 / No), the simulator 25 sets the meandering prediction amount Xs to zero and controls the meandering control unit 21. The meandering prediction amount Xs is output (step S43).

  On the other hand, when the meandering prediction amount Xs includes a value exceeding the prediction reference value Ys (S22 / Yes), the simulator 25 starts tracking the position of the meandering part Px (step S26), and any of the meandering parts It is determined whether or not the distance L (see FIG. 3) from Px to the upstream side steering roll 11 is between the control end distance Le and the control start distance Ls (step S30). When the distance L is not between the control end distance Le and the control start distance Ls (S30 / No), the simulator 25 sets the meandering prediction amount Xs to zero, and the meandering prediction amount Xs to the meandering control unit 21. Is output (step S33), and the determination in step S30 is repeated.

  When the distance L is between the control end distance Le and the control start distance Ls (S30 / Yes), the simulator 25 outputs the value of the meandering prediction amount Xs to the meandering control unit 21 (step S35). For example, the simulator 25 outputs the value of the meandering prediction amount Xs of the meandering part Px to the meandering control part 21 every time the distance L from the meandering part Px to the upstream side steering roll 11 reaches the control start distance Ls. Also good. In this case, even after the meandering portion Px whose distance L becomes the control start distance Ls does not exist, meandering prediction is performed until the distance L from the last meandering portion Px to the upstream steering roll 11 becomes less than the control end distance Le. The set value of the amount Xs may be maintained.

  Alternatively, the output value of the meandering prediction amount Xs may be the maximum value of the meandering prediction amount Xs in a section where the meandering prediction amount Xs exceeds the prediction reference value Ys, for example. Further, the value of the meandering prediction amount Xs to be output may be an average value of the meandering prediction amount Xs of the meandering portion Px located between the control end distance Le and the control start distance Ls, for example. Furthermore, the value of the output meandering prediction amount Xs may not be constant, and may increase or decrease gradually according to the length of the meandering section. The outputted meandering prediction amount Xs may be set to an appropriate value other than the values exemplified above.

  Next, the simulator 25 determines whether or not the distance L from all the meandering portions Px to which the meandering prediction amount Xs exceeds the prediction reference value Ys to the upstream steering roll 11 is equal to or less than the control end distance Le (step S38). . While the distance L exceeds the control end distance Le (S38 / No), the simulator 25 repeats the determination of the distance L in step S38. On the other hand, when the distance L is equal to or less than the control end distance Le (S38 / Yes), the simulator 25 sets the meandering prediction amount Xs to zero and outputs the meandering prediction amount Xs to the meandering control unit 21 ( Step S43). Thereafter, the simulator 25 returns to step S10 and continues the simulation.

(2-1-2. Processing Example of Meandering Control Unit)
FIG. 7 is a flowchart illustrating an example of processing by the meandering control unit 21. First, the meandering control unit 21 executes steps S50 to S58 in the same procedure as the processing by the meandering control unit 21 of the meandering control device 1 according to the first embodiment. That is, the meandering control unit 21 acquires the sensor signal of the width direction position detection unit 19 (step S50), and the meandering amount X of the steel strip S detected based on the sensor signal of the width direction position detection unit 19 is set in advance. It is determined whether or not the lower limit value Y is exceeded (step S54). When the detected meandering amount X of the steel strip S exceeds the lower limit value Y (S54 / Yes), the meandering control unit 21 proceeds directly to step S63, while when the meandering amount X of the steel strip S is equal to or lower than the lower limit value Y ( (S54 / No), the meandering amount X is set to zero so that the meandering correction of the steel strip S by the meandering control device 1 is not executed (step S58), and the process proceeds to step S63.

  Next, the meandering control unit 21 refers to the meandering prediction amount Xs input from the simulator 25 in step S63 (step S63), and determines whether or not the detected meandering amount X is larger than the meandering prediction amount Xs. (Step S67). If the detected meandering amount X is larger than the meandering predicted amount Xs (S67 / Yes), the meandering control unit 21 sets the control amount D of the adjusting device 10 based on the detected meandering amount X (step S70). . Specifically, the meandering control unit 21 feedback-controls the control amount D of the adjusting device 10 by PID control or the like so that the detected meandering amount X becomes zero. On the other hand, when the detected meandering amount X is equal to or less than the meandering prediction amount Xs (S67 / No), the meandering control unit 21 sets the control amount D of the adjusting device 10 based on the meandering prediction amount Xs calculated by the simulator 25. (Step S71). Specifically, the meandering control unit 21 feedback-controls the control amount D of the adjusting device 10 by PID control or the like so that the meandering prediction amount Xs becomes zero.

