JP2019093419A - Shape control device of cluster rolling mill - Google Patents

Abstract

To provide a shape control device of a cluster rolling mill that is capable of stably controlling a shape, even when a local shape defect has arisen.SOLUTION: A shape control device includes: a shape deviation calculator; a regularization parameter change section; and an operation amount calculator. The shape deviation calculator calculates a shape deviation which is a difference between an actual shape of a rolled material measured by a shape meter, and a target shape of the rolled material. In a case that a value related to a shape defect in a width direction of the rolled material is larger than a threshold, the regularization parameter change section changes a regularization parameter for adjusting an influence degree of a regularization term to a value that is greater than a value in a case of the threshold or less. The operation amount calculator calculates an operation amount of the actuator for shape controlling, that minimizes an evaluation function of the shape deviation into which the regularization term containing the regularization parameter is introduced.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a shape control device of a cluster rolling mill having split backup rolls.

  In the rolling of high strength materials, a rolling mill having a small diameter work roll which enables a high rolling reduction is advantageous. However, a work roll having a small diameter is easily bent in the plate width direction by a rolling reaction force, and a shape defect is likely to occur.

  Therefore, a cluster rolling mill such as a Sendzimir rolling mill is provided with a divided backup roll that suppresses deformation of the work roll and adjusts the crown of the backup roll by adopting a structure in which a plurality of rolls are stacked. The split backup rolls are split in the width direction, and when the angle of the eccentric sleeve of each split roll is changed, the rolling position changes. In shape control, the amount of depression of the cylinder that operates the angle of the eccentric sleeve is controlled so as to eliminate the shape deviation which is the difference between the actual shape on the delivery side of the rolling mill and the target shape.

  As a general shape control method of a rolling mill, a shape meter in which a plurality of measurement zones are divided in the plate width direction is installed on the outlet side of the rolling mill, and the shape measurement value of each measurement zone and the target shape in each zone Each actuator for shape control is controlled so that the difference in shape deviation is minimized.

  For example, in Japanese Patent Application Laid-Open No. 1-306008, the difference between the actual shape and the target shape of each measurement zone measured by the shape meter is used as the shape deviation, and the least squares method is used using the shape influence factor of the actuator in each measurement zone. The operation amount of the actuator that minimizes the shape deviation is calculated.

  Further, Japanese Patent Application Laid-Open No. 8-190401 proposes a shape control method in the case where the position of the measurement zone of the shape meter in the plate width direction does not correspond to the position of the actuator for shape control in the plate width direction. . In this publication, the actual shape of each measurement zone in the sheet width direction is approximated by a fourth-order polynomial, and the difference from the target shape in each measurement zone is regarded as the shape deviation. The operation amount of each actuator is calculated by the least square method so that the shape deviation is minimized by the shape deviation of each measurement zone and the shape influence factor of the actuator in each measurement zone.

Unexamined-Japanese-Patent No. 1-306008 JP-A-8-190401

  As described above, the shape accuracy is improved by calculating the operation amount of each actuator by the least square method using the shape deviation of each measurement zone and the shape influence coefficient of the actuator. However, in a cluster rolling mill having divided backup rolls, there are problems as described below.

  The split backup roll has the ability to control complicated shapes, but can not correct local shape defects if the actual shape or shape deviation is approximated by a fourth-order polynomial. On the other hand, when the actual shape is used as it is without polynomial approximation of the actual shape or the shape deviation, the cylinder which is an actuator for shape control of the divided backup roll near the measurement zone where the local shape defect is occurring The amount of operation of will be extremely large. When the difference between the control upper limit and lower limit of the control or the stroke position of the adjacent cylinders reaches the upper limit of the equipment, it becomes difficult to control the shape.

  It is better not to approximate the actual shape or shape deviation with a polynomial from the viewpoint of fully exhibiting the shape control ability of the split backup roll, but from the viewpoint of performing stable shape control, the actual shape obtained by polynomial approximation It is better to use shape deviation.

  The present invention has been made to solve the problems as described above, and a local shape defect occurs even when the local shape defect does not occur in the width direction of the material to be rolled. However, it is an object of the present invention to provide a shape control device for a cluster rolling mill which can stably control the shape.

