JP2020157318A - Winder tail edge stop position control method, winder tail edge stop position control device and winder - Google Patents

Abstract

To provide a winder tail edge stop position control device which can stop a tail edge position of a coil with high accuracy without causing defects or the like on a coil surface.SOLUTION: A tail edge stop position control part 17 comprises: a tail edge detection step (step ST2) at which a tail edge TE of a coil CL is detected by a tail edge detection sensor 14; a mandrel rotation angle calculation step (step ST4) at which a mandrel rotation angle is calculated; a deviation angle prediction calculation step (step ST7) at which a deviation angle of the tail edge, such that after rotational drive of a mandrel is stopped, the mandrel is rotated by moment of inertia of the coil, and the tail edge is deviated with respect to a target stop position, is predicted and calculated; a remaining mandrel rotation angle calculation step (step ST9) at which a remaining mandrel rotation angle to the target stop position is calculated; and a mandrel rotation stop step (step ST10) at which rotation of the mandrel is stopped when the remaining mandrel rotation angle becomes a value which is the deviation angle or less.SELECTED DRAWING: Figure 2

Description

INDUSTRIAL APPLICABILITY The present invention relates to a tail end stop position control method, a tail end stop position control device, and a winding device for a winding device that stops the tail end of a coil wound around a mandrel at a target stop position when winding a hot-rolled steel sheet. Regarding the taking device.

When the hot-rolled steel sheet is wound around the mandrel of the take-up device to form a coil, the tail end of the coil is specified in order to prevent damage to the equipment and satisfy the coil transfer conditions and the requirements of the next process. It is necessary to stop the rotation of the mandrel so that it stops at the position. Specifically, in order to facilitate handling such as binding and transporting the coil, the tail end stop position control for stopping the rotation of the mandrel is performed so that the tail end portion of the coil stops at a predetermined position below the coil. It has been
As the conventional tail end stop position control (hereinafter referred to as the first conventional technique), the tail end position of the coil sent to the mandrel is detected by a position sensor, and the detected value of the tail end position and the hot rolled steel sheet are used. There is a method of determining the tail end stop target position based on the unrolled length and the coil diameter of the coil, and controlling the rotation speed of the mandrel so that the tail end position of the coil stops at this tail end stop target position. In this first conventional technique, when the residual from the tail end stop target position to the tail end position becomes 0, the rotation speed of the mandrel is set to zero, and the control is terminated.

Further, as another tail end stop position control (hereinafter referred to as a second conventional technique), the mandrel is used according to the speed reference by using the rotation speed and the pressing force of the wrapper roll that presses the coil for controlling the rotation speed of the mandrel. There is a control for accurately stopping the tail end of the coil at a desired position by enabling the rotation speed control of the above (for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2011-245538

However, in the first prior art, when the residual between the tail end stop target position and the tail end position becomes zero, the rotation speed of the mandrel is set to zero and the control is terminated, but the mandrel suddenly ends even when the speed reference becomes zero. It cannot be stopped, and the tail end of the coil shifts from the target stop position of the mandrel. The amount of deviation at this time varies greatly depending on the moment of inertia, and it is difficult to take countermeasures with a simple uniform correction term.
Further, in the case of the method of controlling the speed of the mandrel using a wrapper roll as in the second conventional technique, it is necessary to increase the pressing force when winding a large coil that greatly exceeds the specifications of the electric motor. Defects such as scratches are likely to occur on the surface.

Therefore, the present invention has been made by paying attention to the unsolved problems of the above-mentioned conventional example, and the winding can stop the tail end position of the coil with high accuracy without causing defects on the coil surface. It is an object of the present invention to provide a tail end stop position control method for a take-up device, a tail end stop position control device, and a take-up device.

