JP2941569B2 - Non-contact vibration suppression device for steel plate - Google Patents

Non-contact vibration suppression device for steel plate

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Publication number
JP2941569B2
JP2941569B2 JP4200179A JP20017992A JP2941569B2 JP 2941569 B2 JP2941569 B2 JP 2941569B2 JP 4200179 A JP4200179 A JP 4200179A JP 20017992 A JP20017992 A JP 20017992A JP 2941569 B2 JP2941569 B2 JP 2941569B2
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JP
Japan
Prior art keywords
steel sheet
current
value
electromagnet
detector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP4200179A
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Japanese (ja)
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JPH0625814A (en
Inventor
和弘 佃
浩二 亀田
Original Assignee
三菱重工業株式会社
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Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【0001】[0001]

【産業上の利用分野】本発明は鋼板の連続処理ラインに
適用される鋼板の非接触制振装置に関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a non-contact vibration damping device for a steel sheet applied to a continuous steel sheet processing line.

【0002】[0002]

【従来の技術】連続鋼板処理ラインにおいては、板厚約
0.5mm〜5mm、板幅約700mm〜1900mm
の鋼板を搬送させながら溶融亜鉛めっきや焼鈍などの表
面処理・加工を行なっているが、鋼板を乾燥・冷却する
ための冷却風や機械系のガタ等により鋼板が振動する
と、めっきむらや傷が発生し、製品の品質が低下する。
2. Description of the Related Art In a continuous steel sheet processing line, a sheet thickness is about 0.5 mm to 5 mm and a sheet width is about 700 mm to 1900 mm.
Surface treatment such as hot dip galvanizing and annealing while transporting the steel sheet, but if the steel sheet vibrates due to cooling air for drying and cooling the steel sheet or mechanical backlash, uneven plating and scratches may occur. Occurs and reduces product quality.

【0003】この振動を低減する従来技術に係わる非接
触制振装置の構成を図4、図5に示す。
FIGS. 4 and 5 show the structure of a non-contact vibration damping device according to the prior art for reducing this vibration.

【0004】図4に示すように鋼板1はフロータあるい
はロール2,3を介して矢印の方向に搬送されており、
該フロータあるいはロール2,3の間には鋼板1の両側
面に対向して電磁石5,6が設置され、さらに電磁石
5,6の中間に鋼板1の位置を検出する位置検出器4が
鋼板面に臨んで設置されている。
As shown in FIG. 4, a steel sheet 1 is conveyed in the direction of an arrow via a floater or rolls 2, 3.
Electromagnets 5 and 6 are provided between the floaters or the rolls 2 and 3 so as to oppose both side surfaces of the steel plate 1, and a position detector 4 for detecting the position of the steel plate 1 is provided between the electromagnets 5 and 6. It is installed facing.

【0005】位置検出器4の信号は鋼板位置検出値とし
て制御装置15に入力され、同位置検出値が位置目標値
に保たれるように電磁石に出力する電流を調整する。な
お図5は図4を上から見た図で、電磁石及び位置検出器
は板幅方向に数箇所設置されており、各々同一の構成と
なっている。
[0005] The signal from the position detector 4 is input to the control device 15 as a detected value of the position of the steel sheet, and the current output to the electromagnet is adjusted so that the detected position value is maintained at the target position value. FIG. 5 is a view of FIG. 4 as viewed from above. Electromagnets and position detectors are provided at several places in the plate width direction, and have the same configuration.

【0006】次ぎに制御装置15の動作を図6に示すブ
ロック図に基づき説明すると、位置検出器4からの鋼板
位置検出値は鋼板の位置目標値8から減算され、P・I
・D(比例・積分・微分)演算器9に入力され、鋼板の
位置を目標値にするために必要とされる力を演算する。
Next, the operation of the control device 15 will be described with reference to the block diagram shown in FIG. 6. The detected value of the steel sheet position from the position detector 4 is subtracted from the target position value 8 of the steel sheet, and PI
-It is input to a D (proportional / integral / derivative) calculator 9 and calculates the force required to set the position of the steel sheet to the target value.