  Next, the meander control unit 21 outputs a drive signal to the drive device 17 of the adjustment device 10 based on the set control amount D of the adjustment device 10 (step S74). Thereby, the drive device 17 is driven, and the meandering of the steel strip S is corrected by changing the inclination or position of the support base 15 that supports the upstream side steering roll 11 and the downstream side steering roll 13.

  Thus, in the meandering control device 1 according to the present embodiment, the meandering amount X actually generated on the downstream side of the adjusting device 10 is compared with the meandering prediction amount Xs calculated by the simulator 25, whichever is greater. The control amount D of the adjusting device 10 is set using the value of the one. At this time, when the meandering prediction amount Xs is used, a drive instruction is output to the adjustment device 10 before the time when the meandering portion Px where the meandering prediction amount Xs increases reaches the adjustment device 10. Become. Therefore, the adjusting device 10 is driven in accordance with the time when the meandering portion Px where the meandering prediction amount Xs increases reaches the adjusting device 10, and the actual deviation of the steel strip S can be suppressed.

<2-2. Effect>
As described above, the meandering control device 1 according to the present embodiment performs the feedback control of the control amount D of the adjusting device 10 so that the meandering amount X of the steel strip S detected on the downstream side of the adjusting device 10 becomes zero, and the simulator When the meandering prediction amount Xs calculated by 25 is large, the control amount D of the adjusting device 10 is set so that the larger value of the detected meandering amount X or the calculated meandering prediction amount Xs becomes zero. Feedback controlled. Therefore, the meandering control device 1 can suppress the actual meandering amount X of the steel strip S corresponding to not only the actual meandering of the steel strip S but also the predicted meandering. Thereby, even if it is a case where the sudden meandering of the steel strip S arises, the meandering amount X can be suppressed.

  Further, the meandering control device 1 according to the present embodiment predicts meandering of the steel strip S without actually transporting the steel strip S on the processing line by calculating the meandering prediction amount Xs by the simulator 25. The adjusting device 10 can be driven. Therefore, compared with a case where a sensor for detecting the position in the width direction of the steel strip S is provided upstream of the adjusting device 10 and the adjusting device 10 is feedforward controlled, it corresponds to the degree of meandering or a sudden increase of the steel strip S. The adjusting device 10 can be driven reliably. Moreover, compared with the case where the sensor which detects the width direction position of the steel strip S is provided in the upstream of the adjusting apparatus 10, and the adjusting apparatus 10 is feedforward-controlled, the number of sensors to be used can be reduced.

  In addition, the meandering control device 1 according to the present embodiment is based on information about the meandering prediction amount Xs calculated in advance, and the adjustment device according to the time when the meandering portion Px where the meandering prediction amount Xs increases reaches the adjustment device 10. Since 10 operates, it is suppressed that the operation amount of the adjustment apparatus 10 becomes large rapidly. Therefore, even if the meandering control device 1 according to the present embodiment is installed in an annealing furnace in which the mechanical properties of the steel strip S deteriorate, it suppresses the occurrence of buckling and slip flaws in the steel strip S. Can do.

<< 3. Third Embodiment >>
Next, a meandering control apparatus according to the third embodiment of the present invention will be described. The basic configuration of the meandering control apparatus according to this embodiment is the same as that of the meandering control apparatus 1 according to the first embodiment, while the operation of the meandering control apparatus by the control unit is the first embodiment and the second implementation. This is different from the meandering control device 1 according to the embodiment. Hereinafter, with respect to the operation example of the meandering control apparatus according to the present embodiment, differences from the first embodiment and the second embodiment will be mainly described. The components of the meandering control device will be described using the same reference numerals as those of the meandering control device 1 according to the first embodiment shown in FIG.

<3-1. Example of operation of meander control device>
In the meandering control device 1 according to this embodiment, the simulator 25 of the control unit 20 adjusts the adjusting device 10 so that the meandering prediction amount Xs is less than the meandering tolerance value Ya when the calculated meandering prediction amount Xs is large. Is output to the meandering control unit 21. Further, the meandering control unit 21 of the control unit 20 has the larger one of the control amount D set based on the meandering amount X detected by the width direction position detection unit 19 or the control amount Dc set by the simulator 25. The drive of the adjusting device 10 is controlled using the value. Hereinafter, an example of an operation will be described by dividing the process by the simulator 25 and the process by the meandering control unit 21.