In order to achieve the above object, in the method of controlling the tail end stop position of the winding device according to one aspect of the present invention, when the steel strip is wound around the mandrel to form a coil, the tail end of the coil is the outer circumference of the mandrel. This is a method of controlling the tail end stop position of the take-up device that stops the rotation of the mandrel so that it is located at the target stop position of. In this method, the tail end detection step in which the tail end of the coil sent to the mandrel is detected by the tail end detection sensor, and the mandrel rotation in which the mandrel rotation angle from the tail end detected in the tail end detection step to the target stop position is calculated. The angle calculation step, the deviation angle prediction calculation step for predicting the deviation angle at which the tail end shifts with respect to the target stop position due to the inertial moment of the coil after stopping the rotation drive of the mandrel, and the target stop position Comparing the remaining mandrel rotation angle calculation steps with the remaining mandrel rotation angle and deviation angle, and when the remaining mandrel rotation angle is less than or equal to the deviation angle, the rotation of the mandrel It is equipped with a mandrel rotation stop step to stop.

Further, in the tail end stop position control device of the winding device according to one aspect of the present invention, when the steel strip is wound around the mandrel to form a coil, the tail end of the coil is positioned at the target stop position on the outer periphery of the mandrel. It is a tail end stop position control device of the winding device that stops the rotation of the mandrel so as to do so. This device has a tail end detection unit that detects the tail end of the coil sent to the mandrel with a tail end detection sensor, and a mandrel rotation that calculates the mandrel rotation angle from the tail end detected by the tail end detection unit to the target stop position. To the angle calculation unit, the deviation angle prediction calculation unit that predicts and calculates the deviation angle at which the tail end shifts from the target stop position due to the rotation of the mandrel due to the inertial moment of the coil after stopping the rotation drive of the mandrel, and the target stop position. The remaining mandrel rotation angle calculation unit that calculates the remaining mandrel rotation angle is compared with the remaining mandrel rotation angle and deviation angle, and when the remaining mandrel rotation angle becomes a value equal to or less than the deviation angle, the mandrel It is provided with a mandrel rotation stop portion for stopping rotation.

Further, the winding device according to one aspect of the present invention includes the above-mentioned tail end stop position control device.

According to the tail end stop position control method, the tail end stop position control device, and the winding device of the winding device according to the present invention, the tail end position of the coil is stopped with high accuracy without causing defects on the coil surface. be able to.

It is a figure which showed typically the hot rolling rolling line of 1st Embodiment which concerns on this invention. It is a flowchart explaining the tail end stop position control method of the winding apparatus which concerns on this invention. It is a figure which shows the information of the apparatus specification of the winding apparatus used when performing the mandrel rotation angle calculation processing to the target stop position which concerns on this invention. It is a figure explaining the mandrel rotation angle recalculation processing by BR push force fluctuation which concerns on this invention. It is a figure which shows the change of the rotation speed of a mandrel and the rotation angle of a mandrel when the tail end stop position control method of the winding device which concerns on this invention is performed. It is a scatter diagram which shows the correlation between the moment of inertia and the rotation speed of a coil, and the deviation angle. It is a figure which compared the conventional tail end stop position control method and the tail end stop position control method of this application with the occurrence degree and frequency of the stop angle error with respect to a target stop position.

Next, an embodiment according to the present invention will be described with reference to the drawings. In the description of the drawings below, the same or similar parts are designated by the same or similar reference numerals. However, it should be noted that the drawings are schematic, and the relationship between the thickness and the plane dimension, the thickness ratio of each layer, the number of stands of the rolling mill, etc. are different from the actual ones. Therefore, the specific thickness and dimensions should be determined in consideration of the following explanation. In addition, it goes without saying that the drawings include parts having different dimensional relationships and ratios from each other.
In addition, the embodiments shown below exemplify devices and methods for embodying the technical idea of the present invention, and the technical idea of the present invention describes the material, shape, structure, and arrangement of components. Etc. are not specified as the following. The technical idea of the present invention may be modified in various ways within the technical scope specified by the claims stated in the claims.

