JP3199192B2 - Bridle facility line speed control method and apparatus - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for controlling a line speed of a bridle facility in a surface treatment facility for a steel sheet, and more particularly to a backlash suppression control of a bridle speed reducer.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG. 3, a bridle facility in a steel sheet surface treatment facility generally has an entrance-side tension facility 1 for controlling the tension of a steel sheet 9 upstream and downstream of a bridle 2 in a process line. Equipped with exit side tension equipment 3,
The steel sheet passing through the bridle 2 is pulled by the tension set by the entrance tension unit 1 and the exit tension unit 3. Steel plates 9 tensioned on the upstream side of the entrance side tension equipment 1 by the tension F ₁₁ enters side roll 2a of the bridle 2
Is wound about 1/3 to 2/3 of the roll, and further wound about 1/3 to 2/3 of the roll on the outlet roll 2b of the brie 2. The steel sheet 9 sent out by the delivery roll 2b is further sent to the delivery tension equipment 3 on the downstream side,
The exit side tension equipment 3 is pulled by the tension F _21. The entrance roll 2a and the exit roll 2b fixed to the drive shafts 4a, 4b, respectively, are driven by independent electric motors 6a, 6b via reduction gears 5a, 5b. Electric motor 6a,
The speed detector 6b is controlled by the bridle speed controller 8, and the speed detectors 7 attached to the motors 6a and 6b, respectively.
The rotation speeds detected by the motors 6a and 6b are fed back to the bridle speed control device 8 so that the two motors 6a and 6b
The rotation speeds of the electric motors are controlled independently of each other in accordance with the line speed set in common with b.

[0003] Figure 4 is a block diagram of a bridle speed controller 8 receives the speed command signal of the line speed command unit 30 into a linear command system 31, where the resulting ramp rate command signal N _RF is bridle 2 It is commonly provided to the speed controller 11 of the entrance roll 2a and the speed controller 21 of the exit roll 2b. A speed signal detected by a speed detector 7a attached to an electric motor 6a for driving the entrance roll 2a is input to a filter 14 having a first-order lag element to generate a speed signal _NFB11 . The speed signal N _FB11, returned against the speed command N _RF given in common to the speed controller 11 and 21, is input to the speed controller 11 with an integral time constant tau _I11 and the deviation signal proportional gain A ₁₁ . The deviation signal is amplified by the speed controller 11 and input to the torque controller 12 as a torque command signal _TRF11 . The torque controller 12 _performs a first-order lag element time constant τ in accordance with the torque command _{TRF11.
At T11, the} motor torque T _M11 is controlled. A block 1 indicating a mechanical time constant τ _M11 of the motor as a torque obtained by subtracting the load torque _TL11 transmitted by the speed reducer 5a from the torque motor T _M11 as an acceleration torque of the motor 6a.
And outputs the motor speed _NM11 . If the motor torque T _M11 is equal to the load torque T _L11 , the motor 6
acceleration torque is not generated in a, the speed of the motor 6a is maintained at a constant value according to the speed command N _RF given in common.
The speed (pu) of the difference between the motor speed N _M11 (pu) and the roll rotation speed N _L11 (pu) is input to the integrator 15, and when the speed is integrated, the rotation of the motor 6a is performed. The torsion angle θ between the shaft and the drive shaft 4a of the entry roll 2a is obtained. Block 16 indicates the backlash of the speed reducer 5a, the input is the rotation angle θ ₁₁ (pu) of the input shaft of the speed reducer 5a, and the output is the rotation angle θ ₁₂ (p. u)
It is. When the absolute value of the difference between the rotation angle θ ₁₁ (pu) of the input shaft and the rotation angle θ ₁₂ (pu) of the output shaft of the reduction gear 5a reaches a certain value (backlash angle) or more, the reduction gear 5a Is transmitted to the output shaft of the reduction gear 5a. The rotation angle θ ₁₁ (pu) of the input shaft and the rotation angle θ ₁₂ (p.
u), the input shaft torque of the reducer 5a is not transmitted to the output shaft,
The output shaft of the reduction gear 5a is in a rotation state independent of the input shaft.