(3-1-1. Example of simulator processing)
FIG. 8 is a flowchart illustrating an example of processing by the simulator 25. First, the simulator 25 executes steps S10 to S22 in the same procedure as the process by the simulator 25 of the meandering control apparatus 1 according to the first embodiment. That is, the simulator 25 acquires the simulation conditions (step S10), determines whether or not to execute the simulation (step S14), and determines that the simulation needs to be executed (S14 / Yes), the simulation is performed. If it is determined that the simulation is not required (S14 / No), the process proceeds to step S22. In the meandering control apparatus 1 of the present embodiment, the simulator 25 calculates at least information on the meandering prediction amount Xs.

  In step S22, the simulator 25 determines whether or not the calculated meandering prediction amount Xs includes a value exceeding the preset prediction reference value Ys (step S22). When the meandering prediction amount Xs does not include a value exceeding the preset prediction reference value Ys (S22 / No), the simulator 25 sets the control amount Dc to zero and controls the meandering control unit 21. The amount Dc is output (step S44). On the other hand, when the meandering prediction amount Xs includes a value exceeding the prediction reference value Ys (S22 / Yes), a simulation is executed on the assumption that the adjusting device 10 is driven with the control amount Dc, and the meandering prediction amount Xd is A control amount Dc that is less than the meandering allowable value Ya is set (step S24).

  FIGS. 9 and 10 are flowcharts illustrating a first example and a second example of processing for setting the control amount Dc that causes the meandering prediction amount Xd to be less than the meandering allowable value Ya. In the first example and the second example, the simulator 25 sets the operating speed Va of the adjusting device 10 together with the control amount Dc of the adjusting device 10. Although the meandering of the steel strip S is more easily corrected as the control amount Dc of the adjusting device 10 is larger, if the control amount Dc is too large, the meandering of the steel strip S is likely to occur in the reverse direction or buckling is likely to occur. To do. Moreover, although the meandering of the steel strip S tends to be corrected earlier as the operating speed Va of the adjusting device 10 is faster, slip wrinkles are likely to occur on the surface of the steel strip S if the operating speed Va is too fast. For this reason, the control amount Dc and the operating speed Va of the adjusting device 10 both have appropriate ranges.

  In the first example shown in FIG. 9, the simulator 25 temporarily sets the control amount Dc and the operating speed Va of the adjusting device 10 in consideration of the control start distance Ls of the adjusting device 10 (step S90). The simulation is executed under the conditions (step S92). Next, the simulator 25 determines whether or not the meandering prediction amount Xd calculated by simulation for each meandering portion Px is less than the meandering allowable value Ya (step S94). If the meandering prediction amount Xd of any meandering portion Px is equal to or greater than the meandering allowable value Ya (S94 / No), the simulator 25 returns to step S90, and the meandering prediction amount Xd of all meandering portions Px is less than the meandering allowable value Ya. Steps S90 to S94 are repeated until When the meandering prediction amount Xd of all meandering parts Px becomes less than the meandering allowable value Ya (S94 / Yes), the simulator 25 ends the temporary setting process of the control amount Dc and the operation speed Va of the adjusting device 10.

  When the temporary setting of the control amount Dc and the operation speed Va in step S90 is the first setting time, the simulator 25 may set the appropriate control amount Dc and operation speed Va. Alternatively, the simulator 25 sets the control amount Dc and the operation speed Va according to the meandering prediction amount Xs calculated by, for example, the simulation performed in step S18 when the control amount Dc and the operation speed Va are temporarily set. Also good. At the first temporary setting, by performing the control amount Dc and the operation speed Va according to the meandering prediction amount Xs, the control amount Dc and the operation speed Va at which the meandering prediction amount Xd of all the meandering portions Px becomes less than the meandering allowable value Ya. Can be set faster. In addition, when the temporary setting of the control amount Dc and the operation speed Va is at the second time or later, the simulator 25 controls the control amount Dc and the control amount Dc according to the meandering prediction amount Xd calculated by the simulation performed in the previous step S92. The operation speed Va may be set.