[Hot rolling line]
FIG. 1 is a schematic view showing the configuration of a hot rolling line to which the winding device according to the embodiment of the present invention is applied. As shown in FIG. 1, the hot rolling line 1 includes a rough rolling mill 3 that rolls a heated steel plate 2 to a thickness of several tens of mm, and a tip and a tail end of the steel plate 2 rolled by the rough rolling mill 3. A steel plate cutting machine 4 for cutting a portion, a finishing rolling machine 5 for rolling a steel plate 2 whose tail end has been cut to a thickness of several mm, and a winding steel plate 2 rolled by the finishing rolling machine 5 in a coil shape. The device 6 is provided.

[Structure of winding device]
As shown in FIG. 1, the winding device 6 includes a pair of pinch rolls 10a and 10b, a mandrel 11, a mandrel drive motor 12, and first to fourth blocker rolls BR1 to BR4. The pair of pinch rolls 10a and 10b rotate while sandwiching the upper and lower surfaces of the steel plate 2, thereby suppressing the fluttering of the steel plate 2 while applying an appropriate tension to the steel plate 2 and feeding the steel plate 2 to the mandrel 11. is there. The mandrel 11 is rotated by being driven by a mandrel drive motor 12, and winds up the steel plate 2 sent from the pair of pinch rolls 10a and 10b as a coil CL. The first to fourth blocker rolls BR1 to BR4 guide the tip of the steel plate 2 along the outer peripheral surface of the mandrel 11, and press the steel plate 2 against the mandrel 11 side to generate a frictional force to generate a frictional force to move the coil CL to the mandrel 11. It is wrapped around. As the material of the first to fourth blocker rolls BR1 to BR4, SCM435, SCM440 and the like are used.

[Control system configuration]
Next, the configuration of the control system of the winding device 6 according to the embodiment of the present invention will be described.
As shown in FIG. 1, the control system of the winding device 6 includes a steel plate passing sensor 14, a pressing force detection sensor 15, a pulse transmitter 16, and a tail end stop position control unit 17.
The steel plate passage sensor 14 is a sensor that uses laser light, gamma rays, or the like, and detects the tail end of the steel plate 2. As will be described later, a plurality of the steel plate passage sensors 14 are installed at positions near the center of the steel plate 2 in the width direction, separated from each other in the width direction.

The pressing force detection sensor 15 detects a change in the pressing force when the tail end of the steel plate 2 passes through. Further, the pulse transmitter 16 detects the rotation speed of the mandrel drive motor 12 with a pulse.
The tail end stop position control unit 17 is realized by a general-purpose information processing device such as a personal computer or a workstation. For example, a CPU, ROM, PAM, etc. are the main components, a steel plate passing sensor 14, and a pressing force detection. The detection values of the sensor 15 and the pulse transmitter 16 are input, and the device specifications of the winding device 6, the rotation control information of the mandrel 11, and the information for controlling the tail end stop position of the steel plate 2 are input from the host computer 18. To.

[Tail end stop position control unit of winding device]
Next, the tail end stop position control unit 17 will be described with reference to FIGS. 2 to 4.
The flowchart of FIG. 2 is a tail end stop position control process performed by the tail end stop position control unit 17, and the initial value of the switch SW is set to “0” (zero).
First, in step ST1, it is determined whether or not the switch SW is "1", and if the switch SW is "0" (SW ≠ 1), the process proceeds to step ST2. On the other hand, when the switch SW is "1", the process proceeds to the current mandrel angle calculation process in step ST6.

In step ST2, it is determined whether or not the tail end TE of the steel plate 2 is detected by the steel plate passage sensor 14, and if the tail end TE of the steel plate 2 is detected, the process proceeds to step ST3 and the tail end TE of the steel plate 2 is set. If it is not detected, the tail end stop position control process is terminated.
In step ST3, the mandrel deceleration rotation control process is performed.
Next, in step ST4, which shifts after step ST3, the mandrel rotation angle calculation process to the target stop position is performed.
Next, in step ST5, which shifts after step ST4, the switch SW is set to "1".

