JP2020019633A - Transfer device control method and transfer device - Google Patents

Abstract

To suppress meandering of a plate material in transferring the plate material using a plate material transfer device having a pair of upper and lower pinch rolls.SOLUTION: An object is to detect a current value of a plate width center position of a plate material and bring the current value of the plate width center position closer to a target value of a plate width center position. When a pinch roll applies a driving force to the plate material in a transfer direction, rolling devices at the working side and the driving side of the pinch roll are operated in a direction to make a load on the target value of the plate width center position relatively larger than the other value on the basis of the current value of the plate width center position in a distribution of a load acting between the plate material and the pinch roll in a plate width direction, and conversely, when the pinch roll does not apply the driving force to the plate material in the transfer direction, the rolling devices at the working side and the driving side of the pinch roll are operated in a direction to make the load on the target value of the plate width center position relatively smaller than the other value on the basis of the current value of the plate width center position in the distribution of the load acting between the plate material and the pinch roll in the plate width direction.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to a transfer device control method and a transfer device.

  In a plate material production line, in order to transport the plate material smoothly while preventing out-of-plane deformation of the plate material, a device is used in which the plate material is nipped by a pair of upper and lower pinch rolls and transported while applying tension to the plate material (for example, Patent Document 1).

JP-A-8-108208

  In the apparatus for transporting a plate material as described above, the plate width center position of the plate material may be shifted (meandering) from the center of the transport line when the plate material is transported. In the worst case, an event may occur in which a portion of the plate is protruded from the pinch roll body and the plate is damaged.

  The present disclosure has been made in view of the above circumstances, and it is an object of the present disclosure to satisfactorily control a center position of a sheet width of a sheet material to a target position of the sheet width center in conveying a sheet material using a pinch roll.

  The present inventors have intensively studied a transport device capable of suppressing meandering of a plate material and a control method thereof. The present inventors first measured the load at each of both axial end portions of the pinch roll, and considered that the plate material was meandering to the side where the load was large, and relatively tightened the roll-down position on the side where the load was large. It was considered that the configuration of the related art in which the plate material was released to the side where the load was small and the meandering was improved by performing the rolling position control in the direction was effective. However, even when the above-described rolling position control is performed, the plate material cannot escape to the side where the load is small, and the meandering may not be sufficiently improved. Thus, the present inventors have solved the problems of the prior art, and have come to find a control method of an apparatus that conveys a sheet material while controlling the center position of the sheet width to a target value.

  The control method of the transport device according to an aspect of the present disclosure includes a pair of upper and lower pinch rolls for transporting the plate material, a driving device for driving the pinch rolls, and at least both ends in the axial direction of one of the upper and lower pinch rolls. In a conveying device equipped with a pressing device for pressing down a pinch roll and a load measuring device for measuring a load at each of both axial ends of at least one of the upper and lower pinch rolls, a center of a plate width of a plate material conveyed by the pinch roll. When the current position value is detected and the current value of the center position of the sheet width is set close to the target value of the center position of the sheet width, and the pinch roll is applying a driving force to the sheet material in the transport direction, the sheet material and the pinch roll Regarding the distribution of the load acting in the width direction of the plate, the load on the target value of the plate width center position is compared with the other value based on the current value of the plate width center position. Operate the pressing device on the working side and the driving side of the pinch roll in the direction to make it relatively large, and if the pinch roll does not give the plate material a driving force toward the transport direction, the load acting between the plate material and the pinch roll Regarding the distribution in the plate width direction, the pressing device on the working side and the drive side of the pinch roll is operated in a direction in which the load on the plate width center position target value side is made relatively smaller than the other with respect to the plate width center position current value. It is configured as follows.

  Further, the control method of the transfer device according to an aspect of the present disclosure, when the pinch roll is applying a driving force toward the transfer direction to the plate material, the difference between the plate width center position current value and the plate width center position target value. The target value of the load application point position of the load distribution acting between the sheet material and the pinch roll is compared to the current value of the load application point position, and is closer to the target value of the plate width center position than the current value of the plate width center position. The load target values on the working side and the drive side of the pinch roll are calculated based on the target value of the load application point position, and the pinch is performed so as to realize the load target values on the work side and the drive side of the pinch roll. On the contrary, when the pinch roll does not apply a driving force toward the conveying direction to the sheet material, the sheet width center position current value and the sheet width The difference from the center position target value Then, the target value of the load application point position of the load distribution acting between the sheet material and the pinch roll is compared to the current value of the load application point position, and the opposite side of the target value of the plate width center position based on the current value of the plate width center position. The load target value on the working side and the drive side of the pinch roll is calculated based on the target value of the load application point position, and the load target value on the work side and the drive side of the pinch roll is realized. The operating side and the driving side of the pinch roll are configured to be operated.

  Further, the control method of the transport device according to an aspect of the present disclosure, a pair of upper and lower pinch rolls for transporting the plate material, a driving device for driving the pinch rolls, at least one of the upper and lower pinch rolls at both axial ends In a conveying device equipped with a pressing device for pressing down a pinch roll and a load measuring device for measuring a load at each of both axial ends of at least one of the upper and lower pinch rolls, the width of the plate material conveyed by the pinch roll Detecting the center position current value, aiming to bring this plate width center position current value closer to the plate width center position target value, and using the difference between the plate width center position current value and the plate width center position target value as a plate position error. The plate position error control amount is calculated in consideration of the history of the plate position error before the current time in addition to the plate position error at the current time. Calculates the load application point position offset as a value proportional to, and when the pinch roll is applying a driving force toward the transport direction to the plate, subtracts the load application point position offset from the current value of the plate width center position. Calculating the target value of the load application point position of the load distribution acting between the plate material and the pinch roll, and calculating the load target values of the working side and the drive side of the pinch roll based on the load application point position target value; The work-side and drive-side pressing-down devices of the pinch roll are configured to operate to achieve the load target values of the work-side and drive-side of the pinch roll, and conversely, the pinch roll moves toward the plate material in the transport direction. When the driving force is not applied, the above-mentioned load application point position offset amount is added to the current value of the plate width center position, and the target of the load application point position of the load distribution acting between the plate material and the pinch roll is obtained. Is calculated based on the target value of the load application point position, and a load target value on the working side and the drive side of the pinch roll is calculated, so that the load target value on the work side and the drive side of the pinch roll is realized. The operation side and the drive side pressure reduction devices are configured to be operated.

  Further, in one aspect of the control method of the transfer device according to the present disclosure, the current value of the plate width center position of the plate material is detected by using the plate end position measuring device provided near the transfer device, and the detected value is used as the plate width center position target. With the goal of approaching the value, the case where the pinch roll applies a driving force toward the transport direction to the plate material, and the case where it is not, are divided into cases, based on the method described above according to each case, Operate the work-side and drive-side pressure reduction devices.

  Further, in one aspect of the control method of the transfer device according to the present disclosure, the plate of the plate material using the load measurement value on the working side and the drive side measured by the load measurement device disposed at each axial end of the pinch roll. Detecting the current value of the width center position and aiming to make it closer to the target value of the plate width center position, the case where the pinch roll applies a driving force toward the conveying direction to the plate material and the case where it is not so According to the above-described method, the working side and the driving side press-down devices of the pinch roll are operated in each case.

  In one aspect of the control method of the transfer device according to the present disclosure, the current value of the electric motor that drives the pinch roll is detected by detecting the current value of the plate width center position of the plate material and aiming to approach the plate width center position target value. The control target value or the actual value is detected, the pinch roll is applying a driving force toward the transport direction to the plate material, it is determined whether or not it is not, based on the method described above according to each case, Operate the pressing device on the working side and the driving side of the pinch roll.

  In one aspect of the control method of the transfer device according to the present disclosure, the drive torque is applied from the driving device to the pinch roll with the aim of detecting the current value of the plate width center position of the plate material and bringing the current value closer to the target value of the plate width center position. The torque acting on the spindle part that transmits the force is measured, and based on the measured value, it is determined whether or not the pinch roll is applying a driving force toward the transport direction to the plate material, and whether or not the pinch roll is applying the driving force is divided into cases, and in each case, Accordingly, the working side and the drive side pressing-down devices of the pinch roll are operated based on the method described above.

  Further, according to one aspect of the control method of the transfer device according to the present disclosure, the tension applied to the plate material is detected by detecting a current value of the plate width center position of the plate material and aiming to approach the target value of the plate width center position. Measurement on both the entrance side and the exit side of the sheet, and based on the difference between these entrance-side tension measurement values and exit-side tension measurement values, it is determined whether the pinch roll applies a driving force to the sheet material in the transport direction or not. Then, according to the above-described method, the pressing devices on the working side and the driving side of the pinch roll are operated according to each case.

  In one aspect of the control method of the transport device according to the present disclosure, the transport acting on the pinch rolls from the plate is detected with the aim of detecting the current value of the plate width center position of the plate and bringing the current value closer to the target value of the plate width center position. The force in the direction is measured in the transfer device, and based on the measured value of the transfer direction force, the pinch roll applies a driving force toward the transfer direction to the plate material in the transfer direction. In accordance with the above-described method, the working-side and drive-side pressing-down devices of the pinch roll are operated.