  Further, in the second example shown in FIG. 10, the processes in steps S90 to S94 are repeated according to the first example, and the meandering prediction amount Xd of all meandering parts Px is less than the meandering allowable value Ya (S94). / Yes), the simulator 25 further calculates the occurrence prediction of buckling (step S96). For example, the simulator 25 calculates the stress acting on the steel strip S when the meandering control device 1 is driven at the temporarily set control amount Dc and the operation speed Va, and compares the calculated stress with a preset threshold value. Thus, it is predicted whether or not buckling occurs in the steel strip S.

  Next, the simulator 25 determines whether or not buckling is likely to occur (step S98). If the possibility that buckling will occur is high (S98 / No), the simulator 25 returns to step S90. The processes from step S90 to step S98 are repeated until the meandering prediction amount Xd of all the meandering parts Px is less than the meandering allowable value Ya (S94 / Yes) and the possibility of occurrence of buckling is reduced. When the possibility that buckling will occur is low (S98 / Yes), the simulator 25 ends the temporary setting process of the control amount Dc and the operating speed Va of the adjusting device 10. Thus, in the second example, the control amount Dc and the operating speed Va of the adjusting device 10 are set while predicting the occurrence of buckling as well as the meandering prediction amount Xd of the steel strip S.

  Returning to the flowchart of FIG. 8, after setting the control amount Dc and the operating speed Va of the adjusting device 10 in Step S24, the simulator 25 starts tracking the position of the meandering portion Px (Step S26). It is determined whether or not the distance L (see FIG. 3) from Px to the upstream side steering roll 11 is between the control end distance Le and the control start distance Ls (step S30). When the distance L is not between the control end distance Le and the control start distance Ls (S30 / No), the simulator 25 sets the control amount Dc and the operating speed Va of the adjusting device 10 to zero, and the meander control unit 21 Control amount Dc and operation speed Va are output (step S39).

  When the distance L of any meandering portion Px is between the control end distance Le and the control start distance Ls (S30 / Yes), the simulator 25 sets the values of the control amount Dc and the operating speed Va of the adjusting device 10 that have been set. Is output to the meandering control unit 21 (step S36). Next, the simulator 25 determines whether or not the distance L from all the meandering portions Px to which the meandering prediction amount Xs exceeds the prediction reference value Ys to the upstream steering roll 11 is equal to or less than the control end distance Le (step S38). . While the distance L of any meandering part Px exceeds the control end distance Le (S38 / No), the simulator 25 repeats the determination of the distance L in step S38. On the other hand, when the distance L of all the meandering portions Px is equal to or less than the control end distance Le (S38 / Yes), the simulator 25 sets the control amount Dc and the operating speed Va of the adjusting device 10 to zero, and performs meandering control. The control amount Dc and the operation speed Va are output to the unit 21 (step S44). Thereafter, the simulator 25 returns to step S10 and continues the simulation.

(3-1-2. Processing Example of Meandering Control Unit)
FIG. 11 is a flowchart illustrating an example of processing by the meandering control unit 21. First, the meandering control unit 21 executes steps S50 to S58 in the same procedure as the processing by the meandering control unit 21 of the meandering control device 1 according to the first embodiment. That is, the meandering control unit 21 acquires the sensor signal of the width direction position detection unit 19 (step S50), and the meandering amount X of the steel strip S detected based on the sensor signal of the width direction position detection unit 19 is set in advance. It is determined whether or not the lower limit value Y is exceeded (step S54). When the detected meandering amount X of the steel strip S exceeds the lower limit value Y (S54 / Yes), the meandering control unit 21 proceeds directly to step S64, while when the meandering amount X of the steel strip S is equal to or less than the lower limit value Y ( (S54 / No), the meandering amount X is set to zero so that the meandering correction of the steel strip S by the meandering control device 1 is not executed (step S58), and the process proceeds to step S64.

  Next, the meandering control unit 21 sets the control amount D of the adjusting device 10 based on the detected meandering amount X in step S64 (step S64). Specifically, the meandering control unit 21 feedback-controls the control amount D of the adjusting device 10 by PID control or the like so that the detected meandering amount X becomes zero. Next, the meander control unit 21 refers to the control amount Dc input from the simulator 25 (step S68), and the control amount D based on the detected meander amount X is greater than the control amount Dc set by the simulator 25. It is determined whether or not it is larger (step S72).