Next, after step ST5, the process proceeds to the current mandrel angle calculation process of step ST6 described above.
Next, in step ST7, which shifts after step ST6, the deviation angle prediction calculation process is performed.
Next, in step ST8, which shifts after step ST7, the mandrel rotation angle recalculation process due to the BR pressing force fluctuation is performed.
Next, in step ST9, which shifts after step ST8, the remaining mandrel rotation angle calculation process up to the target stop position is performed.

Next, in step ST10, the remaining mandrel angle θz calculated in step ST9 is compared with the deviation angle θ _S calculated in step ST5, and if the remaining mandrel angle θz is larger than the deviation angle θ _S , the tail When the end stop position control process is completed and the remaining mandrel angle θz is equal to or less than the deviation angle θ _S , the process proceeds to step ST11.
In step ST11, a mandrel rotation stop process for outputting a signal for stopping the rotation drive to the mandrel drive motor 12 is performed.

Next, the arithmetic processing of steps ST3, 4 and steps ST6 to 9 shown in the flowchart of FIG. 2 will be described in detail.
The mandrel deceleration / rotation control process in step ST3 starts the deceleration / rotation control of the mandrel 11 based on the rotation control information of the mandrel 11 input from the host computer 18.
The mandrel rotation angle calculation process to the target stop position in step ST4 will be described with reference to FIG. The position indicated by the symbol θ _X on the lower outer circumference of the coil CL in FIG. 3 is the target stop position for stopping the tail end TE of the steel plate 2. By stopping the tail end TE of the steel plate 2 at the target stop position θ _X , it is possible to prevent damage to the equipment and damage to the tail end TE when the coil is conveyed.

In this process, information on the device specifications of the winding device 6 of the following formulas (1) to (4) is input from the host computer 18. Here, L _TOTAL of the formula (1) is the length from the steel plate passing sensor 14 not wound around the mandrel 11 to the coil CL.
Then, based on the information in the equations (1) to (4), the mandrel rotation angle θ _TOTAL until the tail end TE of the steel plate 2 moves to the target stop position θ _X is calculated by the following equation (5).

The "n" used in the calculation formula of the mandrel rotation angle θ _TOTAL is the number of rotations of the mandrel 11 (n = 1 if the mandrel 11 rotates once, n = 2 if the mandrel 11 rotates twice).
Next, in the current mandrel angle calculation process of step ST6, the output pulse input from the pulse transmitter 16 is coefficiented and converted into a mandrel angle, and the mandrel angle rotated from the start of the tail end stop position control process to the present ( The current mandrel rotation angle) θ _Y is calculated.

Next, the deviation angle prediction calculation process in step ST7 will be described. The inventors of the present application have used the past data of the coil wound around the mandrel 11 of the winding device 6 to determine the moment of inertia associated with the rotation of the coil CL, the rotation speed of the coil CL, and the tail end TE of the steel plate 2. The correlation with the deviation angle θ _S (hereinafter referred to as the deviation angle θ _S ) with respect to the target stop position θ _X was investigated. FIG. 6 is a scatter diagram showing the correlation between the moment of inertia (GD _C ² ) and the rotation speed (N) of the coil CL and the deviation angle θ _S. As shown in FIG. 6, there is a very strong correlation with the correlation coefficient of 0.91, and a linear approximateable result was obtained. By regression analysis of the data group showing the correlation between the moment of inertia (GD _C ² ) and the rotation speed (N) of the coil CL and the deviation angle θ _S , as shown in the following equation (6), A regression equation for predicting the deviation angle θ _S using the moment of inertia and the rotation speed of the coil CL has been derived.
θ _S = 3.27GD _C ² x N ² …… (6)

Note that in (6), G moment of inertia _GD ^{C 2} coil CL is the weight of the coil CL, _{D C} is the diameter of coil CL.
Output deviation angle prediction calculation process in step ST7, the diameter D _C of the weight G and the coil CL of the coil CL is input from the host computer 18, the current rotational speed N of the mandrel 11, which is input from the pulse generator 16 Calculated based on the pulse. Then, the weight G of the coil CL, using a diameter D _C and the current rotational speed N of the coil CL by calculating the equation (6), offset angle S is the prediction calculation.

