JP3498126B2 - Rolling mill dynamic setup control apparatus and method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rolling mill control apparatus and method, and more particularly to a rolling mill dynamic setup control apparatus and method for performing setup control.

[0002]

2. Description of the Related Art In a conventional rolling mill control, before rolling,
The rolling schedule is decided based on the physical characteristics of the material to be rolled and the sheet thickness of the product to be finally produced. (Tension, etc.) and the initial setting values (rolling position, roll speed, etc.) of the actuator for changing the rolling condition at each stand are determined. Below, the target value and the initial setting value are collectively referred to as the setting value.

By the way, when rolling is actually carried out under the above-determined set values, disturbances such as unevenness in thickness and hardness of the rolled material may cause an error in the thickness of the product. In order to correct the error generated in such a case, conventionally, feedback and feedforward control are performed during rolling to dynamically correct the rolling position and roll speed.

The above-mentioned control for determining the initial set value before rolling is called a setup control system, and the control for feeding back the deviation from the target plate thickness during rolling is called a DDC system.
The conventional set-up control system only sets a set value before rolling, and when the physical property of the rolled material is different from the predicted value, the DD of the feedback control is set.
Until the C system operates, deviations such as plate thickness of the rolled material occur.

Conventionally, an operator intervenes in response to such a problem to change set values such as a rolling position and a roll speed. For example, in the conventional example described in Japanese Patent Application Laid-Open No. 3-32411, the actual rolling values of the first stand and the second stand are used to calculate a correction amount relating to the set values of the third stand and thereafter, and the set value is set. By modifying
Addresses the above issues.

[0006]

However, in the above-mentioned conventional technique, the set values of the third and subsequent stands are changed from the results of the first and second stands. There has been a problem that the balance of the load shared by the stands is deteriorated as a result.

The present invention has been made in consideration of the above problems, and provides a rolling mill dynamic setup control device and method capable of performing setup control so as not to deteriorate the balance of each stand of a rolling mill. To aim.

More specifically, it is possible to calculate various set values of each stand in rolling mill control with higher accuracy, and to make the rolling state of all stands into a more optimal state with load balance. Another object of the present invention is to provide a rolling mill dynamic setup control device and method.

[0009]

In order to solve the above-mentioned problems, a rolling mill dynamic setup control device of the present invention is a rolling material information storage for storing information in a previous step of a rolling material rolled by the rolling mill. Section, and the rolling state at the preceding stand is estimated using a model from the measurement value result of the above-mentioned state measuring section of the predetermined preceding stand located on the preceding stage of the rolling mill and the data of the rolled material information storage section. From the model part to be estimated, the estimation result of the model part and the measurement result of the state measuring part of the pre-stage stand, with respect to a predetermined rear stage stand located on the rear stage side of the front stage stand,
From the first correction calculation unit that calculates the correction amount of the set value set by the setup control unit, the estimation result of the model unit, and the measurement result of the state measurement unit of the preceding stand, all stands of the rolling mill. Correction operation section for calculating the set value at each stand so that the rolling condition in the rolling mill satisfies a predetermined condition, and control of operations of the first correction operation section and the second correction operation section And a correction control unit for performing.

Further, in order to achieve the above object, in the rolling mill dynamic setup control method of the present invention, information on a pre-process of a rolled material to be rolled by the rolling mill and pre-position information of the rolling mill in advance is provided. From the measurement result of the state measurement unit of the determined front stage stand, the rolling state in the front stage stand is estimated using a model, and the estimation result and the measurement result of the state measurement unit of the front stage stand corresponding to the estimation result From, from the estimated result and the measurement result of the state measurement unit of the front stand, correct the set value that is set for the predetermined rear stand located on the rear side of the front stand. The set value of each stand is modified so that the rolling state of the stand satisfies a predetermined condition.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a rolling mill dynamic setup control device for executing the dynamic setup control method for a rolling mill to which the present invention is applied will be described below with reference to the drawings.