  A plate material transporting device according to an aspect of the present disclosure includes a pair of upper and lower pinch rolls, a driving device that drives the pinch rolls, and a pressing device at each of both axial end portions of at least one of the upper and lower pinch rolls, A load measuring device is provided at each of both axial ends of one of the upper and lower pinch rolls, and the current value of the plate width center position of the plate material pinched by the pinch roll is detected, and the current value of the plate width center position is detected as the plate width. When the pinch roll is applying a driving force toward the conveyance direction to the plate material in order to approach the center position target value, the distribution of the load acting between the plate material and the pinch roll in the width direction of the plate is determined. The work-side and drive-side press-down devices of the pinch roll are controlled so that the load on the target value of the plate width center position is relatively larger than the other value based on the current value of the plate width center position. Conversely, when the pinch roll does not apply a driving force to the plate in the transport direction, the current value of the plate width center position is determined with respect to the distribution of the load acting between the plate and the pinch roll in the plate width direction. A control device for controlling and controlling the work-side and drive-side pressing-down devices of the pinch roll in a direction in which the load on the plate width center position target value side is relatively reduced as compared with the other.

  A plate material transporting device according to an aspect of the present disclosure includes a pair of upper and lower pinch rolls, a driving device that drives the pinch rolls, and a pressing device at each of both axial end portions of at least one of the upper and lower pinch rolls, A pinch roll load measuring device at each of both axial ends of one of the upper and lower pinch rolls, detects the current value of the plate width center position of the plate material being pinched by the pinch roll, and calculates the current value of the plate width center position. The target is to approach the plate width center position target value, the difference between the plate width center position current value and the plate width center position target value is calculated as a plate position error, and in addition to the plate position error at the current time, The plate position error control amount is calculated in consideration of the history of the plate position error before the current time, the load application point position offset amount is calculated as a value proportional to the plate position error control amount, and the pinch roll is When a driving force toward the transport direction is given to the plate material, the load application point position offset amount is subtracted from the current value of the plate width center position, and the load application point position of the load distribution acting between the plate material and the pinch roll is subtracted. Is calculated based on the load application point position target value, and a load target value on the working side and drive side of the pinch roll is calculated to realize the load target value on the work side and drive side of the pinch roll. When the pinch roll does not apply a driving force toward the conveying direction to the plate material, the load acting on the current value of the plate width center position is controlled. By adding the point position offset amount, a target value of the load application point position of the load distribution acting between the plate material and the pinch roll is calculated, and based on the load application point position target value, the working side and the drive side of the pinch roll are operated. Load eyes It calculates the value provided, controls the reduction device for a work side and drive side of the pinch rolls so as to achieve a load target value of the work side and drive side of the pinch rolls, a controller for a.

  According to the present disclosure, in the transport of a plate using a pinch roll, the center position of the plate width in the plate can be favorably controlled to a target value.

4 is a flowchart illustrating an outline of a control method of the plate material transfer device according to the present disclosure. FIG. 1 is a diagram illustrating a schematic configuration of a plate material transfer device according to the present disclosure. The figure which shows the positional relationship of a pinch roll and a board | plate material. It is a figure which shows the target value of the load distribution between a board | plate material and a pinch roll, and the load application point position when the board | plate material is approaching the working side under the conditions which the pinch roll gives the driving force toward a conveyance direction to a board | plate material. It is a figure which shows the target value of the load distribution between a board | plate material and a pinch roll, and the load application point position when the board | plate material is approaching the drive side under the conditions which the pinch roll gives the drive force to a board | substrate to a conveyance direction. It is a figure which shows the target value of the load distribution between a board | plate material and a pinch roll, and the load application point position when the board | plate material is leaning to the working side under the condition that the pinch roll does not give the driving force to the board | plate material to a conveyance direction. It is a figure which shows the target value of the load distribution between a board | plate material and a pinch roll, and the load application point position when a board | plate material leans to a drive side under the conditions which a pinch roll does not give the driving force which goes to a board | substrate to a conveyance direction. It is a figure which shows the relationship between the working side and drive side load measurement values, and a pinch roll position. FIG. 3 is a diagram illustrating a configuration of a transport device having a tension measuring device on an entrance side and an exit side. It is a figure showing composition of a conveyance device which can measure force of a conveyance direction which acts on a pinch roll from a board. It is a figure which shows the other structure of the conveyance apparatus which can measure the force of the conveyance direction which acts on a pinch roll from a board | plate material. It is a figure which shows typically the force of the conveyance direction applied to a board | plate material in the vicinity of a pinch roll when an entrance side tension is larger than an exit side tension. It is a figure which shows the right-and-left difference and the moment of the conveyance direction force applied to a board | plate material when the input side tension is larger than the output side tension, and the pinch roll pinches the working side of a board | plate material more strongly than a drive side. It is a figure which shows typically the force of the conveyance direction applied to a board | plate material in the vicinity of a pinch roll when an entrance side tension is smaller than an exit side tension. It is a figure which shows the right-and-left difference and the moment of the conveyance direction force applied to a board | plate material when an input side tension is smaller than an output side tension, and a pinch roll pinches the working side of a board | plate material more strongly than a drive side. It is a schematic diagram which shows the functional structure of a control apparatus. FIG. 3 is a diagram illustrating a hardware configuration of a control device. 5 is a flowchart illustrating a control procedure by the control device.

  Hereinafter, embodiments will be described in detail with reference to the drawings. In the description, the same elements or elements having the same functions will be denoted by the same reference symbols, without redundant description.

  First, with reference to FIG. 2, an outline of a plate material transfer device 100 according to the present disclosure will be described. The transport device 100 is a device that transports the plate material 2 in a predetermined transport direction while nipping the plate material 2 between a pair of upper and lower pinch rolls 1a and 1b in a production and processing line of the plate material 2. The plate material conveying device 100 includes pinch rolls 1a and 1b, pressing devices 3a and 3b, and load measuring devices 4a and 4b. The pinch rolls 1a and 1b are driven by an electric motor 6 via spindles 7a and 7b and a pinion stand 8. Further, the transport device 100 of FIG. 2 includes a plate edge position measuring device 5 that measures the plate edge position of the plate material on the working side as an example of an embodiment of the present disclosure.

  The pinch rolls 1a and 1b are rotating bodies that sandwich the plate 2 from above and below at a predetermined pressure and convey the plate 2 in a predetermined conveyance direction. One end (operation side) in the axial direction of the upper pinch roll 1a is connected to the screw-down device 3a via a chock, and the other axial end (drive side) is connected to the screw-down device 3b via a chock. ing. The working side of the lower pinch roll 1b is connected to the load measuring device 4a via a chock, and the driving side is connected to the load measuring device 4b via a chock.

  The pressing devices 3a and 3b press down the pinch roll 1a on the working side and the driving side (both axial ends) of the pinch roll 1a. The pressing device 3a lowers the working side of the pinch roll 1a at the set pinch roll pressing position. The pressing device 3b lowers the driving side of the pinch roll 1a at the set pinch roll pressing position.

  The load measuring devices 4a and 4b measure loads on the working side and the driving side of the pinch roll 1b. The load measuring device 4a measures the load on the working side of the pinch roll 1b. The load measuring device 4b measures the load on the drive side of the pinch roll 1b.

  The plate end position measuring device 5 continuously (at all times) measures the plate end position of the plate 2 conveyed by the pinch rolls 1a and 1b. The plate edge position measuring device 5 is fixedly disposed, for example, at a predetermined position in the vicinity of the transport device 100, and detects the transported plate material 2 from the detected plate edge position and the known width of the plate material 2. Deriving the plate width center position. Alternatively, when the board width of the board 2 is not known, the board edge position measuring device 5 may derive the board width center position of the board 2 by measuring both end positions of the board 2 in the board width direction. Note that the position measuring method by the plate edge position measuring device 5 is not limited, and for example, a known sensor such as a photomicro sensor, an area sensor, a photoelectric sensor, a proximity sensor, a fiber sensor, or a laser sensor may be used. it can.

なお板幅の値が不確定な場合は駆動側にも板端位置測定装置を配し、駆動側板端位置ｚ_Ｄを実測して、作業側板端位置ｚ_Ｗと駆動側板端位置ｚ_Ｄの平均値として板幅中心位置現在値ｚ_Ｃを算出する。板幅中心位置現在値は厳密にはピンチロール直下の板幅中心位置であることが好ましいが、板端位置測定装置５が搬送装置に十分近ければ上記計算値ｚ_Ｃを板幅中心位置現在値とみなしてよい。さらに正確さを期する場合、搬送装置の入側と出側双方に板端位置測定装置を配備し、それぞれの実測値から計算される板幅中心位置ｚ_Ｃの平均をとって板幅中心位置現在値とすることが好ましい。本開示では以上のように実測値から演算によって板幅中心位置現在値を得ることを“板幅中心位置現在値を検出”と表現している。 Next, with reference to FIG. 1, an embodiment of a control method of a transport device according to the present disclosure will be described in detail. First, the current value of the plate width center position is detected. As shown in FIG. 2, when a device 5 capable of continuously measuring the plate edge position is provided in the vicinity of the transfer device, the current value of the plate width center position is calculated from the measured value and the known plate width. For example, as shown in FIG. 2, the position is defined by defining a coordinate z with the line center as the origin and the working side as the positive along the pinch roll axis to indicate the position. the measured work plate end position and z _W, when the known plate width is b, plate end position of the drive side z _W current value z _C plate width central position from the estimated -b average of The value is calculated by the following equation.

In the case the value of the plate width is uncertain even arranged plate end position measuring device on the drive side, and measuring the driving side plate end position z _D, the average of the working plate end position z _W and the driving side plate end position z _D calculating the plate width center position the current value z _C as a value. It is preferred plate width center position current value is strictly a plate width central position directly below the pinch rolls, close enough if the calculated value z _C the plate width center position actual value into a plate edge position measuring device 5 conveying device May be considered. If further ensure accuracy of, deploying Itatan position measuring device inlet side and outlet side of both of the transfer device, plate width center position takes the average of the plate width center position z _C calculated from the respective measured values It is preferable to use the current value. In the present disclosure, obtaining the current value of the plate width center position by calculation from the actually measured value as described above is expressed as “detecting the current value of the plate width center position”.