Next, the mandrel rotation angle recalculation process due to the BR pressing force fluctuation in step ST8 will be described with reference to FIGS. 4 (a) to 4 (d).
FIG. 4A shows that the tail end portion of the steel plate 2 has a fishtail shape, and the tail end TE of the steel plate 2 is a portion extending in the longitudinal direction while in the width direction. .. Then, at the position indicated by θ _Y1 in FIG. 4A, as shown in FIG. 4B, the first blocker roll BR1 presses the outer circumference of the steel plate 3 in front of the tail end TE toward the mandrel 11. The rotation angle. Further, the position indicated by θ _Y2 in FIG. 4A is the mandrel rotation angle at which the tail end TE of the steel plate 2 reaches the first blocker roll BR1 as shown in FIG. 4C. Reference numerals 14a to 14c shown in FIG. 4A are three steel plate passage sensors that detect the tail end position of the steel plate 2, and are arranged near the center in the width direction of the steel plate 2 and are arranged at the tail end of the steel plate 2. It is designed to detect TE.

Then, FIG. 4D shows a change in the pressing force F detected by the pressing force detecting sensor 15 when the first blocker roll BR1 passes through the tail end TE from the outer circumference of the steel plate 3 in front of the tail end TE. It is a graph. As shown in this graph, when the current mandrel rotation angle at which the tail end TE of the steel plate 2 reaches the first blocker roll BR1 is θ _Y2 , the pushing force drops sharply.
Therefore, in the mandrel rotation angle correction calculation process due to the BR pressing force fluctuation in step ST8, the tail end detection threshold value λ _F is set to a predetermined value at which the pressing force decreases when the tail end TE of the steel plate 2 reaches the first blocker roll BR1. (For example, λ _F = 1 ton), and when the pressing force F detected by the pressing force detection sensor 15 becomes a value lower than the tail end detection threshold value λ _F , it is determined that the tail end TE of the steel sheet 2 is detected.

Then, in the mandrel rotation angle recalculation process due to the BR pressing force fluctuation in step ST8, the position of the first blocker roll BR1 input from the host computer 18 is set to the position of the tail end TE of the steel plate 2, and the target is stopped from this tail end TE. The mandrel rotation angle θ _TOTAL until moving to the position θ _X is calculated again.
Next, in the remaining mandrel rotation angle calculation process up to the target stop position in step ST9, the angle θ _Z (remaining mandrel rotation angle θ _Z ) for rotating the mandrel 11 to the target stop position θ _X is performed by the following equation (7). ) Is calculated.
θ _Z = θ _TOTAL − θ _Y …… (7)

Here, the tail end detection step described in the present invention corresponds to step ST2 of FIG. 2, and the mandrel rotation angle calculation step described in the present invention corresponds to step ST4 of FIG. 2, and is described in the present invention. The deviation angle prediction calculation step corresponds to step ST7 of FIG. 2, and the remaining mandrel rotation angle calculation step described in the present invention corresponds to step ST9 of FIG. 2, and the mandrel described in the present invention. The rotation stop step corresponds to step ST11 in FIG.
Further, the tail end detection unit described in the present invention corresponds to step ST2 of FIG. 2, and the mandrel rotation angle calculation unit described in the present invention corresponds to step ST4 of FIG. 2, and is described in the present invention. The deviation angle prediction calculation unit corresponds to step ST7 of FIG. 2, and the remaining mandrel rotation angle calculation unit described in the present invention corresponds to step ST9 of FIG. 2, and the mandrel rotation described in the present invention. The stop portion corresponds to step ST11 in FIG.

[Operation of tail end stop position control of winding device]
Next, the operation in which the tail end TE of the coil CL wound around the mandrel 11 is stopped at the target stop position θ _X by the tail end stop position control unit 17 controlling the tail end stop position is shown in FIGS. This will be described with reference to 5. FIG. 5 is a graph showing the relationship between the rotation speed (N) from the deceleration state to the stop of the mandrel 11 around which the steel plate 2 is wound as the coil CL and the current mandrel rotation angle (θ _Y ). The solid line of 5 is the speed command value for the mandrel drive motor 12, and the broken line in FIG. 5 is the actual speed value of the mandrel 11.