First, a rolling mill system to be controlled by the control device of the present invention will be described with reference to FIG.

The rolling mill system 1, as shown in FIG.
It consists of multiple stands (only two are shown in the figure). The former stand 1-1 and the latter stand 1-2 of the rolling mill system 1 control the state measuring units 1-1-2 and 1-2-2 that measure the rolling condition of each stand and the actuators of each stand. Each stand is equipped with a control device 1-1-1, 1-2-1 for changing the rolling state by rolling.

Here, the number of stands included in the front stand or the rear stand may be one or plural. In addition, the front stand and the rear stand do not have to be adjacent to each other, and the present invention can be applied even when one or more stands are arranged between both stands.

The rolling mill system 1 is further provided with a setup control unit 1-3 according to the prior art. The setup control unit 1-3 determines an initial setting value and a target value to be set at each stand based on a predetermined draft schedule by the conventional setup control method.

The dynamic setup control device of the present invention sends a control command for changing the set value to the control devices 1-1-1, 1-2-1 for each stand, and controls for each stand. The device 1-1-1, 1-2-1 receives the control command and corrects the initial setting value of the actuator or the target value at each stand which has already been set by the setup control unit 1-3 or the like. Further, the control device 1-1-1, 1-2-1 for each stand changes the rolling state at the stand according to the modified set value.

In the following description, the initial set values of the actuator such as roll speed, which are set by the conventional setup control section 1-3, and the target values of each stand such as the advanced rate are set together. Shall be called.

Next, an example of the configuration of the dynamic setup control device according to the present invention will be described.

The present invention detects the operating state of the rolling mill system 1 at the time of setup after the operation is started, and according to the detected operating state, the conventional setup control section 1-
Various types of set values set in 3 are dynamically corrected, and control for realizing a more appropriate balanced rolling state is executed.

The dynamic setup control apparatus of the present invention, for example, as shown in FIG. 1, a rolled material information storage unit 6 for storing information on the previous process of rolled material to be rolled, and a rolling state estimation for estimating a rolling state. Part (hereinafter abbreviated as model) 2, estimation results of model 2 and front stand 1-1
Based on the measurement results of the state measurement unit 1-1-2, the latter stand 1
-The first correction calculation unit 3 for obtaining the correction amount of the set value of 2, the estimation result of the model 2, and the state measurement unit 1 of the front stand 1-1-
The second correction calculation unit 4, the first correction calculation unit 3 and the second correction calculation unit 4 which obtain more accurate set values for each stand in consideration of the balance of all the stands included in the rolling mill system 1 from the measurement results of 1-2. 2 The correction control unit 5 that controls the operation of the correction calculation unit 4.

In the present embodiment, the first correction calculation unit 3
In the correction calculation of, the target value of the stand among the set values is not changed, only the initial set value of the actuator is changed, and
In the correction calculation of the second correction calculation unit 4, the initial setting value and the target value at each stand are changed by changing the draft schedule. This is because in the first correction operation, the initial setting value of the actuator for changing the rolling state is changed in order to correct the error between the model adopted without changing the target value and the actual state, Further, in the second correction calculation, the target value and the initial setting value are changed in order to finally produce a good product while keeping the balance between the stands.

In the embodiment shown in FIG. 1, the measurement value relating to the rolling condition measured by the condition measuring unit 1-1-2 of the front stand 1-1 of the rolling mill system 1 is sent to the model 2. In the model 2, the measured value (actual data) measured by the state measuring unit 1-1-2 of the former stand 1-1 and the information about the previous process of the rolled material stored in the rolled material information storage unit 6 are stored. Using this, the rolling condition at the front stand 1-1 is estimated. The estimation results regarding the rolling condition at the front stand 1-1 are the same as the first result together with the actual data of the condition measuring unit 1-1-2.
It is sent to the correction calculator 3.