  Returning to the flowchart of FIG. 1, the description of the control method of the transport device according to the present disclosure will be continued. After detecting the current value of the plate width center position of the plate 2, it is determined whether the pinch rolls 1 a and 1 b are applying a driving force to the plate 2 in the transport direction. In one mode of the control method of the transport device according to the present disclosure, the electric motor 6 driving the pinch rolls 1a and 1b performs torque control to apply a predetermined tension to the plate material 2. This specifically controls the current supplied to the motor. Therefore, it is determined whether the pinch rolls 1a and 1b are applying a driving force toward the conveyance direction to the plate material 2 by extracting the control target value of the electric current of the electric motor or measuring the actual current value.

  Further, in the flowchart of FIG. 1, when it is determined that the pinch rolls 1 a and 1 b are applying a driving force toward the transport direction to the plate material 2, the width of the load acting between the plate material and the pinch roll in the width direction of the plate is determined. With reference to the current position of the center position, of the working side and the driving side of the pinch roll, the pressing devices on the working side and the driving side of the pinch roll are operated in a direction in which the load on the target value side of the plate width center position becomes relatively large. . This rolling position operation will be described with reference to FIG. In FIG. 3, the current value 10 of the plate width center position is closer to the working side with respect to the line center 9 which is the center of the body length of the pinch roll. Here, for the sake of simplicity, it is assumed that the target value of the plate width center position at this time matches the line center 9, but the target value may be any other position. In this case, the control target is to return the plate 2 to the drive side. At this time, regarding the distribution of the load acting between the plate and the pinch roll in the plate width direction, the plate width center position is set based on the current value 10 of the plate width center position. The reduction device is operated in a direction in which the load on the target value (line center 9) side, that is, the load on the drive side becomes relatively larger than the load on the work side. Specifically, the working side pressing position is operated in the direction of opening the roll gap, and the driving side pressing position is operated in the direction of closing the roll gap. Performing the pressing position operation by the same size in the opposite direction on the working side and the driving side in this way is referred to as a pressing leveling operation in the present disclosure, but by the above pressing leveling operation, the total load between the pinch roll and the plate material is reduced. The load distribution changes without changing, and the plate 2 in FIG. 3 returns to the driving side with the rotation of the pinch roll.

  On the other hand, when it is determined that the pinch rolls 1a and 1b do not apply the driving force toward the conveyance direction to the plate material 2, the current value of the plate width center position is determined with respect to the distribution of the load acting between the plate material and the pinch roll in the plate width direction. As a criterion, of the working side and the driving side of the pinch roll, the pressing devices on the working side and the driving side of the pinch roll are operated in a direction in which the load on the target value side of the plate width center position becomes relatively small. In the example of FIG. 3, with respect to the distribution of the load acting between the plate material and the pinch roll in the plate width direction, the load on the plate width center position target value (line center 9) side, that is, the drive side, is determined based on the plate width center position current value 10. And operating the screw-down device in a direction relatively smaller than the load on the working side. In other words, the plate member 2 in FIG. 3 returns to the driving side with the rotation of the pinch roll by performing the pressure leveling operation in the direction of closing the work side roll gap and opening the drive side roll gap. In addition, the case where the pinch roll does not apply the driving force to the plate is the case where the pinch roll applies the braking force in the transport direction to the plate and the case where the pinch roll rotates in the no-load state, i.e., the idle state. It refers to both cases.

  Next, the details of the rolling leveling operation indicated by S1 and S2 in the flowchart of FIG. 1 will be described with reference to a more specific embodiment.

ここで、δは制御パラメータである。式（２）は板幅中心位置現在値ｚ_Ｃと板幅中心位置目標値ｚ_Ｔとの差で板位置誤差を算出し、これに制御パラメータδを掛けたものを板幅中心位置現在値ｚ_Ｃに加算して荷重作用点位置ｚ_{ｐ＿ｒｅｆ}を演算している。なお荷重作用点位置とは作業側荷重測定装置による荷重測定値Ｐ_Ｗと駆動側荷重測定装置による荷重測定値Ｐ_Ｄの二つの力を、荷重およびモーメントバランスのとれる一つの集中荷重Ｐに置き換えた場合の荷重作用点の位置を示すものである。そして荷重Ｐ_Ｗ，Ｐ_Ｄは板材からピンチロールに作用する荷重の反力であるから、当該荷重作用点位置は、板材とピンチロール間に作用する荷重分布を、荷重およびモーメントバランスの観点から集中荷重に置き換えた場合の荷重作用点位置とも一致する。 As shown in FIG. 4, the plate width of the plate material 2 is defined as b, and the coordinate z is defined with the line center 9 as the origin and the work side as the positive side along the pinch roll axis. _C, and a z _T coordinates of the plate width center position setpoint. In the example of FIG. 4, it is assumed that z _T = 0, that is, the target value of the plate width center position coincides with the line center 9 in order to simplify the description. At this time, the load _application point position target value _{zp_ref} is derived, for example, by the following equation (2).

Here, δ is a control parameter. Equation (2) calculates the plate position error by the difference between the plate width center position the current value z _C and plate width center position target value z _T, plate width center position current value z and multiplied by the control parameter δ thereto _C is added to _C to calculate the load _application point position _{zp_ref} . Note the two forces of the measured load P _D by the drive-side load measuring device and the measured load P _W by the work side load measurement device and the load application point position was replaced by one of the concentrated load P to take the loads and moment balance It shows the position of the load application point in the case. Since the loads P _W and P _D are reaction forces of the load acting on the pinch roll from the plate, the load application point position concentrates the load distribution acting between the plate and the pinch roll from the viewpoint of load and moment balance. It also matches the position of the load application point when the load is replaced.

First, a specific example of the case where the pinch roll is applying a driving force toward the transport direction to the plate material, that is, a specific example of the pressing down leveling operation of S1 in FIG. 1 will be described in detail. In this case, the control parameter δ in Expression (2) is set to a negative value. For example, if δ = −0.5, z _p — ref = 0.5z _C is obtained from equation (2) in consideration of z _T = 0. In this manner, as shown in FIG. 4, when z _C > 0, that is, when the plate width center position current value 10 is on the working side of the line center 9, the load application point position target value is larger than the plate width center position current value 10. As a result, as shown in FIG. 4, the distribution 20 of the load acting between the plate material and the pinch roll in the plate width direction is determined based on the current value of the plate width center position. The load on the target value side, that is, the load on the drive side becomes relatively larger than that on the working side.

ここで、ζは板幅中心を原点とし作業側を正とする板幅方向座標、ｐ_Ｃは板幅中心位置の線荷重、ｐ_ｄｆは作業側板端の線荷重と駆動側板端の線荷重の差異である。式（３）の荷重分布による板幅中心まわりのモーメントＭを計算すると次のようになる。

したがって、板材〜ピンチロール間の荷重分布を力およびモーメントに関して等価な集中荷重で置き換えたときの力の作用点の板幅中心からの距離ζ_Ｐは次式で計算される。

式（５）より、荷重作用点位置が板幅中心より駆動側にある場合、すなわちζ_Ｐ＜０の場合、ｐ_ｄｆ＜０となり、駆動側の板材〜ピンチロール間荷重が作業側の板材〜ピンチロール間荷重よりも大きくなることが理解できる。 The relationship between the load application point position and the load distribution between the plate material and the pinch roll will be quantitatively shown. The load distribution between the plate material and the pinch roll is approximated by a linear distribution, and the load p per unit width at an arbitrary position is expressed by the following equation. Hereinafter, the load per unit width is referred to as a linear load.

Here, ζ is the plate width direction coordinate with the plate width center as the origin and the work side is positive, p _C is the line load at the plate width center position, and p _df is the line load at the work side plate end and the line load at the drive side plate end. It is a difference. Calculation of the moment M around the center of the plate width based on the load distribution of the equation (3) is as follows.

Therefore, the distance zeta _P from plate width center of the point of application of force when replaced by equivalent concentrated load with respect to forces and moments a load distribution between the plate members ~ pinch rolls is calculated by the following equation.

The equation (5), when a load acting point position is than the plate width center drive side, that is, when the _{ζ P <0, p df <} 0 , and the plate of the load between the plate members ~ pinch roll drive side working side- It can be understood that the load becomes larger than the load between the pinch rolls.

Ｐ_{Ｗ＿ｒｅｆ}，Ｐ_{Ｄ＿ｒｅｆ}は、式（６）で計算されるＰ_{ｄｆ＿ｒｅｆ}とトータル荷重の目標値Ｐ_＿ｒｅｆ＝Ｐ_{Ｗ＿ｒｅｆ}＋Ｐ_{Ｄ＿ｒｅｆ}とから以下の式（７）および式（８）で計算される。

Now, after the load _application point position target value _{zp_ref} is obtained as described above, description of an example of a specific procedure up to the _rolling leveling operation will be continued. First, load target values P _{W_ref} and P _{D_ref} on the working side and the driving side are derived. Specifically, based on the load _application point position target value _{zp_ref} given by the equation (2), the left-right difference (work side-drive side) of the pinch roll load, that is, the target value P _{df_ref} of the difference load is determined by pinch. It is calculated by the following formula derived from the moment balance of the roll.

_{P W_ref,} P _{D_ref} can be expressed by equation target value _P _ref _{= P W_ref + P D_ref} below from the equation of _{P Df_ref} and total load calculated in (6) (7) and (8).