The steel plate 2 fed from the finish rolling mill 5 passes through the pinch rolls 10a and 10b and is wound as a coil CL by the rotation of the mandrel 11. Then, when the tail end TE of the coil 2 is detected by the steel plate passage sensor 14 (step ST2 in FIG. 2), the tail end stop position control unit 17 starts the deceleration rotation control of the mandrel 11 (step ST4 in FIG. 2). , The position of the current mandrel rotation angle θ _Y1 in FIG. 5), and as shown in FIG. 5, the output of the speed command value to the mandrel drive motor 12 is gradually set low. As a result, the actual speed value of the mandrel 11 also gradually decreases.

Next, the tail end stop position control unit 17 calculates the mandrel rotation angle θ _TOTAL from the detection position of the steel plate passage sensor 14 to the target stop position θ _X (step ST4 in FIG. 2).
Next, the current mandrel rotation angle θ _Y rotated from the start of processing to the present is accumulated and calculated (step ST6 in FIG. 2).
Then, the tail end stop position control section 17, the angle theta _S predicting arithmetic shift on the basis of the moment of inertia GD _C ² and the regression equation derived from the correlation of the rotational speed N ² of the coil CL (the aforementioned equations (6) ( Step ST7 in FIG. 2).
Here, when the tail end portion of the steel plate 2 has the fishtail shape shown in FIG. 4A, the steel plate passage sensors 14a and 14c erroneously detect the vicinity of the recess of the fishtail shape as the tail end. The mandrel rotation angle θ _TOTAL from the detection position of the steel plate passage sensors 14a and 14c to the target stop position θ _X cannot be calculated accurately.

Therefore, in the tail end stop position control unit 17 of the present embodiment, when the tail end TE of the steel plate 2 reaches the first blocker roll BR1, the pressing force F detected by the pressing force detection sensor 15 is the tail end detection threshold value. When the value is lower than λ _F , it is determined that the tail end TE of the steel sheet 2 has been detected. Then, the mandrel rotation angle θ _TOTAL from the tail end TE reaching the first blocker roll BR1 to the target stop position θ _X is calculated again (step ST8 in FIG. ₂ , the position of the current mandrel rotation angle θ _Y2 in FIG. 5). .. In this way, by obtaining the mandrel rotation angle θ _TOTAL from the tail end TE detected by the pressing force detection sensor 15 of the first blocker roll BR1 to the target stop position θ _X , the mandrel rotation angle θ _TOTAL is calculated with high accuracy. To.

Next, the tail end stop position control unit 17 subtracts the current mandrel rotation angle θ _Y from the mandrel rotation angle θ _TOTAL to calculate the remaining mandrel rotation angle θ _Z (step ST9 in FIG. 2), and the remaining mandrel rotation. The angle θ _Z and the deviation angle θ _S are compared (step ST10 in FIG. 2).
Then, when the remaining mandrel rotation angle θ _Z and the deviation angle θ _S match (θ _Z = θ _S ), the speed command value to the mandrel drive motor 12 is set to “0] to stop the drive of the mandrel 11. (Position of step ST11 in FIG. 2, current mandrel rotation angle θ _Y3 in FIG. 5).
The mandrel 11 that has stopped driving the mandrel drive motor 12 rotates while gradually decelerating due to the moment of inertia, but stops when the tail end TE of the coil CL is located at the target stop position θ _X.