When the rolled material is changed by FGC or the like, when the changed material passes through each stand, the rolled material change point such as a welding point formed on the changed material is measured. In the present invention, the passage of this change point is used as the start timing of the dynamic setup control.
The measurement of the passing point is measured by the state measuring unit of each stand, and is sent to the correction control unit 5 as a passing signal of the passing point.

The correction control unit 5 commands the first correction control unit 3 to start the arithmetic processing for obtaining the correction amount of the set value, triggered by the reception of the passing point signal measured by the front stand 1-1. Send control command.

In the first correction calculation section 3, the state measuring section 1-1-
From the actual data from 2 and the estimation results from model 2,
An error is estimated with respect to a parameter (deformation resistance or the like) which is a coefficient used in the mathematical expression of the model relating to the rolling state used in the setup control unit 1-3. The first correction calculation unit 3 further calculates a correction amount relating to a set value such as an initial set value of the actuator of the rear stand 1-2 from the error of the estimated parameter.

Further, a control command for changing the set value set in the rear stand 1-2 according to the calculated correction amount is generated, and at a timing when the passing point reaches the rear stand 1-2. The generated control command is applied to the control device 1 of the rear stand so that the change is executed.
-Send to 2-1.

Here, when referring to a plurality of stands located on the rear stage side of the front stage stand 1-1 as the rear stage stand, for example, the front stage stand is the first stand,
When the latter stand indicates the second stand, the third stand, ..., The set value of each stand is changed in accordance with the timing at which the change point passes through each of the latter stand. So that

The control device 1-2-1 of the latter stand receives the control command sent to it, and the first correction operation unit 3
The setting value is changed in accordance with the correction amount calculated in step 1, and the corresponding actuator is controlled in accordance with the changed setting value to change the rolling condition of the rear stand 1-2.

The correction controller 5 also includes the front stand 1-
In response to the passing point signal of 1, a calculation start command is similarly sent to the second correction calculation unit 4.

In the second correction operation section 4, the state measuring section 1-1-
The parameters such as the deformation resistance are estimated from the actual data from 2 and the estimation result of the model 2 and the rolled material previous process information of the rolled material information storage unit 6, and the load balance and the like are estimated from the estimated parameters such as the deformation resistance. The balance (1) is considered in all stands, and the set values (initial set value and target value) in all stands are calculated.

The above set value calculation corresponds to what was called a setup calculation in the prior art, and the details thereof will be described later. In addition, the above setting value calculation is
Although it is based on the draft schedule used in the setup control unit 1-3, if it is determined that the load balance between the stands obtained as a result of the calculation is not good, the draft schedule is also corrected.

The correction control unit 5 further estimates the load balance when the set value changed based on the control command of the first correction calculation unit 3 is used from the actual data and the model, and as a result, the load balance is determined. If it is determined to be bad, the set value calculated by the second correction calculation unit 4 is sent to the control device 1-1-1 and 1-2-1 for each stand, and is set at that time for each stand. Each of the set values that had been set is corrected to change the rolling state.

Next, an example of the internal details of the first correction calculation unit 3 in the embodiment of FIG. 1 and the relationship between the rolling system 1, the model 2, the second correction calculation unit 4 and the correction control unit 5 are shown in FIG. Will be described with reference to.

As shown in FIG. 2, the first correction calculator 3 is
It is composed of a comparison calculation unit 3-1, a parameter estimation unit 3-2, and a stand set value correction unit 3-3. The correction control unit 5 includes a correction calculation control unit 5-1 and a correction determination unit 5-.
It consists of two.

When a change point such as a welding point passes through the front stand 1-1 of the rolling mill system 1, a passing signal is measured by the state measuring section 1-1-2. This passing signal is sent to the correction calculation control unit 5-1 of the correction control unit 5. The correction calculation control unit 5-1 receives the passage signal and sends a control command to the first correction calculation unit 3 to start calculation of the correction amount.