  In order to achieve the above object, a work roll for rolling a material to be rolled, a shape meter for measuring the shape of the material to be rolled in each measurement zone divided in the axial direction of the work roll, and The work roll is indirectly supported by a plurality of split rolls, and a split backup roll in which a backup roll crown changes due to displacement of each split roll, and a shape control actuator capable of individually operating the position of each split roll The shape control device of a cluster rolling mill having. Is configured as follows.

  The shape control device includes a shape deviation calculation unit, a regularization parameter change unit, and an operation amount calculation unit. The shape deviation calculation unit calculates a shape deviation which is a difference between the actual shape of the material to be rolled measured by the shape meter and the target shape of the material to be rolled. When the value regarding the shape defect in the width direction of the material to be rolled is larger than the threshold value, the regularization parameter changing unit sets the regularization parameter for adjusting the degree of influence of the regularization term to a larger value than the value less than the threshold value. change. The operation amount calculation unit calculates the operation amount of the shape control actuator which minimizes the evaluation function of the shape deviation into which the regularization term including the regularization parameter is introduced.

  The regularization term has the same effect as simplifying the influence model on the shape of the actuator. Therefore, when the value relating to the shape defect is equal to or less than the threshold value, the regularization parameter is small, so the influence of the regularization term is small, and the shape deviation can be approximated with high accuracy. On the other hand, if the value for the shape defect becomes larger than the threshold due to local shape defect, the regularization parameter becomes large, and the regularization term has the same effect as simplifying the model, and the approximation accuracy It can be lowered. This prevents the shape control actuator in the vicinity where the local shape defect is occurring from reaching the control upper limit and becoming difficult to control, even when the local shape defect is generated, which is stable. Control the shape.

  In one embodiment, the regularization parameter changing unit includes an actuator monitoring unit and a regularization parameter setting unit. The actuator monitoring unit monitors the actual value of the operation amount of the shape control actuator, and the regularization parameter change request when the number of actuators whose actual value reaches the upper and lower limit values of the actuator operation becomes equal to or more than a threshold Output The regularization parameter setting unit gradually increases the regularization parameter according to the passage of time when the regularization parameter change request is made.

  According to this, since all the actuators apply control upper and lower limits, and regularization parameters can be changed before shape control becomes difficult, stable shape control becomes possible.

  In another embodiment, the regularization parameter changing unit includes a standard error monitoring unit and a regularization parameter setting unit. The standard error monitoring unit outputs a regularization parameter change request when the standard error obtained by polynomial approximation of the shape deviation becomes equal to or greater than a preset threshold. The regularization parameter setting unit gradually increases the regularization parameter according to the passage of time when the regularization parameter change request is made.

  According to this, when there is a local shape defect, the regularization parameter can be changed, the actuator can be prevented from reaching the control upper and lower limits, and stable shape control can be performed.

  In still another embodiment, the regularization parameter changing unit continuously calculates the regularization parameter using a function having a standard error as a variable when the shape deviation is polynomially approximated, for each control cycle. .

  According to this, it is possible to set an appropriate regularization parameter in accordance with the change of the shape deviation, and it is possible to carry out highly accurate and stable shape control.

  Preferably, the shape control device includes a regularization parameter management unit that manages the regularization parameter for each material type and size of the material to be rolled. The regularization parameter change unit applies the regularization parameter corresponding to the grade and size of the material to be rolled from the regularization parameter management unit when the value regarding the shape defect exceeds a threshold.

  According to this, when there is a local shape defect with a specific grade and size, adjusting the regularization parameter of the section prevents the shape control actuator from reaching the upper and lower limits of control. In addition, it is possible to perform flexible control such as improving the accuracy of shape control by setting the regularization parameter to 0 in the material type and size in which no local shape defect occurs.

  According to the present invention, it is possible to prevent the actuator from reaching the upper and lower limits of control even when the local shape defect does not occur in the width direction of the material to be rolled even when the local shape defect occurs. Product quality is improved because stable shape control is possible.