Next, based on the load target values P _{W_ref} , P _{D_ref} on the working side and the driving side, and the current load values on the working side and the driving side measured by the load measuring devices 4a and 4b, respectively, the working side and the driving side. The target value of the pinch roll rolling position control amount in each case is derived. Assuming that the rigidity of the transfer device in consideration of the plate thickness, the plate width, and the elastic constant of the plate material 2 is K for one side, and the current values of the loads measured by the load measuring devices 4a and 4b are P _W and P _D , The working-side target value _{Δg W_ref} and the driving-side target value _{Δg D_ref} of the _rolling position correction amount are given by the following equations (9) and (10).

式（１１）に基づいて導出した作業側ピンチロール圧下位置制御量の目標値Δｇ_Ｗに基づき作業側の圧下装置３ａを制御すると共に、式（１２）に基づいて導出した駆動側ピンチロール圧下位置制御量の目標値Δｇ_Ｄに基づき駆動側の圧下装置３ｂを操作して、作業側および駆動側それぞれのピンチロール圧下位置を制御する。このようにして圧下位置制御を行うことにより、制御の１サイクルが完結し、以後この一連の操作を繰り返すことで圧下レベリング操作による良好な蛇行制御が実現できる。 Here, _{Δg W_ref} and _{Δg D_ref} define the direction in which the gap between the upper and lower pinch rolls is large as positive. The target values _{Δg W_ref} , _{Δg D_ref} of the _rolling position correction amounts are multiplied by the scale factor α to _calculate the pinch roll rolling position control amounts Δg _W , Δg _D by the following equations (11) and (12).

Controls the screw down device 3a of the working side on the basis of the target value Delta] g _W of the work-side pinch roll pressing position control amount which is derived based on equation (11), the drive-side pinch roll pressing position derived based on the equation (12) based on the target value Delta] g _D of the controlled variable by operating the reduction unit 3b on the drive side, controls the pinch roll pressing position of each working side and the driving side. By performing the rolling position control in this way, one cycle of control is completed, and by repeating this series of operations thereafter, good meandering control by the rolling leveling operation can be realized.

In the specific example described above, the rolling position control may include a simultaneous rolling component in the same direction on the working side and the driving side, but this component controls the pinch roll load which is the sum of the working side load and the driving side load. Will do. On the other hand, what is essentially important to the control method of the present disclosure is a rolling leveling component that is the opposite direction between the working side and the driving side, and this component controls the differential load that is the difference between the working side load and the driving side load. Therefore, it is effective to leave the load control based on the simultaneous rolling component to another control function, and to specialize the rolling meandering control in the rolling leveling operation. Specifically, a difference load control amount ΔP _df is calculated from a difference between the difference load target value P _{df_ref} calculated by the equation (6) and the difference load current value P _df, and a reduction leveling control amount target for achieving this is calculated. The value _{Δg df_ref} is determined in _{consideration} of the plate thickness, the plate width, the elastic constant, and the deformation characteristics of the transfer device, and the _rolling leveling control amount Δg _df is determined in consideration of the scale factor.

Next, with reference to FIG. 5, the procedure of S1 in FIG. 1 when the current value 10 of the plate width center position is on the driving side of the line center 9 will be described. Also in this case, the position of the load application point is calculated by equation (2). Considering δ = −0.5 and z _T = 0, the position of the load application point is z _p — ref = 0.5z _C as in the case of FIG. However, in the case of FIG. 5, since z _C <0, the load application point position is located closer to the work side than the current value 10 of the plate width center position. Therefore, in the case of FIG. 5, contrary to FIG. 4, the load between the work side plate and the pinch roll is larger than the load between the drive side plate and the pinch roll.

Next, with reference to FIG. 6, a specific example of the rolling leveling operation in S2 of FIG. 1 will be described. The procedure of S2 is executed when it is determined that the pinch roll has not applied a driving force to the plate material in the transport direction. The procedure in this case is also the same as the procedure of S1 except for one point. The only difference is that the control parameter δ in equation (2) is set to a positive value. For example, if δ = 0.5 and z _T = 0 in equation (2), z _{p_ref} = 1.5z _C is obtained. Thereby, as shown in FIG. 6, when z _C > 0, that is, when the current value 10 of the plate width center position is on the working side of the line center 9, the target value of the load application point position is further larger than the current value 10 of the plate width center position. As shown in FIG. 6, the distribution 20 of the load acting between the sheet material and the pinch roll in the sheet width direction is located on the work side, and as shown in FIG. , That is, the load between the driving-side plate material and the pinch roll is relatively smaller than the load between the working-side plate material and the pinch roll. The procedure after the load application point position target value is obtained as described above is exactly the same as the procedure of S1.

Next, referring to FIG. 7, the procedure of S2 in FIG. 1 when the current value 10 of the plate width center position is on the driving side of the line center 9 will be described. Also in this case, the position of the load application point is calculated by equation (2). As in the embodiment of FIG. 6, if δ = 0.5 and z _T = 0, z _{p_ref} = 1.5z _C is obtained. However, in the case of FIG. 7, since z _C <0, the load application point position is located closer to the drive side than the current value 10 of the plate width center position. Therefore, in the case of FIG. 7, contrary to FIG. 6, the load between the work side plate and the pinch roll is made smaller than the load between the drive side plate and the pinch roll.

  In one aspect of the control method of the conveyance device of the present disclosure, when calculating the target value of the load application point position of the load distribution acting between the plate material and the pinch roll, the current value of the plate width center position and the target value of the plate width center position. Is calculated as a plate position error, and in addition to the plate position error at the current time, a plate position error control amount is calculated in consideration of the history of the plate position error before the current time, and the plate position error control amount is calculated. Based on the target value of the load application point position, a target load value on the working side and the drive side of the pinch roll is calculated based on the target value of the load application point position, and the load on the working side and the drive side of the pinch roll is calculated. Operate the work-side and drive-side pressure reduction devices of the pinch roll to achieve the target value. The reason for using the history of the plate position error in this way is to improve the performance of control. Whether the plate position error is becoming smaller or larger, or a plate position error that is constantly significant. It is possible to perform optimal control in consideration of the past tendency of the plate position error, such as whether or not the error occurs. A specific example of this embodiment will be described in detail below.

ここでΔｚ_Ｃは現在時刻の板位置誤差（Δｚ_Ｃ＝ｚ_Ｃ−ｚ_Ｔ）、Δｚ_{Ｃ＿ｉｎｔ}（Ｔ_ｉｎｔ）はΔｚ_Ｃの積分値、Ｔ_ｉｎｔは積分時間、Δｚ_{Ｃ＿ｄｉｆ}（Ｔ_ｄｉｆ）はΔｚ_Ｃの微分値、Ｔ_ｄｉｆは微分時間、α_ｉｎｔは積分ゲイン、α_ｄｉｆは微分ゲインである。式（１３）で計算される板位置誤差制御量Δｚ_Ｃ＿ｍは、板位置誤差が大きくなりつつある場合、微分値が正の値となるので板位置誤差現在値に該微分値が加算され誤差を大きく評価する。また正値の定常的板位置誤差がある場合は積分値が正の値となるので板位置誤差現在値に該積分値が加算され誤差を大きく評価する。このような性質を有する板位置誤差制御量Δｚ_Ｃ＿ｍに基づいて荷重作用点位置を決めることで、誤差の履歴を考慮した適正な制御が可能となる。そして、ピンチロールが板材に搬送方向に向かう駆動力を与えている場合、式（２）においてδ＜０としたのと同様の考え方に基づき、例えば、板位置誤差制御量Δｚ_Ｃ＿ｍに正値の制御パラメータを掛けて板位置誤差制御量Δｚ_Ｃ＿ｍに比例する荷重作用点位置オフセット量を演算し、これを板幅中心位置現在値から減算して荷重作用点位置目標値を求める。逆に、ピンチロールが板材に搬送方向に向かう駆動力を与えていない場合は、式（２）においてδ＞０としたのと同様の考え方に基づき、板位置誤差制御量Δｚ_Ｃ＿ｍに正値の制御パラメータを掛けて板位置誤差制御量Δｚ_Ｃ＿ｍに比例する荷重作用点位置オフセット量を演算して、これを板幅中心位置現在値に加算して荷重作用点位置目標値を演算する。荷重作用点位置目標値が求められた後は、これまでの実施態様と同様に、荷重作用点位置目標値に基づき、ピンチロールの作業側および駆動側の荷重目標値を演算し、該ピンチロールの作業側および駆動側の荷重目標値を実現するようにピンチロールの作業側および駆動側の圧下装置を操作する。 After detecting the current value of the plate width center position, the plate position error is calculated by taking the difference from the target value of the plate width center position, and in addition to the plate position error at the current time, the history of the plate position error before the current time is calculated. The plate position error control amount is calculated in consideration of the above. To give a specific example, in order to quantify whether the plate width center position is approaching or moving away from the plate width center position target value together with the speed information, a differential operation with respect to the time of the plate position error history is performed. Take into account. In addition, the plate width center position has a steady deviation from the plate width center position target value, and when it is desired to correct the deviation, an integral calculation regarding the time of the plate position error history is performed and taken into consideration. In this case, the plate position error control amount Δz _{C_m} is calculated by the following equation.