In accordance with the control command, the comparison calculation unit 3-1
Calculates the difference between the actual result data of the state measuring unit 1-1-2 that measures the rolling state of the former stand 1-1 of the rolling system 1 and the estimated value by the model 2 based on the actual result data. This is, for example, the actual data of the rolling load of the first stand included in the former stand 1-1, and the estimated rolling load estimated by substituting the actual data of the plate thickness and the tension into the previously obtained rolling load formula. The difference may be obtained. The difference between the actual value calculated by the comparison calculation unit 3-1 and the model estimated value is sent to the parameter estimation unit 3-2.

The parameter estimation unit 3-2 obtains an error in the parameter such as the deformation resistance from the actual result data from the state measurement unit 1-1-2 and the difference from the comparison calculation unit 3-1. The error of the parameter such as the deformation resistance obtained by the parameter estimation unit 3-2 is sent to the stand set value correction unit 3-3.

The stand set value correction unit 3-3 predicts a performance error or the like with respect to the set value set by the setup control unit 1-3 in the latter stand 1-2 and predicts the set value of the latter stand 1-2. Calculate the correction amount.

Examples of the error obtained by the parameter estimation unit 3-2 include a deformation resistance error and a friction coefficient error in the latter stand 1-2, and the stand set value correction unit 3-3 uses the deformation resistance error and the friction. The rolling load error and the advance rate error are calculated from the coefficient error, and the reduction position correction amount and speed correction amount are calculated.

The stand set value correction unit 3-3 further includes
Control device 1-2 of the latter stand 1-2 of the rolling mill system 1
The calculated correction amount is sent to -1, and the set value set by the conventional setup control unit 1-3 is changed. Further, the stand set value correction unit 3-3 sends the calculated correction amount to the correction determination unit 5-2 of the correction control unit 5.

In the correction judging section 5-2, the first correction calculating section 3
It is checked whether or not the load balance of each stand of the rolling mill system 1 is deteriorated by the calculated correction amount and the rolling condition is not deteriorated.

For example, when determining the load balance from the rolling load, the following is performed. That is, the initial setting values P ₀ 1 to P ₀ n regarding the rolling load of each stand according to the rolling schedule determined by the setup control unit 1-3 are
Originally, the balance was considered to be good because it was decided in consideration of the balance of each stand. Therefore, these rolling load initial setting values P ₀ 1 to P ₀ n (n is the number of stands)
If, from the set value PA1~PAn the rolling load when it is changed by the correction amount obtained by the first-correction unit 3 calculates the load difference _{(PAi-P 0 i) /} P 0 i for each stand If the load deviation is less than or equal to a predetermined value (%) in all the stands, it is determined that the load is balanced.

In addition, in the load balance calculation, instead of using the changed set value, for a stand such as the first stand that has the rolling load measurement data at that time, the balance is calculated using the actual measurement data. It may be configured to determine. Further, the variable used in determining the load balance is not limited to the rolling load, and other variables indicating the degree of balance of the rolling state may be used. However, it is assumed that this variable is affected by the change of the set value by the correction amount obtained by the first correction calculation unit 3. Further, in the balance determination, not only the load but also other elements may be checked to determine the balance between the stands in the rolling mill operation.

When the correction determination unit 5-2 predicts that the balance will deteriorate, the correction determination unit 5-2 causes the correction calculation control unit 5-1 to indicate that the rolling state deteriorates, and the correction calculation control unit 5-2. -1 sends a control command for instructing each stand to adopt the set value calculated by the second correction calculator 4 to the control device of each stand.

In the present embodiment, the first correction arithmetic unit 3
In the above, the correction amount of the set value is calculated, but for example, the set value after correction may be directly obtained by adding the calculated correction amount to the value set by the setup control unit 1-3. .

Next, an example of the internal details of the parameter calculation section 3-2 in the first correction calculation section 3 and an example of the calculation flow of the second correction calculation section will be described with reference to FIG. Here, it is assumed that the front stand 1-1 is the first stand, and the rear stand 1-2 is a plurality of stands after the second stand.