[Effect of tail end stop position control unit of winding device]
According to the tail end stop position control unit 17 of the present embodiment, the deviation angle θ _S is set based on the regression equation (formula (6) described above) derived from the correlation between the inertial moment GD _C ² and the rotation speed N ² of the coil CL. predicted by calculation, compared with the rest of the mandrel rotation angle theta _Z and deviation angle theta _S, when the the rest of the mandrel rotation angle theta _Z and misalignment angle theta _S match (θ _{Z =} θ _S), the mandrel The mandrel 11 that has stopped driving the mandrel drive motor 12 is controlled to stop the drive of 11, and the mandrel 11 that has stopped driving the mandrel drive motor 12 rotates to an angle of deviation angle θ _S while gradually decelerating due to an inertial moment, and the coil CL Since the tail end TE stops when it is located at the target stop position θ _X , the tail end TE of the coil CL can be stopped at the target stop position θ _X with high accuracy.

Here, FIG. 7A shows the stop angle error with respect to the target stop position θ _X when the conventional control method of stopping the tail end TE of the coil CL at the target stop position θ _X without predicting the deviation angle. Indicates the degree and frequency of occurrence. Further, FIG. 7B shows the degree and frequency of occurrence of a stop angle error with respect to the target stop position θ _{X under} the control of the tail end stop position control unit 17 of the present embodiment. As is clear from these FIGS. 7A and 7B, when the tail end stop position control unit 17 of the present embodiment controls to stop the tail end TE of the coil CL at the target stop position θ _X. The stop angle error can be reduced and the variation can be significantly reduced.

Further, since the tail end stop position control unit 17 of the present embodiment does not perform forced deceleration control in a state of being in contact with the outer peripheral surface of the coil CL as in the prior art, a defect or the like occurs on the surface of the coil CL. It is possible to form a high quality coil CL without causing it.
Further, in the tail end stop position control unit 17 of the present embodiment, when the tail end TE reaches the first blocker roll BR1, the pressing force F detected by the pressing force detection sensor 15 falls below the tail end detection threshold λ _F. When the value is reached, it is determined that the tail end TE has been detected, and the mandrel rotation angle θ _TOTAL from the tail end TE that has reached the first blocker roll BR1 to the target stop position θ _X is calculated again. Even if the tail end of 2 has a special shape such as a fishtail shape, the mandrel rotation angle θ _TOTAL can be calculated with high accuracy, and the tail end TE of the coil CL is stopped at the target stop position θ _X. The technique can be performed with even higher precision.

In the tail end stop position control unit 17 of the present embodiment, the pressing force F detected by the pressing force detection sensor 15 in the mandrel rotation angle recalculation process due to the BR pressing force fluctuation in step ST8 of FIG. 2 is the tail end detection threshold value. Although it was determined that the tail end TE of the steel sheet 2 was detected when the value was less than λ _F (for example, λ _F = 1 ton) (hereinafter, referred to as the first tail end detection threshold setting), the gist of the present invention. Is not limited to this.
That is, when the differential value of the pressing force F detected by the pressing force detection sensor 15 over time is less than, for example, "-1" and the pressing force is less than, for example, 2 tons within 0.3 sec, the tail end TE of the steel plate 2 is TE. You may use the second tail end detection threshold setting which determines that has been detected.
Further, the same effect can be obtained even if it is determined that the tail end TE of the steel plate 2 is detected when either the first tail end detection threshold value setting or the second tail end detection threshold value setting is satisfied. Can be played.

1 Hot rolling line 2 Steel plate 3 Rough rolling machine 4 Steel plate cutting machine 5 Finishing rolling machine 6 Winding device 10a, 10b Pinch roll 11 Mandrel 12 Mandrel drive motor 14 Steel plate passing sensor 15 Pushing force detection sensor 16 Pulse transmitter 17 Tail end weight TE tail theta _S of inertia G coil current rotational speed F pushing force _GD ^{C 2} diameter coil N mandrel stop position control unit 18 a high-level computer BR1~BR4 first to fourth blocker roll CL coils _{D C} coil Deviation angle θ _Y Current mandrel rotation angle θ _X Target stop position θ _TOTAL mandrel rotation angle θ _Z Remaining mandrel rotation angle λ _F Tail end detection threshold

Claims (7)