[0004] A block 17 indicates the torsional time constant τ _V11 of the drive shaft 4a of the entry roll 2a, and the speed reducer 5a
Torsion time constant τ _V11 of the rotation angle θ ₁₂ (pu) of the output shaft of
Indicates that the integration results in a torque T _L11 of the drive shaft 4a. When the tension of the steel sheet between the entering-side roll 2a and the exit-side roll 2b of bridle 2, F _31, the tension F that pulls the steel plate 9 by the tension equipment 1 of the entrance side of the bridle 2
Load torque T corresponding to the force obtained by subtracting the tension F ₃₁ from _11
L12 acts on the drive shaft 4a of the entry roll 2a. The output torque T _L11 (pu) of the reduction gear 5a and the load torque T
The difference torque from _L12 (pu) is the acceleration torque of the entry roll 2a. Block 18 illustrates the mechanical time constant tau _L11 incoming side roll 2a, the output torque T _L11 (p.u) and the load torque T _L12 of the reduction gear 5a (p.u) is input to the block 18 When, is integrated by the mechanical time constant tau _L11, it indicates that the roll speed of the output enters side roll 2a. Outgoing roll 2b of bridle 2
Speed control and transmission of torque to the exit roll 2b
Except that the speed controller 21 of the exit-side roll 2b is constituted by the proportional gain A _21, is similar to the inlet side roll 2a, a description thereof will be omitted. The block 31 is a tension time constant τ _V31 of the steel plate 9 between the entrance roll 2a and the exit roll 2b.
Is shown. The difference between the peripheral speeds of the entrance roll 2a and the exit roll 2b from the block 18 and the block 28
Is input to the tension obtained is integrated by tension time constant tau _V31 have shown that the tensile force F ₃₁ of the steel plate 9 between the inlet side roll 2a and the exit-side roll 2b. FIG.
The line speed command N _RF , the output torque T _L11 of the speed reducer 5a, which is the drive shaft torque of the entry roll 2a, and the rotation speed N _L11
(Pu), the output torque T _L21 (pu) of the reduction gear 5b, which is the drive shaft torque of the output side roll 2b, and the rotation speed N _L21.
6 shows the relationship between (pu) and the tension fluctuation ΔF ₂₁ of the tension equipment 3 on the outlet side. Here, the rotation speed N _L11 of the entrance roll 2a and the rotation speed N _L21 of the exit roll 2b are
This indicates that a difference in speed from the line speed command _NRF occurs during acceleration / deceleration of the line, and as a result, a large tension fluctuation occurs in the tension equipment 3 on the exit side.

[0005]

[SUMMARY OF THE INVENTION However, in the above arrangement, when the difference between the tensile force F ₂₁ of the steel plate 9 by the tensile force F ₁₁ of the steel plate 9 by the entrance side tension equipment 1 delivery side tension equipment 3 is large,
Drive shaft torque T _L11 incoming side roll 2a and the exit-side roll 2
When the drive shaft torque T _{L21 of} b shows a sufficiently large positive or negative value, the effect of the backlash of the speed reducer does not occur. However, the entrance side tension equipment 1 when by a value tension F ₂₁ is close by tension F ₁₁ and the exit-side tension equipment 3 enters the side roll 2a of the driving shaft torque T _L11 and the exit-side roll 2b drive shaft torque T _L21 Is a small value (a value near 0). In this state, the speed reducers 2a and 2b
Drive torque is not transmitted at all,
The entrance roll 2a and the exit roll 2b rotate independently of the motor speed, and the tension controlled by the exit tension equipment 3 varies greatly. Therefore, there has been a problem that if the tension fluctuation occurs continuously, the quality of the steel sheet is adversely affected. An object of the present invention is to prevent fluctuations in the tension of a steel sheet by controlling the electric motors of the entry roll and the exit roll so that backlash of the speed reducer does not occur.