It is a figure for demonstrating the structure of the rolling system which concerns on Embodiment 1 of this invention. It is a side view which shows the roll arrangement | positioning of the cluster type | mold Zenzimia rolling mill which arranged 20 rolls. It is a block diagram explaining the roll crown adjustment mechanism of the division | segmentation backup roll of a Sendzimir rolling mill. It is a conceptual diagram showing the example of hardware constitutions of the processing circuit which the shape control device of this system has. It is a figure for demonstrating the structure of the rolling system which concerns on Embodiment 2 of this invention. It is a figure for demonstrating the structure of the rolling system which concerns on Embodiment 3 of this invention. It is the table which divided the regularization parameter which a regularization parameter management part memorizes by material type, board thickness, and board width.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The same reference numerals are given to the elements common to the respective drawings, and the redundant description will be omitted.

Embodiment 1
(Rolling system)
FIG. 1 is a diagram for explaining a configuration of a rolling system according to a first embodiment of the present invention. A material to be rolled 1 such as metal is conveyed from the left tension reel 2 in the direction 3, rolled by the cluster rolling mill 4, and wound around the right tension reel 5.

  In the present embodiment, as an example, the cluster rolling mill 4 is a reverse cold rolling mill comprising one Sendzimir rolling mill having six cylinders as shape control actuators 23 for operating the split backup rolls.

  The reverse cold rolling mill stops rolling before winding all the material to be rolled 1 by the right tension reel 5. Then, it rolls in a reverse direction and repeats rolling, changing direction to right and left until it becomes desired plate thickness.

  On the left and right of the cluster rolling mill 4, shape meters 6, 7 for measuring the shape of the material to be rolled 1 are installed in each measurement zone divided in the axial direction of the work roll 41 (FIG. 2) The measured values of the shape meter installed downstream are transmitted to the shape control device 10. In FIG. 1, the measured value is transmitted from the shape meter 7 because the rolling direction is the right direction, but when the rolling direction is the left direction, the measured value is transmitted from the shape meter 6.

  A configuration example of the cluster rolling mill 4 will be described with reference to FIG. FIG. 2 is a side view showing a roll arrangement of a cluster type Sendzimir mill in which twenty rolls are arranged. In the rolling of high strength materials, a rolling mill having a small diameter work roll which enables a high rolling reduction is advantageous. However, a work roll having a small diameter is easily bent in the plate width direction by a rolling reaction force, and a shape defect is likely to occur. Therefore, the deformation of the small diameter work roll is suppressed by adopting a structure in which a plurality of rolls are stacked.

  Specifically, the Sendzimir rolling machine includes a pair of upper and lower small diameter work rolls 41 for rolling the material to be rolled 1, two upper and lower pairs of first intermediate rolls 42 for supporting the work rolls 41, and a first intermediate roll 42. Three pairs of upper and lower second intermediate rolls 43 for supporting and four pairs of upper and lower divided backup rolls 44 for supporting the second intermediate roll 43 are provided.

  The divided backup roll 44 indirectly supports the work roll 41 by a plurality of divided rolls divided in the axial direction, and the displacement of each divided roll changes the backup roll crown. The shape control actuators 23 (the six cylinders described above) can individually manipulate the positions of the split rolls.

  FIG. 3 is a configuration diagram for explaining a roll crown adjusting mechanism of the divided backup roll 44 of the Sendzimir rolling mill. As shown in FIG. 3, the split backup roll 44 is composed of one roll shaft 45, a plurality of split rolls 46 fitted thereto, and a saddle 47 fixed on the inner surface of the housing with the roll shaft 45 interposed therebetween. The saddle 47 incorporates an eccentric ring and supports the roll shaft 45. By rotating each eccentric ring separately, each cylinder serving as the shape control actuator 23 operates the reduction position of the dividing roll 46, and the dividing roll 46 is displaced in the contact / separation direction with respect to the material 1 to be rolled. Thereby, the backup roll crown changes, the work roll gap is adjusted, and the shape of the material to be rolled 1 can be controlled.

(Shape control device)
Returning to FIG. 1, the shape control device 10 according to the present embodiment will be described. Before starting rolling, a target shape is set in the shape control device 10 by the external setting device 21.

  The shape deviation calculation unit 11 calculates a shape deviation which is a difference between the actual shape of the material to be rolled 1 measured in each measurement zone of the shape meter 7 and the target shape of the material to be rolled 1 set by the setting device 21. .