  When the control amount D based on the detected meandering amount X is larger than the control amount Dc set by the simulator 25 (S72 / Yes), the meandering control unit 21 drives the adjusting device 10 based on the control amount D. A drive signal is output to 17 (step S76). On the other hand, when the control amount D based on the detected meandering amount X is less than or equal to the control amount Dc set by the simulator 25 (S72 / No), the meandering control unit 21 adjusts based on the control amount Dc and the operation speed Va. A drive signal is output to the drive device 17 of the device 10 (step S80). Thereby, the drive device 17 is driven, and the meandering of the steel strip S is corrected by changing the inclination or position of the support base 15 that supports the upstream side steering roll 11 and the downstream side steering roll 13.

  Thus, in the meandering control device 1 according to the present embodiment, when the meandering prediction amount Xs of the steel strip S is large, the meandering prediction amount Xd of all the meandering portions Px is less than the meandering allowable value Ya. The control amount Dc is compared with the control amount D of the adjusting device 10 set based on the meandering amount X actually generated on the downstream side of the adjusting device 10, and the adjusting device is used by using the larger value. 10 drive is controlled. At this time, when the control amount Dc and the operation speed Va set by the simulator 25 are used, before the time when the meandering portion Px where the meandering prediction amount Xs becomes large reaches the adjusting device 10, The drive instruction is output. Therefore, the adjusting device 10 is driven in accordance with the time when the meandering portion Px where the meandering prediction amount Xs increases reaches the adjusting device 10, and the actual deviation of the steel strip S can be suppressed.

<3-2. Effect>
As described above, the meandering control device 1 according to the present embodiment performs the feedback control of the control amount D of the adjusting device 10 so that the meandering amount X of the steel strip S detected on the downstream side of the adjusting device 10 becomes zero, and the simulator When the meandering prediction amount Xs calculated by 25 is large, the control amount Dc and the operation speed Va of the adjusting device 10 are set so that the meandering prediction amount Xd of all the meandering portions Px is less than the meandering allowable value Ya. . The meandering control device 1 drives the adjusting device 10 based on the larger value of the control amount D set based on the detected actual meandering amount X or the control amount Dc set by the simulator 25. To control. Therefore, the meandering control device 1 can suppress the actual meandering amount X of the steel strip S corresponding to not only the actual meandering of the steel strip S but also the predicted meandering. Thereby, even if it is a case where the sudden meandering of the steel strip S arises, the meandering amount X can be suppressed.

  Further, in the meandering control device 1 according to the present embodiment, according to the second example, a simulation for predicting the occurrence of buckling of the steel strip S is executed, and the control amount Dc such that buckling does not occur and An operating speed Va is set. Therefore, even if it is a case where it controls based on control amount Dc and operation speed Va to sudden meandering of steel strip S, meandering can be controlled without generating buckling in steel strip S. .

  Further, the meandering control device 1 according to the present embodiment predicts meandering of the steel strip S without actually transporting the steel strip S on the processing line by calculating the meandering prediction amount Xs by the simulator 25. The adjusting device 10 can be driven. Therefore, compared with a case where a sensor for detecting the position in the width direction of the steel strip S is provided upstream of the adjusting device 10 and the adjusting device 10 is feedforward controlled, it corresponds to the degree of meandering or a sudden increase of the steel strip S. The adjusting device 10 can be driven reliably. Moreover, compared with the case where the sensor which detects the width direction position of the steel strip S is provided in the upstream of the adjusting apparatus 10, and the adjusting apparatus 10 is feedforward-controlled, the number of sensors to be used can be reduced.

  In addition, the meandering control device 1 according to the present embodiment is based on information about the meandering prediction amount Xs calculated in advance, and the adjustment device according to the time when the meandering portion Px where the meandering prediction amount Xs increases reaches the adjustment device 10. Since 10 operates, it is suppressed that the operation amount of the adjustment apparatus 10 becomes large rapidly. Therefore, even if the meandering control device 1 according to the present embodiment is installed in an annealing furnace in which the mechanical properties of the steel strip S deteriorate, it suppresses the occurrence of buckling and slip flaws in the steel strip S. Can do.

  The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.