Here, Δz _C is the plate position error at the current time (Δz _C = z _C −z _T ), Δz _{C_int} (T _int ) is the integration value of Δz _C , T _int is the integration time, and Δz _{C_dif} (T _dif ) is Δz _C , T _inf is the derivative time, α _int is the integral gain, and α _dif is the derivative gain. The plate position error control amount Δz _{C_m} calculated by the equation (13) has a positive differential value when the plate position error is increasing. Therefore, the differential value is added to the current plate position error value, and the error is calculated. I appreciate it greatly. In addition, when there is a positive stationary plate position error, the integral value becomes a positive value, so that the integral value is added to the current plate position error value, and the error is greatly evaluated. By determining the load _application point position based on the plate position error control amount Δz _{C_m} having such a property, it is possible to perform appropriate control in consideration of the error history. When the pinch roll applies a driving force to the plate material in the transport direction, for example, a positive value is _added to the plate position error control amount Δz _{C_m} based on the same concept as when δ <0 in Expression (2). A load _application point position offset amount proportional to the plate position error control amount Δz _{C_m} is calculated by multiplying the control parameter, and the load _application point position offset amount is subtracted from the plate _width center position current value to obtain a load _application point position target value. Conversely, when the pinch roll does not apply a driving force to the sheet material in the transport direction, a positive value is _added to the sheet position error control amount Δz _{C_m} based on the same concept as when δ> 0 in Equation (2). A load _application point position offset amount proportional to the plate position error control amount Δz _{C_m} is calculated by multiplying the control parameter by a control parameter, and this is added to the plate _width center position current value to calculate a load _application point position target value. After the load application point position target value is determined, the load target values on the working side and the drive side of the pinch roll are calculated based on the load application point position target value, as in the previous embodiments. The operation side and drive side pressure reduction devices of the pinch roll are operated so as to achieve the target work side and drive side load target values.

式（１４）をｚ_Ｃについて解くと板幅中心位置現在値ｚ_Ｃが次式で得られる。

式（１５）によれば作業側および駆動側の荷重測定値より板材の板幅中心位置を求めることができる。ただし、式（１５）は板材〜ピンチロール間荷重分布が板幅方向に左右対称となっていることを前提とした計算式であり、左右非対称となっている場合は、その非対称性が荷重測定値の左右差Ｐ_Ｗ−Ｐ_Ｄにおよぼす影響を除外した上で板幅中心位置ｚ_Ｃを計算しなければならない。例えば、板材〜ピンチロール間荷重分布が直線分布であり、作業側の線荷重と駆動側の線荷重との差異すなわち荷重分布左右差がｐ_ｄｆとなっている場合、この荷重分布左右差がＰ_Ｗ−Ｐ_Ｄにおよぼす影響は、板幅をｂとするとき、ｐ_ｄｆ・ｂ^２／（６ａ）で与えられるから式（１５）の代わりに次式を用いて板幅中心位置ｚ_Ｃを計算する。

In one embodiment of the control method of the transfer device according to the present disclosure, from the load measurement values on the working side and the drive side measured by the load measurement devices provided at both ends in the axial direction of the pinch roll, the current position of the plate width center position of the plate material is obtained. The value is detected, and a rolling leveling operation is performed based on the current value of the plate width center position. Hereinafter, an example of a method of calculating the current value of the plate width center position from the measured load value will be specifically described with reference to FIG. In FIG. 8, the load P acting on the pinch roll from the plate is represented by the concentrated load acting on the center of the plate width of the plate. Plate width center of the plate is at a position of z _C from the line center 9, the load measurement value measured by the load measuring device of the working side of the axial end portions of the pinch rolls P _W, a load measuring device for a drive-side measured as the measured load and P _D. Assuming that the distance between the working load measuring device and the driving load measuring device is a, the following relational expression is established between these loads from the equilibrium condition of the pinch roll moment.

When equation (14) is solved for z _C , the current value of the sheet width center position z _C is obtained by the following equation.

According to the equation (15), the center position of the plate width of the plate material can be obtained from the measured load values on the working side and the drive side. However, Equation (15) is a calculation formula on the assumption that the load distribution between the sheet material and the pinch roll is symmetric in the width direction of the sheet. It must be calculated sheet width center position z _C on excluding the effect on laterality P _W -P _D values. For example, a load distribution between the plate members ~ pinch rolls linear distribution, if the difference i.e. load distribution laterality of the line load of the driving side and the line load of the working side is a p _df, laterality the load distribution P Effect on _W -P _D, when the plate width is _b, instead compute the plate width center position _{z C} using the following equation from given by ^{p df · b 2 / (6a} ) (15) I do.

ここで、ｍは板材を単位厚さだけピンチロール圧下したときの線荷重増分を表す板材の弾性定数であり、Ｄは、第二種平行剛性と呼ばれ、荷重分布左右差が単位量だけ変化したときにピンチロールを含めた搬送装置の弾性変形により生ずる板厚左右差を表わすパラメータであり、何れも設備仕様および板材の寸法と弾性係数が与えられれば公知の方法により予め計算できるものである。 Here, the load distribution left / right difference p _df is, for example, assumed to be zero at the initially set rolling position, and is calculated in consideration of the elastic deformation of the pinch roll and the plate material for the subsequent rolling leveling operation Δg _df . The change amount Δp _df of the left-right difference of the load distribution between the plate material and the pinch roll can be calculated by, for example, the following equation, and integrating the calculated value in time series.

Here, m is an elastic constant of the plate material representing a linear load increment when the plate material is reduced by a pinch roll by a unit thickness, and D is called a second-class parallel rigidity, and the load distribution left / right difference changes by a unit amount. This is a parameter representing the thickness difference between the left and right sides caused by the elastic deformation of the transfer device including the pinch rolls when they are performed, and can be calculated in advance by a known method if the equipment specifications and the dimensions and elastic modulus of the plate material are given. .

  In one embodiment of the control method of the transport device of the present disclosure, the torque acting on the spindle unit that transmits the driving torque from the driving device to the pinch roll is measured, and based on the measured value, the pinch roll applies a driving force to the plate material. It is determined whether or not it has been given, and the rolling leveling operation is performed based on the result of the determination. In the schematic diagram of the transfer device shown in FIG. 2, a driving device including an electric motor 6 and a pinion stand 8 for vertically distributing the driving force thereof, and pinch rolls 1a and 1b are connected by spindles 7a and 7b. In this configuration, since all the driving force of the electric motor 6 is transmitted to the pinch rolls 1a and 1b via the spindles 7a and 7b, by measuring the torque acting on the spindles 7a and 7b, the transport direction from the pinch rolls to the plate is measured. It is possible to determine whether or not a driving force toward is given.

  In one aspect of the control method of the transfer device of the present disclosure, the tension acting on the plate material is measured on both the input side and the output side of the transfer device, based on the difference between these input-side tension measurement values and output-side tension measurement values, It is determined whether the pinch roll is applying a driving force to the plate material or not, and a rolling leveling operation is performed based on the determination result. FIG. 9 schematically illustrates a plate material transfer line in which an input-side tension measurement device 12 and an output-side tension measurement device 13 are provided on the entry side and the exit side of the plate material conveyance device 100, respectively. As shown in FIG. 9, a method of calculating the tension of a sheet material by measuring a vertical load applied to the tension rolls 14-1 and 14-2 is often used in a thin sheet conveying line. The control method according to the present disclosure can be similarly performed in any type of tension measuring device. If the entrance tension measurement value measured by these entrance and exit tension measurement devices is larger than the exit tension measurement value, it is determined that the pinch roll applies a driving force corresponding to the difference to the plate. it can.

  Further, in one aspect of the control method of the transfer device of the present disclosure, the force in the transfer direction acting on the pinch roll from the plate material is measured in the transfer device, and based on the measured force in the transfer direction, the pinch roll applies a driving force to the plate material. It is determined whether or not it has been given, and the rolling leveling operation is performed based on the result of the determination. FIG. 10 shows the structure of a transport device according to an embodiment of the present invention. When the pinch rolls 1a and 1b apply a driving force to the plate material 2 in the transport direction 11, the pinch rolls 1a and 1b receive a reaction in the opposite direction to the transport direction. The reaction force (reaction force) applied to the pinch rolls 1a and 1b is received by the pinch roll housing 16 via pinch roll chocks 15a and 15b at both ends of the pinch roll in the axial direction. Therefore, in the embodiment shown in FIG. 10, the conveyance direction force measuring devices 17a and 17b are arranged between the pinch roll chock 15a and the housing 16, and the conveyance direction force acting between the pinch roll chock 15a and the housing 16 is measured, and the pinch roll chock is measured. The conveyance direction force measuring devices 17c and 17d are arranged between the housing 15 and the housing 15b, and the force in the conveyance direction acting between the pinch roll chock 15b and the housing 16 is measured. By calculating the resultant force of the transport direction forces measured on the working side and the drive side in this manner, the transport direction force acting on the pinch rolls 1a and 1b can be detected from the plate material 2, and based on this, the pinch roll is It is determined whether or not a driving force is applied to the vehicle.

  FIG. 11 shows another embodiment for measuring the transport direction force acting on the pinch roll. In this example, the pinch roll housing 16 is rotatably coupled to the frame fixed to the foundation via a pivot 19 in the transport direction, and the housing is located near the pass line of the plate 2 in the transport direction force measuring device 17a. , 17b by the frame so as to suppress rotation about the pivot 19. With such a configuration, the transport direction force acting on the pinch roll from the plate material can be measured by the transport direction force measurement devices 17a and 17b. By calculating the resultant force of the transport direction forces measured on the working side and the drive side in this way, the transport direction force acting on the pinch rolls 1a and 1b can be detected from the plate material 2, and based on this, the pinch roll is It is determined whether or not a driving force is applied to the vehicle.