A method for controlling the tail end stop position of a winding device that stops the rotation of the mandrel so that the tail end of the coil is located at the target stop position on the outer circumference of the mandrel when the steel strip is wound around the mandrel to form a coil. And
A tail end detection step of detecting the tail end of the coil sent to the mandrel with a tail end detection sensor, and a tail end detection step.
A mandrel rotation angle calculation step for calculating the mandrel rotation angle from the tail end to the target stop position detected in the tail end detection step, and
A deviation angle prediction calculation step for predicting and calculating a deviation angle at which the tail end shifts with respect to the target stop position by rotating the mandrel by the moment of inertia of the coil after stopping the rotational drive of the mandrel.
The remaining mandrel rotation angle calculation step for calculating the remaining mandrel rotation angle to the target stop position, and
A mandrel rotation stop step for comparing the remaining mandrel rotation angle and the deviation angle and stopping the rotation of the mandrel when the remaining mandrel rotation angle becomes a value equal to or less than the deviation angle.
A method for controlling the tail end stop position of a take-up device, which comprises. In the deviation angle prediction calculation step, the deviation angle θ _S is calculated by the following regression equation derived by regression analysis of a data group showing the correlation between the moment of inertia of the coil and the rotation speed of the coil and the deviation angle. The method for controlling a tail end stop position of a take-up device according to claim 1, wherein a predictive calculation is performed.
θ _S = 3.27GD _C ² x N ²
Incidentally, _GD ^{C 2} is the moment of inertia of the coil, G is the weight of the coil CL, the _{D C} of the coil diameter, N represents the current rotational speed of the mandrel. The tail end detection sensor that detects the tail end of the tail end detection step is a pressing force detection sensor connected to a blocker roll that presses the coil wound around the mandrel toward the mandrel side.
The tail end detection step is characterized in that when the pressing force detection sensor detects that the pressing force generated by the blocker roll falls below a predetermined threshold value, it determines that the tail end of the coil has been detected. The method for controlling the tail end stop position of the winding device according to claim 1 or 2. A tail end stop position control device for a winding device that stops the rotation of the mandrel so that the tail end of the coil is located at the target stop position on the outer circumference of the mandrel when the steel strip is wound around the mandrel to form a coil. And
A tail end detection unit that detects the tail end of the coil sent to the mandrel with a tail end detection sensor,
A mandrel rotation angle calculation unit that calculates a mandrel rotation angle from the tail end to the target stop position detected by the tail end detection unit,
A deviation angle prediction calculation unit that predicts and calculates a deviation angle at which the tail end shifts with respect to the target stop position by rotating the mandrel by the moment of inertia of the coil after stopping the rotational drive of the mandrel.
The remaining mandrel rotation angle calculation unit that calculates the remaining mandrel rotation angle to the target stop position, and
A mandrel rotation stop portion that stops the rotation of the mandrel when the remaining mandrel rotation angle and the deviation angle are compared and the remaining mandrel rotation angle becomes a value equal to or less than the deviation angle.
A tail end stop position control device for a take-up device, which comprises. The deviation angle prediction calculation unit calculates the deviation angle θ _S by the following regression equation derived by regression analysis of a data group showing the correlation between the moment of inertia of the coil and the rotation speed of the coil and the deviation angle. The tail end stop position control device for the take-up device according to claim 4, wherein the prediction calculation is performed.
θ _S = 3.27GD _C ² x N ²
Incidentally, _GD ^{C 2} is the moment of inertia of the coil, G is the weight of the coil CL, the _{D C} of the coil diameter, N represents the current rotational speed of the mandrel. The tail end detection sensor that detects the tail end is a pressing force detection sensor connected to a blocker roll that presses the coil wound around the mandrel toward the mandrel side.
The tail end detecting unit is characterized in that when the pressing force detecting sensor detects that the pressing force generated by the blocker roll falls below a predetermined threshold value, it determines that the tail end of the coil has been detected. The tail end stop position control device for the winding device according to claim 4 or 5. A winding device including the tail end stop position control device according to any one of claims 4 to 6.

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