【0007】この力に掛算器10で所定の固定値を乗算
して電流値に変換し、一定の電流(バイアス電流)11
を加算し、電流指令値を演算する。
This force is multiplied by a predetermined fixed value in a multiplier 10 to convert it into a current value, and a constant current (bias current) 11
To calculate the current command value.

【0008】この電流指令値は電磁石駆動装置12に入
力され、電磁石5,6に励磁電流が出力され、鋼板1の
振動を電磁力を用いて非接触で低減する。
The current command value is input to the electromagnet driving device 12, and an exciting current is output to the electromagnets 5 and 6, so that the vibration of the steel plate 1 is reduced in a non-contact manner by using an electromagnetic force.

【0009】ここで、掛算器10で乗じる値C、すなわ
ち力を電流に変換する係数は、従来は次のように決定し
ていた。電磁石の発生する吸引力fは図7に示すように
励磁電流iの2乗に比例し、
Here, the value C to be multiplied by the multiplier 10, that is, the coefficient for converting a force into a current, has conventionally been determined as follows. The attractive force f generated by the electromagnet is proportional to the square of the exciting current i as shown in FIG.

【数1】 の関係がある。ここで、kは電磁石の材質、コイル巻数
等により決まる定数である。
(Equation 1) There is a relationship. Here, k is a constant determined by the material of the electromagnet, the number of coil turns, and the like.

【0010】従来は、励磁電流iはバイアス電流i0
傍で変化すると仮定して、バイアス電流i0 での傾き
[0010] Conventionally, the exciting current i is assumed to vary the bias current i 0 near the slope of the bias current i 0

【数2】 から(Equation 2) From

【数3】 と固定値としていた。(Equation 3) And had a fixed value.

【0011】[0011]

【発明が解決しようとする課題】ところが、一般に鋼板
は図5に示すように幅方向に反り返った形状を有してお
り、この形状は鋼板搬送にともない常時変化している。
However, in general, a steel sheet has a shape warped in the width direction as shown in FIG. 5, and this shape constantly changes with the conveyance of the steel sheet.

【0012】しかしながら前述の従来の非接触制振装置
においては、制御装置15は鋼板を図5中一点鎖線で示
す目標位置に保持するような励磁電流を電磁石5に対し
出力するため、鋼板の反りが大きな場合は、前記バイア
ス電流i0 から大きくずれた励磁電流、例えばi1 ,i
2 が流れることになる。
However, in the above-described conventional non-contact vibration damping device, the control device 15 outputs an exciting current to the electromagnet 5 so as to hold the steel plate at a target position indicated by a dashed line in FIG. Is large, the excitation current greatly deviates from the bias current i 0 , for example, i 1 , i
2 will flow.

【0013】この状態で鋼板が振動した場合、電流を同
一量変化させても吸引力の変化量は、励磁電流がi0
場合とは異なるため、力不足により振動が低減できない
あるいは過剰力により鋼板が発振する等の問題が生じ
る。
When the steel sheet vibrates in this state, even if the current is changed by the same amount, the amount of change in the attraction force is different from the case where the exciting current is i 0 , so that the vibration cannot be reduced due to insufficient force or due to excessive force. Problems such as oscillation of the steel plate occur.

【0014】すなわち、従来技術においては、前記
(3)式により求めた固定値を用いて力を電流に変換し
ているため、鋼板の反り量により制御性能が変化し、そ
の結果製品の品質が低下するという不具合があった。
That is, in the prior art, since the force is converted into the current using the fixed value obtained by the above equation (3), the control performance changes depending on the warpage of the steel sheet, and as a result, the quality of the product is reduced. There was a problem of lowering.

【0015】本発明は、上記不具合点を解決するための
もので鋼板の形状が変化しても振動を低減させることの
できる非接触制振装置を提供することを目的としてい
る。
An object of the present invention is to solve the above-mentioned problems and to provide a non-contact vibration damping device capable of reducing vibration even when the shape of a steel sheet changes.