[Operation and effect of the present embodiment]
2. Description of the Related Art Conventionally, in a plate material manufacturing / processing line, a device that sandwiches and conveys a plate material by a pair of upper and lower pinch rolls is used in order to prevent the out-of-plane deformation while smoothly transferring the plate material while applying tension to the plate material. In such an apparatus, the plate width center of the plate material is deviated from the center of the plate material production / processing line, and in the worst case, an event may occur in which a part of the plate material protrudes from the pinch roll body and the plate material is damaged. . In order to avoid such an event, for example, in Patent Document 1, in addition to controlling the pinch roll profile and bending force, the load on the working side and the drive side is measured, and the rolling position on the side with the larger load is relatively determined. An apparatus for performing a pressure leveling control in a direction of tightening is disclosed. The concept of this rolling leveling control is the same as the concept of meandering control of a rolling mill. Since the load on the side where the plate material is meandering is increased, this is detected and the rolling position on the side where the load is increased is relatively tightened. This implements the rolling leveling control in the direction. Here, as a specific example, consider a case where the plate material has moved to the working side. In the case of rolling, the rolling level and the elongation on the working side are increased by the rolling leveling operation that tightens the working side, and as a result, the retreating rate on the working side is increased, leaving more incoming side sheet material and the upstream side sheet material being driven. Will lean to the side. By rolling the plate material thus inclined, the plate material returns to the drive side. In the case of a pinch roll transfer device, the sheet material does not undergo plastic deformation as in rolling, but the sheet material elastically expands in the transfer direction due to the pinch roll pressure, so qualitatively the same meandering control effect as rolling can be expected. It has been considered possible.

  The present inventors conducted an experiment based on the above-described concept using the same transfer device and the rolling leveling control method as disclosed in Patent Document 1. As a result, although there were some conditions in which the meandering was successfully controlled, there were also cases where the meandering became intense due to the reduction leveling control. Then, as a result of investigating the relationship between the meandering characteristics of the pinch roll and the experimental conditions in detail, the following became clear.

  (A) When the tension applied to the sheet material on the input side of the pinch roll is equal to the tension applied to the sheet material on the output side, the sheet material is subjected to a pressing leveling operation in a direction of tightening the pressing position on the meandering side of the sheet material. Meandering was suppressed, and stable threading was realized.

  (B) When the input-side tension of the pinch roll is larger than the output-side tension, the meandering of the plate material tends to diverge by the rolling leveling operation in the direction of tightening the rolling position on the side where the plate material meanders, and the plate position can be stabilized. could not. Conversely, the rolling-down leveling operation in the direction of opening the rolling-down position on the side where the plate material is meandering suppressed the meandering of the plate material, and realized a stable threading.

  (C) When the output side tension of the pinch roll is larger than the input side tension, the meandering of the plate material is suppressed by the rolling leveling operation in the direction of tightening the rolling position on the side where the plate material is meandering, and a stable threading can be realized. .

  As described above, when the input side tension is larger than the output side tension, not only the conventional leveling control, that is, the leveling control for relatively tightening the rolling position on the side where the plate material is meandering does not function, or conversely. It has been found that it facilitates meandering. In this case, it has been clarified that the rolling leveling control in the direction opposite to that of the prior art, that is, the rolling position at the side where the plate material is meandering is relatively opened is effective.

  In order to examine whether this experimental result is universal, the mechanism of the above phenomenon was considered.

  Conventionally, the elastic elongation of the plate material has been considered as a basic mechanism of meandering control by a pinch roll pressing down operation. However, this mechanism alone cannot explain the reversal phenomenon of the meandering characteristics due to the change in the inlet / outlet tension balance described above. The inventors of the present invention have intensively studied the mechanism of this phenomenon, and as a result, have arrived at a new pinch roll meandering mechanism through the following thinking process.

  In the conventional meandering mechanism based on elastic stretching of the sheet material, only the pinch force acting on the sheet material from the pinch roll, that is, the rolling force in the sheet thickness direction has been considered, but this idea alone reverses the meandering characteristic due to the input / output tension balance. The phenomenon cannot be explained. Therefore, the effect of the entrance / exit side tension balance on the force acting on the plate from the pinch roll was considered. FIG. 12 schematically shows the force in the transport direction applied to the plate material near the pinch roll. FIG. 12 shows a case where the incoming tension is larger than the outgoing tension. In this case, depending on the equilibrium condition of the transport direction force acting on the plate, the transfer from the pinch roll to the plate as indicated by arrows 23a and 23b is performed. A driving force in the direction must be acting. In other words, since the driving force 23a, 23b acts on the plate material from the pinch roll, the incoming tension becomes larger than the outgoing tension.

  FIG. 13 is a plan view of FIG. 12 as viewed from above. In this example, it is assumed that the load distribution 20 between the sheet material and the pinch roll is large on the working side. In this case, since the pinch roll presses the work side of the plate material more strongly than the drive side, the drive force acting on the plate material from the pinch roll is such that the work side drive force 23a-1 is larger than the drive side drive force 23b-2. Conceivable. As a result, a moment 25 acts on the plate material from the pinch roll, the traveling speed of the plate material is slightly faster on the working side than on the drive side, and the plate material is inclined as shown in FIG. As described above, the plate material inclined toward the work side upstream of the entrance side is sent in the transport direction by the pinch rolls, so that the plate material meanders toward the work side. That is, it can be explained that the rolling leveling operation increases the reduction and meanders to the side where the load increases. The driving force acting on the plate from the pinch roll is actually a force distributed over the contact area between the plate and the pinch roll. However, for simplicity of description, the driving force is represented by arrows on the working side and the drive side. I showed it.

  FIG. 14 shows the force in the transport direction applied to the plate when the output side tension is larger than the input side tension, contrary to FIG. In this case, depending on the equilibrium conditions of the force in the transport direction acting on the plate, a braking force in a direction opposite to the transport direction as indicated by arrows 24a and 24b must be applied from the pinch roll to the plate. In other words, since the braking force 24a, 24b acts on the plate material from the pinch roll, the output side tension becomes larger than the input side tension.

  FIG. 15 is a plan view of FIG. 14 from above, and in this example, it is assumed that the load distribution 20 between the sheet material and the pinch roll is large on the working side. In this case, since the pinch roll presses the work side of the plate material more strongly than the drive side, the braking force acting on the plate material from the pinch roll is such that the work side braking force 24a-1 is greater than the drive side braking force 24b-2. Conceivable. As a result, a moment 25 acts on the plate from the pinch roll, and the traveling speed of the plate is slightly lower on the working side than on the drive side, and the plate is inclined as shown in FIG. As described above, the plate material inclined toward the drive side upstream of the entrance side is sent in the transport direction by the pinch roll, so that the plate material meanders toward the drive side. In other words, the rolling leveling operation meanders to the side opposite to the side where the rolling is increased and the load is increased. This meandering characteristic is qualitatively the same as the mechanism taking into account the elastic elongation of the plate.

  From the above considerations, it has been found that it is crucially important for meandering control to grasp whether the force in the transport direction acting on the plate from the pinch roll is a driving force or a braking force. Furthermore, the above experimental facts (B) and (C) can be explained by considering the change in the left / right balance of the driving force or the braking force due to the rolling leveling operation, and these phenomena may be universal. It could be confirmed.

  Further, the rolling leveling operation is effective as a means for changing the left-right balance of the distribution of the load acting between the plate material and the pinch roll in the width direction of the plate, and the width direction of the load acting between the plate material and the pinch roll is changed. Through the change in the distribution, it is possible to change the left / right balance of the driving force or the braking force acting on the sheet material from the pinch roll, thereby changing the inclination on the plan view when the sheet material enters the pinch roll. It turned out that the meandering control of the plate material became possible.

  The present invention has been made through the discovery and consideration as described above, and using a sheet conveying device that conveys a sheet by narrowly pressing the sheet with a pinch roll, and bringing the present value of the sheet width center position closer to the sheet width center position target value. It discloses a technique capable of satisfactorily performing the control aiming at the condition corresponding to every situation. In particular, it is essential to determine whether or not the pinch roll is applying a driving force toward the transport direction to the plate, and if it is determined that the driving force is being applied, the load acting between the plate and the pinch roll is determined. With respect to the distribution in the plate width direction, operating the press-down devices on the working side and the drive side of the pinch roll in a direction in which the load on the plate width center position target value side is relatively larger than the other based on the plate width center position current value, Conversely, if it is determined that the pinch roll does not apply a driving force to the sheet material in the transport direction, the distribution of the load acting between the sheet material and the pinch roll in the sheet width direction is based on the current value of the sheet width center position. The work-side and drive-side pressure reduction devices of the pinch roll are operated in a direction in which the load on the target value side of the plate width center position is relatively reduced as compared with the other side.

  By performing such control, meandering control of the transport device corresponding to any state can be realized.

[Example of control device]
As shown in FIG. 16, the transfer device 100 may further include a control device 200 for automatically executing the above-described control method. The control device 200 includes a tension information acquisition unit 211, a rotation control unit 212, a drive state determination unit 213, a load application point target position setting unit 214, and a functional configuration (hereinafter, referred to as a “functional module”). , A rolling position control unit 216 and a position information obtaining unit 217.

  The tension information acquisition unit 211 acquires, as an example of information relating to the transport state of the plate 2, information relating to a difference in the tension of the plate 2 on the entrance side and the exit side of the pinch rolls 1 a and 1 b.

  The rotation control unit 212 controls the rotation driving device 31 so as to adjust the rotation torque of the pinch rolls 1a and 1b according to the transport state of the plate material 2. The rotation torque of the pinch rolls 1a and 1b is the rotation torque applied by the rotation drive device 31 to the pinch rolls 1a and 1b. For example, the rotation control unit 212 sets the target value of the rotation torque of the pinch rolls 1a and 1b so that the information on the entrance / exit side tension difference acquired by the tension information acquisition unit 211 approaches the preset target value. The motor 6 is controlled so that the rotation torque of the pinch rolls 1a and 1b approaches the value.