[0006]

A bridle comprising an entrance roll and an exit roll driven by an electric motor via a speed reducer, a bridle speed control device for controlling the speed of the electric motor, and an entrance roll. In the line speed control of a bridle facility including an entrance-side tension facility for applying tension to a steel sheet between the outside and an exit-side tension facility for applying tension to the steel sheet between the exit-side roll, the entrance-side roll and the exit-side The load sharing of the motor between the entrance roll and the exit roll of the bridle is controlled so that the tension value of the steel plate between the entrance roll and the exit roll is smaller than the average value of the tension value of the entrance tension unit and the tension value of the exit tension unit. Is what you do.

[0007]

The operation of the present invention will be described with reference to FIG.
Operating steady state tension equipment, i.e., a line speed command N _RF is constant, the tension F ₁₁ and the exit-side tension drive shaft of the inlet side rolls in a state where the tension F ₂₁ is not changed by the installation according to the entrance side tension equipment bridle Consider the torque T _L11 and the drive shaft torque T _L21 of the delivery roll. In such a steady state, no acceleration / deceleration torque is given to the entrance roller, exit roller, and the electric motor that drives these rollers, so the following relational expression holds. Note that all torques, torque commands, tensions, tension commands, and the like used below are in (pu) units. In the drive system of the entrance roll of the bridle, the roll drive shaft torque T _L11 , the roll load torque T _L12 , the motor torque T _M11, and the torque command T
_RF11 will all be equal. T _L11 = T _L12 = T _M11 = T _RF11 (1) In the drive system of the exit roll of the bridle, the roll drive shaft torque T _L21 , the roll load torque T _L22 , the motor torque T _M21, and the torque command T _RF22 are all equal. Become. _{T L21 = T L22 = T M21} = T RF22 ... (2) entry side output torque command T value obtained by subtracting the load sharing bias setting value T _Rf31 from the output torque command T _{RF 11} of the electric motor of the roll and the exit-side roll motor _RF22 Is input to the load sharing controller. The load sharing controller has a proportional gain and an integrator, outputs a correction signal _TRF32 so that a signal obtained by combining the input signals thereof becomes 0, and _performs speed control having only a proportional gain of the output roll of the bridle. Output signal T
Since the operation is performed so as to add to _RF21 , the following equation (3) is established. _{T RF11 -T RF31 -T RF22 = 0} ... (3) entry side between the load torque T _L12 and the entrance side tension F ₁₁ and between rolls tension F ₃₁ rolls of the following equation (4) holds. _{T L12 = F 11 -F 31 ...} (4) outlet side the following equation (5) holds between the load torque T _L22 and egress tension F ₂₁ and the roll between the tension F ₃₁ rolls. T _L22 = F ₃₁ −F ₂₁ (5) From the relationship between equations (1) and (4), _TRF11 in equation (3) is _given by (F
₁₁ −F ₃₁ ) and substituting (F ₃₁ −F ₂₁ ) for T _RF22 in equation (3) from the relationship between equations (2) and (5), the following equation (6) is obtained. can get. F ₃₁ = (F ₁₁ + F ₂₁ ) / 2−T _RF31 (6) From the relation of equation (1), substitute T _L11 for T _L12 of equation (4), and further substitute F ₃₁ of equation (6). T _L11 is obtained by the following equation (7). T _L11 = T _RF31 / 2 + (F ₁₁ −F ₂₁ ) / 2 (7) From the relation of the equation (2), substitute T _L21 for T _L22 of the equation (5), and further substitute F ₃₁ of the equation (6). When T _L21 is obtained by substitution, it is expressed by the following equation (8). T _L21 = −T _RF31 / 2 + (F ₁₁ −F ₂₁ ) / 2 (8) In the equations (7) and (8), the set value T _RF31 of the load sharing bias setting device of the bridle is set to 0, and the bridle is set. entrance side tension F ₁₁ and the exit-side tension F ₂₁ of the roll drive shaft torque T _L11 and T _L21 if the same value indicates that zero backlash of the reduction gear is likely state occurs. However, the load sharing bias set value _TRF31 is set to, for example, 0.
6 (pu), the driving torque T _L11 of the entrance roll becomes 0.3 (pu) the driving torque T _L of the exit roll.
_L21 is -0.3 (pu), indicating that the load state is such that no backlash occurs.