  The manipulated variable calculating unit 13 receives the shape deviation in each measurement zone from the shape deviation calculating unit 11 and the regularization parameter from the regularization parameter changing unit 12 described later, and a regularization term including a regularization parameter is introduced. An operation amount of the shape control actuator 23 which minimizes the evaluation function of the shape deviation is calculated.

  Specifically, the operation amount calculator 13 calculates each operation amount of each shape control actuator 23 by the L1 regularized least squares method. The manipulated variable calculation unit 13 is expressed by the equation (1) using the shape deviation in each measurement zone calculated by the shape deviation calculation unit 11 and the regularization parameter λ set by the regularization parameter changing unit 12. The operation amount of each actuator is calculated for each control cycle so that the evaluation function J is minimized.

here,
j: Measurement zone number of shape meter [-]
n _S : The first zone number of the measurement zone covered by the material to be rolled [-]
n _E : Last zone number of the measurement zone covered by the material to be rolled [-]
ε _j : Shape deviation [I-unit]
α _j : Weighting factor [-]
λ: regularization parameter [-]
∂β _j / _{∂L ASU1} : Shape influence factor of the first cylinder operating the split backup roll [I-unit / mm]
∂β _j / _{∂L ASU2} : Shape influence factor of the second cylinder operating the split backup roll [I-unit / mm]
∂β _j / _{∂L ASU3} : Shape influence factor of the third cylinder that operates the split backup roll [I-unit / mm]
∂β _j / _{∂L ASU4} : The shape influence factor of the fourth cylinder operating the split backup roll [I-unit / mm]
∂β _j / _{∂L ASU5} : The shape influence factor of the fifth cylinder operating the split backup roll [I-unit / mm]
∂β _j / _{∂L ASU6} : Shape influence factor of the 6th cylinder that operates the split backup roll [I-unit / mm]
ΔL _ASU1 : Operating amount of the first cylinder for operating the split backup roll [mm]
ΔL _ASU2 : Operating amount of the second cylinder for operating the split backup roll [mm]
ΔL _ASU3 : Operating amount of the third cylinder for operating the split backup roll [mm]
ΔL _ASU4 : Operating amount of the fourth cylinder for operating the split backup roll [mm]
ΔL _ASU5 : Operating amount of the fifth cylinder for operating the split backup roll [mm]
ΔL _ASU6 : Operating amount of the 6th cylinder for operating the split backup roll [mm]
It is.
The shape influence variable is a shape change amount (I-unit) when the shape control actuator 23 moves by a unit amount (1 mm).

The L1 regularization least squares method is equivalent to the least squares method when the regularization parameter λ of the regularization term is 0, and the shape deviation can be approximated with a polynomial with high accuracy (the regularization term does not work). On the other hand, as the regularization parameter λ is increased, the regression accuracy is reduced, and a sparse solution is obtained (some of ΔL _ASU tends to be 0). The regularization term acts to simplify the model and can reduce the approximation accuracy.

  The shape control apparatus 10 according to the present invention utilizes this property, and by manipulating the regularization parameter λ, the approximation accuracy of the shape deviation by the least squares method is reduced when a local shape defect occurs. It prevents the cylinder operation amount of the divided backup roll near the local shape defect from being calculated extremely large.

  Note that if a large value is set for the regularization parameter λ, the shape deviation will remain large. Therefore, for example, it is determined to have an approximation accuracy similar to that obtained by approximating a shape defect with a fourth order polynomial. desirable.

  Even when a local shape defect in the plate width direction of the material to be rolled 1 occurs using the evaluation function J as described above, control is performed so that the operation amount of the shape control actuator 23 does not become extremely large. In order to do this, the shape control device 10 includes a regularization parameter changing unit 12 that sets an appropriate regularization parameter for each control cycle.

  When the value related to the shape defect in the width direction of the material to be rolled 1 is larger than the threshold, the regularization parameter changing unit 12 sets the regularization parameter for adjusting the degree of influence of the regularization term to a larger value than the threshold value or less. change.

  According to this, when the value related to the shape defect is equal to or less than the threshold value, the regularization parameter is small, so the influence of the regularization term is small, and a solution with high approximation accuracy is obtained. That is, when a local shape defect does not occur, the shape deviation can be approximated with high accuracy by a polynomial, and the shape can be stably controlled. On the other hand, if the value for the shape defect becomes larger than the threshold due to local shape defect, the regularization parameter becomes large, and the regularization term has the same effect as simplifying the model, and the approximation accuracy It can be lowered. Therefore, even when the local shape defect occurs, the shape control actuator 23 in the vicinity where the local shape defect occurs is prevented from reaching the control upper and lower limits and control becomes difficult, which is stable. Control the shape.