【0016】[0016]

【課題を解決するための手段】上記目的を達成するため
の構成として本発明の鋼板の非接触制振装置は、鋼板を
搬送するロールあるいはフロータ間に鋼板に対向して配
設された電磁石と、該電磁石に近接して配置された鋼板
の位置を検出する位置検出器と、鋼板の位置目標値と前
記位置検出器により測定された検出値との差である変位
量に基づいて鋼板の位置を一定に保つ電流指令値を演算
し、電磁石に出力する制御装置を備えた鋼板の非接触制
振装置において、前記電磁石に流れる電流値を検出ある
いは推定する手段と、検出あるいは推定された電流値と
前記鋼板変位量に基づき電流指令値を演算する手段とを
備えることを特徴としている。
According to the present invention, there is provided a non-contact vibration damping device for a steel sheet, comprising: an electromagnet disposed between a roll or a floater for conveying the steel sheet so as to face the steel sheet; A position detector that detects a position of a steel sheet disposed in proximity to the electromagnet; and a position of the steel sheet based on a displacement amount that is a difference between a target position value of the steel sheet and a detection value measured by the position detector. In a non-contact vibration damping device for a steel sheet provided with a control device that calculates a current command value that keeps a constant value and outputs the current value to an electromagnet, a means for detecting or estimating a current value flowing through the electromagnet; And means for calculating a current command value based on the displacement of the steel sheet.

【0017】[0017]

【作用】上記構成の本発明によれば、搬送される鋼板に
生ずる振動を低減させるため、鋼板に対向して設けた電
磁石に流れる電流を電流検出器で検出するかあるいは検
出器を用いずに推定する手段によりオンラインで励磁電
流推定値ia (t) を求め、力を電流に変換する係数を下
式(4)で求めることにより、鋼板形状変化による励磁
電流の動作点変化を補正し、制御性能を一定に保つこと
ができる。
According to the present invention having the above-described structure, in order to reduce the vibration occurring in the conveyed steel sheet, the current flowing through the electromagnet provided opposite to the steel sheet is detected by a current detector or without using the detector. The exciting current estimated value i a (t) is obtained online by the estimating means, and the coefficient for converting the force into the current is obtained by the following equation (4), whereby the operating point change of the exciting current due to the change in the steel sheet shape is corrected, Control performance can be kept constant.

【数4】 (Equation 4)

【0018】この結果、鋼板の形状によらず振動を低減
することが可能となり、製品の品質向上が可能となる。
As a result, the vibration can be reduced irrespective of the shape of the steel sheet, and the quality of the product can be improved.

【0019】[0019]

【実施例】以下、本発明の実施例を図面に基づき具体的
に説明する。図1は本発明の実施例に係わる非接触制振
装置の全体構成図、図2は同装置における第1の実施例
制御回路のブロック図を示す。なお、装置の構成につい
てはさきに従来装置として図4に説明したものと同様で
あるため、ここではその説明を省略するものとする。
DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be specifically described below with reference to the drawings. FIG. 1 is an overall configuration diagram of a non-contact vibration suppression device according to an embodiment of the present invention, and FIG. 2 is a block diagram of a control circuit of the first embodiment in the device. The configuration of the device is the same as that described above with reference to FIG. 4 as the conventional device, and a description thereof will be omitted.

【0020】図1、図2において、ロールあるいはフロ
ータ2により搬送された鋼板1は、その搬送途中におい
て冷却風や機械のガタ等により鋼板振動を生じ、この振
動による鋼板位置の変化は電磁石5,6の中間位置に配
設された位置検出器4により測定され、別に入力された
鋼板位置目標値8から減算され変位量が求められる。
In FIGS. 1 and 2, the steel sheet 1 conveyed by the roll or the floater 2 generates a vibration of the steel sheet due to a cooling wind or a play of a machine during the conveyance. 6 is measured by the position detector 4 disposed at the intermediate position of 6, and is subtracted from the steel plate position target value 8 which is separately input to obtain the displacement amount.

【0021】この変位量は制御装置7内におけるP・I
・D(比例・積分・微分)演算器9に入力され、変位量
を0にするために必要とされる力を該演算器9で求め
る。
The amount of displacement is determined by P · I in the control device 7.
A force input to a D (proportional / integral / differential) calculator 9 and required to reduce the displacement to zero is obtained by the calculator 9.

【0022】この力に掛算器10で係数を乗算して電流
値に変換し、別に入力されたバイアス電流11を加算し
て電流指令値とする。
This force is multiplied by a coefficient by a multiplier 10 to convert the force into a current value, and a separately input bias current 11 is added to obtain a current command value.