[0008]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
FIG. 1 is a block diagram showing a bridle speed control device 8 having a speed controller according to an embodiment of the present invention. Note that the same components as those in FIGS. 3 and 4 described in the description of the conventional example have the same names and the same reference numerals, and a description thereof will be omitted. A reference speed roller that follows a line speed command commonly given to the drive system of the bridle with a small error can be arbitrarily selected. The case where the entrance side roll of the bridle is set as the reference speed roll will be described. Although the number of non-reference speed rolls is generally one to three, the case of one output roll will be described as an example. The reference roll is the entrance roll 2a, and the speed of the electric motor 6a that drives the entrance roll 2a is:
The speed signal _NFB11 is detected by a speed detector 7a attached to the motor 6a, and the speed signal is generated through a filter having a first-order lag element shown in a block 14. This speed signal N _FB11 is fed back to a line speed command N _RF commonly given to the speed controllers of the respective motors of the bridle, and the deviation signal is converted into a proportional gain A ₁₁ and an integration time constant of a time constant τ _I11. To the speed controller 11 having The output signal of the speed controller 11 and a torque command T _{RF 11,} by controlling the torque of the electric motor by the torque controller 12 in accordance with the torque command T _{RF 11,} is controlled so that the errors follow smaller than the line speed command N _RF You. The non-reference roll is the output roll 2b, and the speed signal detected by the speed detector 7b attached to the electric motor 6b of this roll generates a speed signal N _FB21 through a filter having a first-order lag element shown in a block 24. I do. This speed signal N
The _FB21 fed back to a common line speed command N _RF, calculates a torque command signal T _RF21 obtained by inputting the deviation to the speed controller 21 with only the proportional gain A _21.

The above is almost the same as the conventional example, but differs from the conventional example in the following point. That, together with the provided load sharing bias setter 32 of the bridle 2 roll is then to set the bias setting value T _Rf31, load sharing motor Bridle with an integrator constant tau _I31 when the proportional gain A ₃₁ A controller 33 is provided to control the load sharing of the non-reference speed roll motor. With this configuration, the output torque command signal _TRF11 of the speed controller 11 of the entry side roll 2a, which is the reference speed roll, is used to set the bias set value T of the load sharing bias setter 32.
Subtract _RF31 . The difference between the subtracted torque command signal and the torque command _TRF22 of the input of the motor torque controller 22 of the output roller 2b as the non-reference roll is obtained, and the difference signal is input to the load sharing controller 33. A torque correction signal T _RF32 is output. A signal _obtained by adding the torque correction signal _TRF32 to the output torque command _TRF21 of the speed controller 21 of the output roll 2b is input to the torque controller 22 as a torque command _TRF22 of the motor 6b to control the torque of the motor 6b. . Thereby, the tension F ₁₁ of the steel plate 9 provided by the entrance side tension equipment 1, exit side tension facilities close the tension F ₂₁ which is given by 3, if substantially equal, the incoming-side roll 2a of the motor 6a Torque T _M11 (pu)
Is a positive torque substantially equal to one half of the set value T _RF31 (pu) set by the load sharing bias setting unit 32 of the bridle 2. On the other hand, the torque T _M21 (pu) of the electric motor 6b of the delivery roll 2b is set at a set value T _RF31 (p.
The torque in the negative direction is substantially equal to the absolute value of u). In this way, by controlling the load sharing between the entrance roll 2a and the exit roll 2b, the occurrence of backlash of the speed reducers 5a and 5b is suppressed. FIG. 2 shows the line speed command N
_{RF (p.u),} the incoming-side roll 2a the drive shaft torque T _{L1 1}
(Pu) and the rotation speed N _L11 (pu), the output shaft drive shaft torque T _L21 (pu) and the rotation speed N _L21, and the tension fluctuation ΔF ₂₁ of the steel sheet 9 due to the output side tension equipment 3. It shows the relationship. Thereby, the tension F ₂₁ by the tension F ₁₁ and the exit-side tension equipment 3 of the steel sheet 9 by the entrance side tension equipment 1 Despite nearly equal, entrance side roll 2
The torque of the electric motor 6a in the positive direction has a sufficiently large value in the positive direction, and the torque of the electric motor 6b of the _output roller 2b has a sufficiently large value in the negative direction.
Is controlled by stably following the line speed command even during acceleration / deceleration of the line. Therefore, the output side tension equipment 3
In the tension control performed by the above, the fluctuation of the tension becomes small, indicating that the control is performed well. In the above, the case where the entrance roll of the bridle is set as the reference speed roll has been described. However, it is apparent that the exit roll may be set as the reference speed roll, contrary to the above.