  Specifically, the regularization parameter changing unit 12 according to the first embodiment includes an actuator monitoring unit 12a and a regularization parameter setting unit 12b.

  The actuator monitoring unit 12a monitors the actual value of the operation amount of the shape control actuator 23, and when the number of actuators whose actual value reaches the upper and lower limit values of the actuator operation amount becomes equal to or more than the threshold, the regularization parameter change request Output

  The regularization parameter setting unit 12b gradually increases the regularization parameter according to the passage of time when there is a regularization parameter change request. Specifically, the regularization parameter setting unit 12 b has an upper limit value and a lower limit value of the regularization parameter, sets a lower limit value (for example, 0) at the start of control, and uses it in the manipulated variable calculation unit 13. After the start of control, when a regularization parameter change request is received from the actuator monitoring unit 12a, the regularization parameter is calculated by the equation (3), and used in the operation amount calculation unit 13.

here,
t: Time since the regularization parameter change request was received [s]
t _C : time to change from lower limit value to upper limit value of regularization parameter [s]
λ ^UL : Upper limit value of regularization parameter [-]
λ ^LL : Lower limit value of regularization parameter [-]
It is.

  The right side of the equation (3) is a function of time, and after the regularization parameter change request is received, the lower limit value of the regularization parameter is changed to the upper limit value in a predetermined time.

  According to this, it is possible to prevent the rapid change of the regularization parameter. By this function, each operation amount of the shape control actuator 23 is applied to the upper and lower limits of control, and the regularization parameter can be changed before the shape control becomes difficult, so stable shape control becomes possible.

  The position control device 22 controls the shape control actuator 23 with the operation amount of each actuator calculated by the operation amount calculation unit 13.

  As described above, according to the shape control device 10 according to the present embodiment, the local shape defect occurs even when the local shape defect does not occur in the width direction of the material 1 to be rolled. Even in this case, the actuator can be prevented from reaching the upper and lower limits of control, and stable shape control can be performed, thereby improving product quality.

(Modification)
By the way, although Embodiment 1 demonstrated the case where it applied to the reverse cold rolling mill which consists of one Sendzimir rolling mill, it is not necessarily limited to this, The cluster which has a shape control actuator and a division | segmentation backup roll It is applicable if it is a rolling mill. This point is the same in the following embodiments.

(Hardware configuration example)
FIG. 4 is a conceptual diagram showing an example of the hardware configuration of the processing circuit of the shape control device 10 of the present system. Each part of FIG. 1 (and FIGS. 5 and 6 described later) shows a part of functions, and each function is realized by a processing circuit. In one aspect, the processing circuitry comprises at least one processor 91 and at least one memory 92. In another aspect, the processing circuitry comprises at least one dedicated hardware 93.

  When the processing circuit includes the processor 91 and the memory 92, each function is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is described as a program. The software and / or firmware is stored in the memory 92. The processor 91 implements each function by reading and executing the program stored in the memory 92.

  Where the processing circuitry comprises dedicated hardware 93, the processing circuitry may be, for example, a single circuit, a complex circuit, a programmed processor, or a combination thereof. Each function is realized by a processing circuit.

Second Embodiment
A second embodiment of the present invention will now be described with reference to FIG. In the first embodiment described above, the actual value of the operation amount of the shape control actuator 23 is monitored, and the regularization parameter is changed when the number of actuators whose actual value reaches the upper and lower limit values becomes equal to or more than the threshold. By the way, the method of changing the regularization parameter is not limited to this. Therefore, in the second embodiment, the regularization parameter is changed according to the standard error when the shape deviation is polynomially approximated.

  FIG. 5 is a diagram for explaining a configuration of a rolling system according to a second embodiment of the present invention. The rolling system shown in FIG. 5 is the same as FIG. 1 except that the shape control device 10 has a standard error monitoring unit 12c instead of the actuator monitoring unit 12a.