  In the meandering control apparatus according to each of the above embodiments, the control unit 20 includes the meandering control unit 21 and the simulator 25, but the present invention is not limited to such an example. For example, in the meander control apparatus according to the first embodiment and the second embodiment, the control unit 20 has a function of calculating the meandering prediction amount Xs or calculating the occurrence of buckling among the functions of the simulator 25 ( 4 and 6 does not have to be provided. In this case, the information on the meandering prediction amount Xs obtained by using another simulation device or the information on the prediction of occurrence of buckling is stored in the storage unit of the control unit 20, and the meandering control unit 21 stores the stored information. By performing meandering control while referring to the above, the same effect as the meandering control device according to each of the above embodiments can be obtained. Further, in the meandering control apparatus according to the third embodiment, the control unit 20 performs a function of calculating the meandering prediction amount Xs or a prediction of occurrence of buckling and setting the control amount Dc among the functions of the simulator 25 (FIG. 8) (step S10 to step S24). In this case, information on the meandering prediction amount Xs or information on occurrence prediction of buckling and information on the control amount Dc obtained in advance using another simulation device is stored in the storage unit of the control unit 20, and the meandering control unit 21 By performing meandering control while referring to the stored information, the same effect as the meandering control device according to the third embodiment can be obtained.

DESCRIPTION OF SYMBOLS 1 Meander control apparatus 10 Adjustment apparatus 11 Upstream steering roll 13 Downstream steering roll 15 Support stand 17 Drive apparatus 19 Width direction position detection part 20 Control unit 21 Meander control part 25 Simulator S Steel strip

Claims (11)

In the meandering control device for controlling the meandering of the strip-shaped sheet material that is continuously conveyed,
An adjusting device for adjusting the position in the width direction of the plate material;
A detection unit for detecting a meandering amount of the plate material on the downstream side of the adjusting device;
A control unit that controls the adjusting device based on the amount of meandering,
The said control part is a meander control apparatus which controls the said adjustment apparatus further based on the information of the meandering prediction amount of the said sheet | seat material. The information on the meandering prediction amount includes information on the plurality of meandering prediction amounts predicted in correspondence with the plurality of prediction positions in the conveying direction of the plate material,
The meandering control device according to claim 1, wherein the control unit controls the adjusting device based on information of the meandering prediction amount before the predicted position where the meandering is predicted reaches the adjusting device.   The meandering control device according to claim 1, wherein the control unit controls the adjusting device based on information on the meandering prediction amount when the meandering prediction amount exceeds a prediction reference value.   The control unit calculates a control amount of the adjusting device based on the meandering amount when the meandering amount exceeds a lower limit value, and when the meandering prediction amount exceeds the prediction reference value larger than the lower limit value 4. The meandering control device according to claim 3, wherein a control amount of the adjusting device is calculated based on the meandering amount and the meandering predicted amount, and the adjusting device is controlled.   5. The meander according to claim 1, wherein the control unit feedback-controls a control amount of the adjusting device based on the meandering amount, and changes a control gain based on the meandering prediction amount. Control device.   The meandering control device according to any one of claims 1 to 4, wherein the control unit controls the adjusting device based on a larger value of the meandering amount and the meandering prediction amount.   When the meandering prediction amount exceeds the prediction reference value, the control unit obtains a control amount of the adjusting device that causes the meandering prediction amount to be less than a meandering allowable value, and based on the obtained control amount, The meandering control device according to claim 3 or 4, which performs control.   The control unit is based on a control amount that is larger of a control amount of the adjusting device that is obtained based on the meandering amount and a control amount of the adjusting device that causes the meandering prediction amount to be less than the meandering allowable value. The meandering control device according to claim 7, wherein the adjustment device is controlled.   The control unit obtains a control amount and an operating speed of the adjusting device that cause the meandering prediction amount to be less than the meandering allowable value, and controls the adjusting device based on the obtained control amount and the operating speed. Item 9. A meandering control device according to Item 7 or 8.   The control unit further predicts occurrence of buckling of the sheet passing material, obtains a control amount of the adjusting device so that the buckling does not occur, and based on the obtained control amount and the operating speed, the adjusting device The meandering control device according to claim 9, wherein the control is performed. In the meandering control method for controlling the meandering of the belt-shaped sheet material that is continuously conveyed,
The control unit
While controlling the adjusting device based on the meandering amount of the passing plate material detected on the downstream side of the adjusting device for adjusting the position in the width direction of the passing plate material,
Furthermore, the meander control method of controlling the said adjustment apparatus based on the information of the meandering prediction amount of the said board material.

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