  The position information acquisition unit 217 acquires a detection result of the edge position (the above-described plate edge position) of the plate material 2 from the plate edge position measuring device 5, and derives a plate width center current position based on the detection result. For example, the position information acquiring unit 217 calculates the current center position of the plate width center by the above equation (1).

  The drive state determination unit 213 determines whether or not the pinch rolls 1a and 1b are applying a driving force to the plate material 2 in the transport direction.

  When it is determined that the pinch rolls 1a and 1b are applying a driving force toward the conveyance direction to the plate material 2, the load application point target position setting unit 214 and the rolling position control unit 216 determine the position between the plate material 2 and the pinch rolls 1 a and 1 b. Of the load acting on the pinch rolls 1a and 1b on the plate width center target position 10A (for example, the line center 9) side with respect to the plate width center current position 10 based on the plate width center current position 10. Are operated on the working side and the driving side of the pinch rolls 1a, 1b in a direction in which the relative pressures become relatively large. On the other hand, when it is determined that the pinch rolls 1a and 1b do not apply the driving force toward the transport direction to the plate material 2, the current position 10 of the plate width center is determined with respect to the distribution of the load acting between the plate material and the pinch roll in the plate width direction. As a reference, between the working side and the driving side of the pinch rolls 1a and 1b, the pressing-down devices 3a and 3b on the working side and the driving side of the pinch rolls 1a and 1b in a direction in which the load on the plate width center target position 10A side becomes relatively small. Operate 3b.

  The load application point target position setting unit 214 sets a target position of a load application point position controlled by the screw-down devices 3a and 3b (hereinafter, referred to as a "load application point target position"). The load application point position is the distribution load acting on the plate material 2 from the pinch rolls 1a and 1b and the application point position of the concentrated load equivalent from the viewpoint of load and moment balance. When the pinch rolls 1 a and 1 b are applying a driving force to the plate 2, the load application point target position setting unit 214 determines the error of the plate width center current position 10 with respect to the plate width center target position 10 A according to the magnitude of the error. The position offset by the offset amount from the current position 10 of the plate width center to the target position 10A of the plate width center is set as the load application point target position, and when the pinch rolls 1a and 1b do not apply a driving force to the plate material 2, A position offset from the current plate width center position 10 to the opposite side of the target plate width center position 10A by the offset amount is defined as a load application point target position. For example, the load application point target position setting unit 214 uses the above equation (2), and sets the control parameter δ of the equation (2) to a negative value when the pinch rolls 1 a and 1 b apply the driving force to the plate 2. When the pinch rolls 1a and 1b do not apply the above-described driving force to the plate material 2, the control parameter δ in Expression (2) is set to a positive value, and the load application point target position is calculated.

The load application point target position setting unit 214 calculates the difference between the current plate width center position 10 and the target plate width center position 10A as a plate position error. The plate position error control amount may be calculated in consideration of the plate position error history, and the load application point target position may be calculated based on the plate position error control amount. For example, the load _application point target position setting unit 214 calculates the plate position error control amount Δz _{C_m} using the above equation (13). Then, when the pinch rolls 1a and 1b are applying a driving force toward the transport direction to the plate material 2, the load application point target position setting unit 214 is based on the same concept as when δ <0 in Expression (2). For example, for example, a plate position error control amount Δz _{C_m} is multiplied by a positive control parameter to calculate an offset amount proportional to the plate position error control amount Δz _{C_m.} Find the target position. Conversely, when the pinch rolls 1a and 1b do not apply a driving force toward the transport direction to the plate material 2, the load application point target position setting unit 214 considers the same as when δ> 0 in Expression (2). _Is calculated by multiplying the plate position error control amount Δz _{C_m} by a positive control parameter and calculating an offset amount proportional to the plate position error control amount Δz _{C_m} , and adding the calculated offset amount to the plate _width center current position 10 to _apply the load action. Calculate the point target position.

The rolling-down position control unit 216 controls the rolling-down devices 3a and 3b so that the load application point position approaches the load application point target position. For example, the _rolling position control unit 216 first _derives load target values P _{W_ref} and P _{D_ref} on the working side and the driving side based on the above equations (6) to (8). Next, the _rolling position control unit 216 _calculates the load target values P _{W_ref} and P _{D_ref} on the working side and the driving side, and the current load values on the working side and the driving side measured by the load measuring devices 4a and 4b, respectively. Then, a target value of the pinch roll rolling position control amount on each of the working side and the driving side is derived. For example, the rolling position control unit 216 calculates the pinch roll rolling position control amounts Δg _W and Δg _D using the above equations (9) to (12). Pressing position control unit 216, the working-side target value of the pinch roll pressing position control quantity to control the working side of the rolling device 3a based on Delta] g _W, the driving side on the basis of the target value Delta] g _D of the driving-side pinch roll pressing position control amount By operating the pressing device 3b, the pinch roll pressing position of each of the working side and the driving side is controlled.

The configuration of the control device 200 has been described above as an example, but this configuration is merely an example and can be changed as appropriate. For example, the position information acquisition unit 217 determines the current position of the sheet width center 10 from the work side and drive side load measurement values measured by the load measurement devices 4a and 4b provided at the axial ends of the pinch rolls 1a and 1b, respectively. May be detected. For example, the position information acquisition unit 217, the equation (14) and (15) may be calculated coordinate _{z C} in the plate width central current position 10 with. Plate - If the load distribution between the pinch rolls is made asymmetrical, may calculate the coordinates z _C by using equation (16).

  The drive state determination unit 213 may obtain, as information on the rotation torque, a detection result obtained by a torque measurement device that detects a torque acting on a rotation transmission shaft from the rotation drive device 31 to the pinch rolls 1a and 1b. For example, the transfer device 100 may include a torque measuring device 32 that detects torque acting on the spindles 7a and 7b, and the drive state determination unit 213 acquires the detection result of the torque measuring device 32 as information on the rotation torque. You may. The spindles 7a and 7b connect the pinion stand 8 for vertically distributing the driving force of the electric motor 6 and the pinch rolls 1a and 1b. In this configuration, since all the driving force of the electric motor 6 is transmitted to the pinch rolls 1a and 1b via the spindles 7a and 7b, the torque acting on the spindles 7a and 7b is measured, so that the plate materials are separated from the pinch rolls 1a and 1b. It is possible to determine whether or not a driving force toward the transport direction is given to 2.

  The drive state determination unit 213 acquires information on a force in the transport direction acting between the pinch rolls 1a and 1b and the plate material 2, and based on the information, determines whether or not the pinch rolls 1a and 1b are applying a driving force. May be determined. For example, the drive state determination unit 213 obtains the detection results of the entrance-side tension measurement device 12 and the exit-side tension measurement device 13 in FIG. 9 as information relating to the force in the transport direction acting between the pinch rolls 1a, 1b and the plate 2. Then, it may be determined whether or not the pinch rolls 1a and 1b are applying the driving force based on the difference between the detection result by the entry-side tension measurement device 12 and the detection result by the output-side tension measurement device 13.

  The drive state determination unit 213 measures force in the transport device 100 that measures the force in the transport direction acting on the pinch rolls 1a and 1b from the plate 2 as in the transport direction force measurement devices 17a, 17b, 17c, and 17d. The detection result by the device 17 may be obtained.

  FIG. 17 is a schematic diagram illustrating a hardware configuration of the control device 200. As shown in FIG. 12, the control device 200 includes a circuit 220. The circuit 220 includes at least one processor 221, a memory 222, a storage 223, and an input / output port 224. The storage 223 is a non-volatile storage medium (for example, a hard disk or a flash memory) readable by a computer. The storage 223 stores a program for configuring each function module of the control device 200. The memory 222 temporarily stores a program loaded from the storage 223, a calculation result by the processor 221 and the like. The processor 221 configures each functional module of the control device 200 by executing the above program in cooperation with the memory 222. The input / output port 224 inputs and outputs electric signals to and from the rotation driving device 31, the load measuring devices 4a and 4b, the plate edge position measuring device 5, and the pressing down devices 3a and 3b in response to a command from the processor 221. Do.

[Example of control procedure by control device]
Subsequently, a control procedure executed by the control device 200 will be described as an example of a control method of the plate material transfer device. As shown in FIG. 18, the control device 200 first executes steps S11 and S12. In step S11, the position information acquisition unit 217 detects the current plate width center position 10 at the center of the plate 2 in the width direction. In step S12, the drive state determination unit 213 checks whether or not the pinch rolls 1a and 1b are applying a driving force toward the transport direction to the plate material 2.

  If it is determined in step S12 that the pinch rolls 1a and 1b are applying a driving force to the plate member 2, the control device 200 executes step S13. In step S13, the load application point target position setting unit 214 sets the target sheet width center from the current plate width center position 10 by an offset amount corresponding to the error of the current plate width center position 10 with respect to the target plate width center position 10A. The position offset to the position 10A is set as the load application point target position.

  If it is determined in step S12 that the pinch rolls 1a and 1b are not applying a driving force to the plate member 2, the control device 200 executes step S14. In step S14, the load application point target position setting unit 214 sets the target value of the sheet width center target position 10 to the sheet width center target position 10A by an offset amount corresponding to the error of the sheet width center current position 10 with respect to the sheet width center target position 10A. The position offset to the opposite side of the position 10A is set as the load application point target position.