  The standard error monitoring unit 12c outputs a regularization parameter change request when the standard error when polynomial approximation of the shape deviation is performed becomes equal to or more than a preset threshold. Specifically, the standard error monitoring unit 12c receives the shape deviation of each measurement zone from the shape deviation calculating unit 11, and approximates the shape deviation with a polynomial. Furthermore, when the standard error in the case of polynomial approximation becomes equal to or more than a preset threshold value, the regularization parameter change request is transmitted to the regularization parameter setting unit 12b. The order of the polynomial is not limited, but it is desirable to use a fourth-order polynomial or the like because there is a possibility that local shape defects may be approximated with high precision if a higher order polynomial is selected.

  The regularization parameter setting unit 12 b has the same function as the regularization parameter setting unit 12 b of the first embodiment. That is, it has the upper limit value and the lower limit value of the regularization parameter, and the lower limit value is set at the start of control. Furthermore, when there is a request to change the regularization parameter, the regularization parameter is calculated using equation (3), and is used for calculation of the manipulated variable.

  According to this, since the regularization parameter can be changed when the local shape defect occurs, the actuator can be prevented from reaching the control upper and lower limits, and the shape can be stably controlled.

(Modification)
By the way, in the system of the second embodiment described above, the standard error monitoring unit 12c and the actuator monitoring unit 12a described in the first embodiment may coexist. This point is the same in the following embodiments.

  Also, in the second embodiment described above, the setting of the regularization parameter using the standard error has been described, but the setting method of the regularization parameter using the standard error is not limited to this. For example, the regularization parameter changing unit 12 may continuously calculate regularization parameters for each control period using a function having a standard error as a polynomial approximation of the shape deviation as a variable. In this case, the standard error monitoring unit 12c and the regularization parameter setting unit 12b have the following functions.

  The standard error monitoring unit 12c receives the shape deviation from the shape deviation calculating unit 11, and approximates the shape deviation with a polynomial. Furthermore, the standard error when polynomial approximation is performed is transmitted to the regularization parameter setting unit 12b. Although the order of the polynomial is not limited, it is preferable to use a fourth-order polynomial or the like, since selecting a higher order polynomial may approximate local shape defects with high accuracy.

  Further, the regularization parameter setting unit 12b uses the standard error received from the standard error monitoring unit 12c for each control cycle, calculates the regularization parameter by the equation (4), and uses it in the operation amount calculation.

here,
SE: Standard error [I-unit]
λ ^UL : Upper limit value of regularization parameter [-]
λ ^LL : Lower limit value of regularization parameter [-]
It is.

  The right side of equation (4) is a function of standard error, and the regularization parameter is continuously changed according to the standard error.

  According to this, it is possible to set an appropriate regularization parameter in accordance with the change of the shape deviation, and it is possible to carry out highly accurate and stable shape control.

Third Embodiment
Third Embodiment Next, a third embodiment of the present invention will be described with reference to FIGS. FIG. 6 is a diagram for explaining a configuration of a rolling system according to a third embodiment of the present invention. The rolling system shown in FIG. 6 is different from that of Embodiment 1 in that the shape control device 10 includes a regularization parameter management unit 14. Hereinafter, differences from the first embodiment will be described.

  The regularization parameter management unit 14 manages regularization parameters for each material type and size of the material 1 to be rolled. Specifically, the regularization parameter management unit 14 manages regularization parameters using a table 15 shown in FIG. 7 divided by material type, plate thickness, and plate width.

  The regularization parameter changing unit 12 applies regularization parameters corresponding to the grade and size of the material to be rolled 1 from the regularization parameter management unit 14 when the value regarding the shape defect exceeds the threshold. Specifically, before starting rolling, the regularization parameter changing unit 12 receives the material type of the rolled material, the thickness of the outgoing side, and the plate width from the setting device 21, and the regularization parameters of the corresponding section from the regularization parameter management unit 14. Are set and set in the operation amount calculation unit 13.

  According to this, when there is a local shape defect with a specific grade and size, adjusting the regularization parameter of the section causes the shape control actuator 23 to reach the upper and lower limits of control. It is possible to perform flexible control such as improving the accuracy of shape control by setting the regularization parameter to 0 for material types and sizes that do not cause local shape defects.