[0010]

As described above, according to the present invention, by controlling the torques of the electric motors of the entrance roll and the exit roll, when the entrance tension and the exit tension of the bridle are close to each other. Since the backlash of the speed reducer caused by the torque transmitted via the speed reducer being too small is suppressed, the fluctuation in the tension of the entrance-side tension equipment and the tension of the exit-side tension equipment of the bridle are reduced, and There is an effect that control characteristics having a favorable influence on quality can be obtained.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a bridle speed control device according to an embodiment of the present invention.

FIG. 2 is an acceleration / deceleration characteristic diagram of the bridle speed control device according to the embodiment of the present invention.

FIG. 3 is a configuration diagram of a bridle of a steel sheet process line.

FIG. 4 is a block diagram showing a conventional bridle speed control device.

FIG. 5 is an acceleration / deceleration characteristic diagram of a conventional bridle speed control device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Inlet-side tension equipment 2 Bridle 2a Inlet-side roll 2b Outlet-side roll 3 Outlet-side tension equipment 4a, 4b Drive shaft 5a, 5b Reduction gear 6a, 6b Electric motor 7a, 7b Speed detector 8 Bridle speed control device 9 Steel plate 11, 21 Speed controller 12, 22 Torque controller 30 Line speed setting device 31 Linear commander 32 Load sharing bias setting device 33 Load sharing controller

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B21B 39/00 B21B 39/08 C21D 11/00 105

Claims (4)