【0023】ここで掛算器10で乗ずる係数Cは、電磁
石に流れる励磁電流を電流検出器13で検出し、検出さ
れた電流値ia (t) を用いて前記(4)式で変更する。
Here, the coefficient C multiplied by the multiplier 10 is changed by the above equation (4) using the detected current value i a (t) by detecting the exciting current flowing through the electromagnet by the current detector 13.

【0024】この電流指令値は電磁石駆動装置12に入
力され、電磁石5,6へ励磁電流が出力される。
This current command value is input to the electromagnet driving device 12, and an exciting current is output to the electromagnets 5 and 6.

【0025】この結果、鋼板の形状すなわち反り量が変
化して励磁電流の動作点が変化しても、力と電流の関係
が前記(4)式で自動的に補正されるため制御性能が一
定に保たれる。
As a result, even if the operating point of the exciting current changes due to a change in the shape of the steel sheet, that is, the amount of warpage, the relationship between the force and the current is automatically corrected by the above equation (4), so that the control performance is constant. Is kept.

【0026】次ぎに本発明の他の実施例について説明す
ると、図3は本発明非接触制振装置における第2の実施
例制御回路のブロック図を示す。なお図3の符号8〜1
2は図2の実施例のものと同一物である。
Next, another embodiment of the present invention will be described. FIG. 3 is a block diagram of a control circuit according to a second embodiment of the present invention. Note that reference numerals 8 to 1 in FIG.
2 is the same as that of the embodiment of FIG.

【0027】本実施例は電磁石に流れる励磁電流を検出
器を用いずに推定する手段を用いる。すなわち、図3に
おいて、P・I・D演算器9で求めた電流値とバイアス
電流値を加算した後の電流指令値は励磁電流推定値ip
(t)として、最新の値が記憶装置14に記憶される。
This embodiment uses a means for estimating the exciting current flowing through the electromagnet without using a detector. That is, in FIG. 3, the current command value obtained by adding the bias current value and the current value obtained by the PID arithmetic unit 9 becomes the excitation current estimated value ip
As (t), the latest value is stored in the storage device 14.

【0028】この励磁電流推定値を用いて、掛算器10
で乗じる係数Cを
Using the excitation current estimated value, a multiplier 10
Multiplying by C

【数5】 で変更する。(Equation 5) To change.

【0029】この結果鋼板形状変化による励磁電流の動
作点変化を補正し、制御性能を一定に保つことができ、
鋼板の振動を低減することができる。
As a result, a change in the operating point of the exciting current due to a change in the shape of the steel sheet can be corrected, and the control performance can be kept constant.
The vibration of the steel plate can be reduced.

【0030】以上本発明の実施例につき縷々説明した
が、本発明は上記実施例に限定されることなく、本発明
技術思想の範囲内において種々設計変更が可能であり、
それ等は何れも本発明の技術的範囲に属するものであ
る。
Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments, and various design changes are possible within the scope of the technical idea of the present invention.
All of them belong to the technical scope of the present invention.

【0031】[0031]

【発明の効果】本発明の鋼板の非接触制振装置によれ
ば、電磁石に流れる励磁電流を検出器を用いて検出する
か、あるいは検出器を用いることなく推定し、力から電
流に変換する係数を励磁電流に応じて変更することによ
り、鋼板の形状が変化しても制御性能を一定に保つこと
ができ、従来装置に比べ鋼板の振動を低減することがで
きる。
According to the non-contact vibration damping device for steel plates of the present invention, the exciting current flowing through the electromagnet is detected by using a detector or estimated without using a detector, and converted from a force to a current. By changing the coefficient according to the exciting current, the control performance can be kept constant even if the shape of the steel sheet changes, and the vibration of the steel sheet can be reduced as compared with the conventional device.

【0032】この結果、従来の装置における振動が原因
で発生する製品のめっきむらや傷がなくなり、製品の品
質向上を図ることができる。
As a result, uneven plating and scratches of the product caused by vibration in the conventional apparatus are eliminated, and the quality of the product can be improved.

【図面の簡単な説明】[Brief description of the drawings]

【図1】本発明の実施例に係る非接触制振装置の全体構
成図である。
FIG. 1 is an overall configuration diagram of a non-contact vibration damping device according to an embodiment of the present invention.