  Next, control device 200 executes steps S15, S16, and S17. In step S15, the rolling position control unit 216 derives a target value of the load measured by the load measuring devices 4a and 4b according to the load application point target position set in step S13 or step S14. In step S16, the rolling position control unit 216 derives a target value of the rolling position correction amount of the rolling devices 3a and 3b according to the load target value derived in step S15. In step S17, the rolling position control unit 216 controls the rolling devices 3a and 3b according to the target value of the rolling position correction amount derived in step S16. Thus, the load control procedure for one cycle is completed. Thereafter, the control device 200 repeats this series of operations at a predetermined control cycle. Thereby, good meandering control by the rolling leveling operation is continuously executed.

  1a, 1b: pinch roll, 2: plate material, 3a, 3b: rolling device, 4a, 4b: load measuring device, 5: plate end position measuring device, 6: electric motor, 7a, 7b: spindle, 8: pinion stand , 9: line center, 10: current value of plate width center position, 11: transport direction of plate material, 12: input side tension measuring device, 13: output side tension measuring device, 14a, 14b: tension roll, 15a, 15b: pinch Roll chock (bearing box), 16: pinch roll housing, 17a, 17b, 17c, 17d: conveyance direction force measurement device, 18: frame, 19: pivot, 20: load distribution between plate material and pinch roll, 21: entry side tension, Reference numeral 22 denotes the output side tension, 23a, 23b, 23a-1, 23a-2: the driving force acting on the plate material from the pinch roll, 24a, 24b, 24a-1, 24a-2: the pinch roll Braking force acting on the plate from Le, moment acting on the plate 25 ... pinch roll, 100 ... work sheet conveying device.

Claims (11)

A pair of upper and lower pinch rolls, a driving device for driving the pinch rolls, at least one of the upper and lower pinch rolls at both axial ends thereof, and at least one of the upper and lower one of the pinch rolls at both axial ends thereof A method for controlling a plate material transfer device that has a load measuring device and narrows and transfers the plate material with the pair of upper and lower pinch rolls,
The current value of the sheet width center position of the sheet material pinched by the pinch roll is detected, and the current value of the sheet width center position is set to be close to the target value of the sheet width center position, and the pinch roll is conveyed to the sheet material. When a driving force is applied in the direction, the load acting on the sheet width and the pinch roll in the sheet width direction is a load on the sheet width center position target value side with respect to the sheet width center position current value. When operating the pressing device on the working side and the driving side of the pinch roll in a direction to make the pinch roll relatively larger than the other, conversely, when the pinch roll does not apply a driving force toward the transport direction to the plate material, Regarding the distribution of the load acting between the plate material and the pinch roll in the plate width direction, the load on the plate width center position target value side with respect to the plate width center position current value is set to be relatively smaller than the other. The pinch roll made Side and operating the drive side of the rolling apparatus, a control method of the transport apparatus of the plate material, characterized by.   When the pinch roll is applying a driving force toward the sheet material in the transport direction, the load distribution acting between the sheet material and the pinch roll is determined based on a difference between the current value of the sheet width center position and the target value of the sheet width center position. The target value of the load application point position is calculated to be closer to the target value of the plate width center position with reference to the current value of the plate width center position, as compared with the current value of the load application point position. Based on the values, a target load value on the working side and the driving side of the pinch roll is calculated, and a reduction device on the working side and the driving side of the pinch roll so as to realize the target load value on the working side and the driving side of the pinch roll. On the contrary, if the pinch roll does not apply a driving force toward the transport direction to the sheet material, the sheet material is pinched based on the difference between the current value of the sheet width center position and the target value of the sheet width center position. Load distribution load acting between rolls The target value of the use point position is calculated so as to be on the opposite side to the target value of the plate width center position based on the current value of the plate width center position, as compared with the current value of the load application point position. Based on the target value, a load target value on the working side and the drive side of the pinch roll is calculated, and the working side and the drive side of the pinch roll are reduced so as to realize the load target value on the work side and the drive side of the pinch roll. The control method for a plate material conveying device according to claim 1, wherein the device is operated.   A pair of upper and lower pinch rolls, a driving device for driving the pinch rolls, at least one of the upper and lower pinch rolls at both axial ends thereof, and at least one of the upper and lower one of the pinch rolls at both axial ends thereof A pinch roll load measuring device, a control method of a plate material transfer device for narrowly pressing and transferring the plate material by the pair of upper and lower pinch rolls, wherein the plate width center position of the plate material being nipped by the pinch roll is The value is detected, the plate width center position current value is aimed at approaching the plate width center position target value, and the difference between the plate width center position current value and the plate width center position target value is calculated as a plate position error. Then, a plate position error control amount is calculated in consideration of the history of the plate position error before the current time in addition to the plate position error at the current time, and the load operation is performed as a value proportional to the plate position error control amount. The point position offset amount is calculated, and when the pinch roll is applying a driving force toward the conveyance direction to the plate material, the load application point position offset amount is subtracted from the current value of the plate width center position, and the plate material and Calculate the target value of the load application point position of the load distribution acting between the pinch rolls, calculate the load target values on the working side and the drive side of the pinch roll based on the load application point position target value, and calculate the target value of the pinch roll. Operate the work-side and drive-side pressing-down devices of the pinch roll so as to achieve the work-side and drive-side load target values. Conversely, when the pinch roll does not apply a driving force to the plate in the transport direction. Calculates the target value of the load application point position of the load distribution acting between the sheet material and the pinch roll by adding the load application point position offset amount to the plate width center position current value, and calculates the load application point position target. Based on value Calculating the target load values on the working side and the driving side of the pinch roll, and operating the pressure reducing devices on the working side and the driving side of the pinch roll so as to realize the target load values on the working side and the driving side of the pinch roll. A method for controlling a sheet conveying device, comprising:   A measuring device for measuring the plate edge position of the plate material is provided near the transport device, and the current value of the plate width center position of the plate material is detected based on the plate edge position measurement value measured by the plate edge position measuring device. 4. The method for controlling a transfer device according to claim 1, 2 or 3.   2. A plate width center position current value of a plate material is detected from load values on a working side and a drive side measured by load measuring devices provided at both axial ends of a pinch roll. And control methods for the two or three transfer devices.   Patents characterized by extracting a control target value of current of a motor for driving a pinch roll or measuring the actual value thereof, and determining whether the pinch roll applies a driving force to a plate material or not. 4. The method for controlling a transport device according to claim 1, 2 or 3.   Measure the torque acting on the spindle portion that transmits the driving torque from the driving device to the pinch roll, and determine whether or not the pinch roll applies a driving force to the plate material based on the measured value. 4. The method for controlling a transfer device according to claim 1, wherein:   The tension acting on the plate material is measured on both the entrance side and the exit side of the transport device, and based on the difference between these entrance side tension measurement value and exit side tension measurement value, whether the pinch roll applies a driving force to the plate material, 4. The control method according to claim 1, wherein it is determined whether or not the transfer is given.   The force in the transport direction acting on the pinch roll from the plate is measured in the transport device, and based on the measured force in the transport direction, it is determined whether the pinch roll is applying a driving force to the plate or not. 4. The method according to claim 1, wherein the transfer device is controlled by a control device. A pair of upper and lower pinch rolls,
A driving device for driving the pinch roll,
At least one of the upper and lower pinch rolls in both axial ends of the pinch roll,
At least one of the upper and lower pinch rolls at both axial ends of the load measuring device,
The current value of the sheet width center position of the sheet material pinched by the pinch roll is detected, and the current value of the sheet width center position is set to be close to the target value of the sheet width center position, and the pinch roll is conveyed to the sheet material. When a driving force is applied in the direction, the load acting on the sheet width and the pinch roll in the sheet width direction is a load on the sheet width center position target value side with respect to the sheet width center position current value. Control the pressing device on the working side and the driving side of the pinch roll in a direction to make the pinch roll relatively larger than the other, conversely, when the pinch roll does not give a driving force toward the transport direction to the plate material, Regarding the distribution of the load acting between the plate material and the pinch roll in the plate width direction, the load on the plate width center position target value side with respect to the plate width center position current value is set to be relatively smaller than the other. The pinch roll made Controls the screw down device side and the drive side, the transport apparatus of the plate material provided with a control device which, the. A pair of upper and lower pinch rolls,
A driving device for driving the pinch roll,
At least one of the upper and lower pinch rolls in both axial ends of the pinch roll,
A pinch roll load measuring device at least in each of the axial ends of at least one of the upper and lower pinch rolls,
The current value of the sheet width center position of the sheet material being pinched by the pinch roll is detected, and the current value of the sheet width center position is set to be close to the target value of the sheet width center position. The difference from the target value of the plate width center position is calculated as a plate position error, and in addition to the plate position error at the current time, the plate position error control amount is calculated in consideration of the history of the plate position error before the current time. Then, the load application point position offset amount is calculated as a value proportional to the plate position error control amount, and when the pinch roll applies a driving force toward the transport direction to the plate material, the plate width center position current value The load application point position offset amount is subtracted from the above, a target value of the load application point position of the load distribution acting between the plate material and the pinch roll is calculated, and based on the load application point position target value, the working side of the pinch roll is operated. And target load value on drive side Controlling the work-side and drive-side pressing-down devices of the pinch roll so as to achieve load target values of the work-side and drive-side of the pinch roll, and conversely, the driving force of the pinch roll toward the sheet material in the transport direction. Is not given, the load application point position offset amount is added to the plate width center position current value, and the target value of the load application point position of the load distribution acting between the plate material and the pinch roll is calculated. Based on the load application point position target value, the work target and the drive side load target values of the pinch roll are calculated, and the work side of the pinch roll and the work side of the pinch roll so as to realize the load target values of the work side and the drive side of the pinch roll. A control device for controlling and controlling the driving-side pressing-down device.

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