(57) [Claims] 1. A bridle comprising an entrance roll and an exit roll driven by an electric motor via a speed reducer, and the entrance tension for applying tension to a steel plate between the entrance tension equipment and the entrance roll. Equipment, the output tension device for applying tension to the steel sheet between the output tension device and the output roll, and the detection signal of the speed detector of the motor for the input roll is fed back to the line speed command. A speed control device for controlling the torque of the entrance-side roll motor by providing an output signal obtained by inputting the deviation signal to a speed controller having a proportional gain and an integrator as a torque command signal to the torque controller. And the feedback signal of the speed detector of the output roll motor is fed back to the line speed command, and the deviation signal is input to a speed controller having only a proportional gain. A speed control device for controlling the torque of the motor for the output roll by providing the output signal to the torque controller as a torque command signal, the speed control of the entrance roll. The difference between the signal obtained by subtracting the setting value of the bridle load sharing bias setting device from the output torque command signal of the bridle and the output torque command signal of the speed controller of the output roll is taken as a proportional gain. And an integrator, and outputs the output signal of the load sharing controller to the torque controller as a torque command signal in addition to the torque command of the motor for the output roll, thereby providing the output roll. A line speed control method for bridle equipment, comprising controlling torque of an electric motor for a vehicle. 2. A bridle comprising an entrance roll and an exit roll driven by an electric motor via a speed reducer, and said entrance tension for applying tension to a steel plate between the entrance tension equipment and said entrance roll. Equipment, the output tension equipment for applying tension to the steel plate between the output tension equipment and the output roll, and the detection signal of the speed detector of the motor for the output roll is fed back to the line speed command. A speed control device for controlling the torque of the output roll motor by providing an output signal obtained by inputting the deviation signal to a speed controller having a proportional gain and an integrator as a torque command signal to the torque controller. And the feedback signal of the speed detector of the entrance roll motor is fed back to the line speed command, and the deviation signal is input to a speed controller having only a proportional gain. A speed controller for controlling the torque of the electric motor for the entrance roll by providing the output signal to the torque controller as a torque command signal. The difference between the signal obtained by subtracting the setting value of the bridle load sharing bias setting device from the output torque command signal of the bridle and the output torque command signal of the entrance roll speed controller is taken as the proportional gain. And an integrator, and inputting the output signal of the load sharing controller to the torque controller as a torque command signal in addition to the torque command of the motor for the entrance roll, thereby providing the torque controller with the output signal. A line speed control method for bridle equipment, comprising controlling torque of an electric motor for a vehicle. 3. A bridle comprising an entrance roll and an exit roll driven by an electric motor via a speed reducer, and said entrance tension for applying tension to a steel plate between the entrance tension facility and said entrance roll. Equipment, the output tension device for applying tension to the steel sheet between the output tension device and the output roll, and the detection signal of the speed detector of the motor for the input roll is fed back to the line speed command. A speed control device for controlling the torque of the entrance-side roll motor by providing an output signal obtained by inputting the deviation signal to a speed controller having a proportional gain and an integrator as a torque command signal to the torque controller. And the feedback signal of the speed detector of the output roll motor is fed back to the line speed command, and the deviation signal is input to a speed controller having only a proportional gain. A speed control device for controlling the torque of the output roll electric motor by providing the output signal to the torque controller as a torque command signal. The difference between the signal obtained by subtracting the setting value of the bridle load sharing bias setting device from the torque command signal on the output side of the device and the torque command signal on the output side of the speed controller of the output roll is taken, and the deviation signal is proportionally calculated. A load sharing controller having a gain and an integrator, and applying an output signal of the load sharing controller to the torque controller as a torque command signal in addition to the torque command of the motor for the output roll; A line speed control device for bridle equipment, characterized in that the load sharing of an electric motor is controlled. 4. A bridle comprising an entrance roll and an exit roll driven by an electric motor via a reduction gear, and said entrance tension for applying tension to a steel plate between the entrance tension equipment and said entrance roll. Equipment, the output tension equipment for applying tension to the steel plate between the output tension equipment and the output roll, and the detection signal of the speed detector of the motor for the output roll is fed back to the line speed command. A speed control device for controlling the torque of the output roll motor by providing an output signal obtained by inputting the deviation signal to a speed controller having a proportional gain and an integrator as a torque command signal to the torque controller. And the feedback signal of the speed detector of the entrance roll motor is fed back to the line speed command, and the deviation signal is input to a speed controller having only a proportional gain. A speed control device for controlling the torque of the electric motor for the entrance roll by providing the output signal to the torque controller as a torque command signal, the speed control of the exit roll in a bridle facility line speed control device including a speed control device for controlling the torque of the electric motor for the entrance roll. The difference between the signal obtained by subtracting the setting value of the bridle load sharing bias setting device from the torque command signal on the output side of the device and the torque command signal on the output side of the speed controller of the entrance roll is taken, and the deviation signal is proportionally calculated. An input signal is input to a load sharing controller having a gain and an integrator, and an output signal of the load sharing controller is supplied to the torque controller as a torque command signal in addition to a torque command of the electric motor for the entrance roll. A line speed control device for bridle equipment, characterized in that the load sharing of an electric motor is controlled.