【図2】同装置における制御装置の第1の実施例制御回
路のブロック図である。
FIG. 2 is a block diagram of a control circuit of a first embodiment of the control device in the device.

【図3】同装置における制御装置の第2の実施例制御回
路のブロック図である。
FIG. 3 is a block diagram of a control circuit of a second embodiment of the control device in the device.

【図4】従来の非接触制御装置の全体構成図である。FIG. 4 is an overall configuration diagram of a conventional non-contact control device.

【図5】図4の装置の上方よりの斜視図である。5 is a perspective view from above of the device of FIG. 4;

【図6】従来装置における制御回路ブロック図である。FIG. 6 is a block diagram of a control circuit in a conventional device.

【図7】励磁電流と吸引力の関係を示すグラフである。FIG. 7 is a graph showing a relationship between an exciting current and an attractive force.

【符号の説明】[Explanation of symbols]

1 鋼板 2,3 フロータ又はロール 4,4a,4b,4c 位置検出器 5,5a,5b,5c 電磁石 6,6a,6b,6c 電磁石 7 制御装置 8 鋼板位置目標値 9 P・I・D演算器 10 掛算器 11 バイアス電流 12 電磁石駆動装置 13 電流検出器 14 記憶装置 15 従来の制御装置 DESCRIPTION OF SYMBOLS 1 Steel plate 2, 3 Floater or roll 4, 4a, 4b, 4c Position detector 5, 5a, 5b, 5c Electromagnet 6, 6a, 6b, 6c Electromagnet 7 Control device 8 Steel plate position target value 9 PID calculator DESCRIPTION OF SYMBOLS 10 Multiplier 11 Bias current 12 Electromagnet drive device 13 Current detector 14 Storage device 15 Conventional control device

───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 FI G05D 3/12 305 G05D 3/12 305P 19/02 19/02 D ──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. 6 Identification code FI G05D 3/12 305 G05D 3/12 305P 19/02 19/02 D

Claims (1)

(57)【特許請求の範囲】(57) [Claims] 【請求項1】 鋼板を搬送するロールあるいはフロータ
間に、鋼板に対向して配置された電磁石と、該電磁石に
近接して配置された鋼板の位置を検出する位置検出器
と、鋼板の位置目標値と前記位置検出器により測定され
た検出値との差である変位量に基づいて鋼板の位置を一
定に保つ電流指令値を演算し、電磁石に出力する制御装
置を備えた鋼板の非接触制振装置において、前記電磁石
に流れる電流値を検出あるいは推定する手段と、検出あ
るいは推定された電流値と前記鋼板変位量に基づき電流
指令値を演算する手段とを備えることを特徴とする鋼板
の非接触制振装置。
An electromagnet disposed between a roll or a floater for transporting a steel sheet and facing the steel sheet, a position detector for detecting a position of the steel sheet disposed close to the electromagnet, and a position target of the steel sheet. Non-contact control of a steel sheet provided with a control device that calculates a current command value for keeping the position of the steel sheet constant based on a displacement amount that is a difference between the value and a detection value measured by the position detector and outputs the current command value to an electromagnet. A vibration device, comprising: means for detecting or estimating a current value flowing through the electromagnet; and means for calculating a current command value based on the detected or estimated current value and the displacement of the steel sheet. Contact damping device.
JP4200179A 1992-07-06 1992-07-06 Non-contact vibration suppression device for steel plate Expired - Lifetime JP2941569B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP4200179A JP2941569B2 (en) 1992-07-06 1992-07-06 Non-contact vibration suppression device for steel plate

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4200179A JP2941569B2 (en) 1992-07-06 1992-07-06 Non-contact vibration suppression device for steel plate

Publications (2)

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JPH0625814A JPH0625814A (en) 1994-02-01
JP2941569B2 true JP2941569B2 (en) 1999-08-25

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0664806A (en) * 1992-08-18 1994-03-08 Nippon Steel Corp Vibration damping device for steel strip
JP5439704B2 (en) * 2006-12-18 2014-03-12 Jfeスチール株式会社 Steel strip shape detector
KR101657748B1 (en) * 2013-12-24 2016-09-19 주식회사 포스코 Apparatus for controlling strip vibration

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