(Modification)
In the system of the third embodiment described above, the regularization parameter changing unit 12 may coexist with the actuator monitoring unit 12a described in the first embodiment or the standard error monitoring unit 12c described in the second embodiment. . In this case, the upper limit value and the lower limit value of the regularization parameter used in the equations (3) and (4) are set in advance in the table 15 for each section.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to said embodiment, It can variously deform and implement in the range which does not deviate from the meaning of this invention.

DESCRIPTION OF SYMBOLS 1 Roll material 2 left tension reel 3 direction 4 cluster rolling mill 5 right tension reel 6 and 7 shape meter 10 shape control device 11 shape deviation calculation unit 12 regularization parameter changing unit 12 a actuator monitoring unit 12 b regularization parameter setting unit 12 c standard Error monitoring unit 13 Operation amount calculation unit 14 Regularization parameter management unit 15 Table 21 Setting device 22 Position control device 23 Shape control actuator 41 Work roll 42 First intermediate roll 43 Second intermediate roll 44 Division backup roll 45 Roll axis 46 Division Roll 47 Saddle 91 Processor 92 Memory 93 Hardware

Claims (6)

A work roll for rolling a material to be rolled;
A shape meter for measuring the shape of the material to be rolled in each measurement zone divided in the axial direction of the work roll;
A divided backup roll in which the work roll is indirectly supported by a plurality of axially divided split rolls, and a backup roll crown is changed by displacement of each divided roll;
And a shape control actuator capable of individually operating the positions of the divided rolls.
A shape deviation calculation unit that calculates a shape deviation that is a difference between the actual shape of the material to be rolled measured by the shape meter and the target shape of the material to be rolled;
A regularization parameter changing unit that changes the regularization parameter for adjusting the degree of influence of the regularization term to a value larger than that in the case where the value of the shape defect in the width direction of the material to be rolled is greater than the threshold. When,
An operation amount calculator for calculating an operation amount of the shape control actuator which minimizes an evaluation function of shape deviation into which a regularization term including the regularization parameter is introduced;
A shape control device for a cluster rolling mill comprising: The regularization parameter changing unit
An actuator monitor that monitors the actual value of the operation amount of the shape control actuator, and outputs a regularization parameter change request when the number of actuators whose actual value reaches the upper / lower limit value of the actuator operation becomes equal to or greater than a threshold Department,
A regularization parameter setting unit for gradually increasing the regularization parameter according to the passage of time when there is a request for changing the regularization parameter;
The shape control device for a cluster rolling mill according to claim 1, comprising: The regularization parameter changing unit
A standard error monitoring unit that outputs a regularization parameter change request when the standard error when polynomial approximation of the shape deviation is equal to or more than a preset threshold value;
A regularization parameter setting unit for gradually increasing the regularization parameter according to the passage of time when there is a request for changing the regularization parameter;
The shape control device for a cluster rolling mill according to claim 1, comprising: The regularization parameter changing unit continuously calculates the regularization parameter using a function having a standard error as a variable when the shape deviation is polynomially approximated, for each control period.
The shape control device for a cluster rolling mill according to claim 1, characterized in that A regularization parameter management unit that manages the regularization parameters for each of the material types and sizes of the material to be rolled;
The regularization parameter changing unit applies the regularization parameter corresponding to the grade and size of the material to be rolled from the regularization parameter management unit, when the value regarding the shape defect exceeds a threshold.
The shape control device for a cluster rolling mill according to any one of claims 1 to 4, characterized in that The operation amount calculation unit calculates an operation amount ΔL _ASUi of the shape control actuator that minimizes the value of the next evaluation function J, for each control cycle.
The shape control device for a cluster rolling mill according to any one of claims 1 to 5, characterized in that

here,
j: Measurement zone number of shape meter [-]
n _S : The first zone number of the measurement zone covered by the material to be rolled [-]
n _E : Last zone number of the measurement zone covered by the material to be rolled [-]
ε _j : Shape deviation [I-unit]
α _j : Weighting factor [-]
λ: regularization parameter [-]
i: Number of shape control actuator [-]
m: Number of shape control actuators [-]
∂β _j / _{∂L ASUi} : Shape influence coefficient of the i-th shape control actuator operating the split backup roll [I-unit / mm]
ΔL _ASUi : Operating amount of the i-th shape control actuator for operating the split backup roll [mm]
It is.

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