As shown in FIG. 3, the parameter estimation unit 3-2 includes an error linear estimation unit 3-2-1 and a parameter conversion unit 3-2.
-2-2. Also, the stand set value correction unit 3-3
Has an error prediction unit 3-3-1 and a correction unit 3-3-2.

Based on the control command from the correction controller 5,
Rolling load P1a and advance rate f1a at the first stand measured by the state measuring unit 1-1-2 when the welding point passed.
Is sent to the comparison calculation unit 3-1. Also, in model 2,
The rolling load and the advanced rate are estimated from the actual result data measured by the state measuring section 1-1-2 of the first stand and the rolling load formula and the advanced rate formula adopted in the model 2, and the comparison calculation section 3-
Sent to 1.

Here, as the rolling load formula, the following formula 1 is used.
As the Hill's equation and the advanced rate equation as shown in, there is an advanced rate equation as shown in Formula 2. The estimated value can be obtained by substituting the actual data into the left side of Formulas 1 and 2.

[0050]

[Equation 1]

However, b: plate width km: deformation resistance H: Inlet plate thickness h: Output plate thickness r: Reduction rate (= (H-h) / H) μ: coefficient of friction R ': Flat work roll radius Dp: Load correction term κ: Tension correction term R: Work roll radius c: constant τf: Forward tension τb: backward tension P: Rolling load

[0052]

[Equation 2]

However, f: advanced rate H0: base material plate thickness 1: constant m: constant n: constant H: inlet side plate thickness h: outlet side plate thickness r: rolling reduction (= (Hh) / H) μ: friction coefficient R ′: flat work roll radius R: work roll radius τf: front tension τb: rear tension The comparison calculation unit 3-1 calculates a load error based on the difference between the actual load value and the load value calculated from the above Equations 1 and 2. ΔP1a, the advanced rate error Δf1a from the difference between the actual advanced rate and the calculated advanced rate,
Calculate each by.

[0054]

[Equation 3]

However, P1a: actual rolling load P1m: model estimated rolling load f1a: actual advanced rate f1m: model estimated advanced rate comparison calculation unit 3-1 load error ΔP1a and advanced rate error Δf1a are parameter estimation unit 3 It is input to the -2 error linear estimation unit 3-2-1. In the error linear estimation unit 3-2-1,
The deformation resistance error Δkm1 and the friction coefficient error Δμ1 are calculated using the linearly approximated friction coefficient error estimation model formula and deformation resistance error estimation model formula, and the load error and the advance rate error from the comparison calculation unit 3-1.

The friction coefficient error estimation model and deformation resistance error estimation model used in this embodiment will be described.

Here, the load model and the advanced rate model are linearized in the vicinity of the set value determined by the setup control unit 1-3, thereby simplifying the model and increasing the processing speed. More specifically, the linearized equation is as follows.

[0058]

[Equation 4]

[0059]

[Equation 5]

Here, using Equations 4 and 5, the load and the advance rate error caused by factors other than the friction coefficient error and the deformation resistance error are first obtained. That is,

[0061]

[Equation 6]

[0062]

[Equation 7]

The difference between the formulas 6 and 7 and the rolling load error ΔP1a and the advance rate error Δf1a obtained by the formula 3 corresponds to the rolling load error and the advance rate error due to the friction coefficient error and the deformation resistance error. And is calculated from the following equation.

[0064]

[Equation 8]

[0065]

[Equation 9]

From equations 4 and 5, the rolling load error and the advance rate error due to the friction coefficient error and the deformation resistance error are as follows.

[0067]

[Equation 10]

[0068]

[Equation 11]

By solving the above equations (10) and (11) simultaneously, the following model equations (12) and (13) are obtained. By using these model equations, the friction coefficient error and the deformation resistance error are obtained. Can be estimated.

[0070]

[Equation 12]

[0071]

[Equation 13]

The deformation resistance error Δkm1 calculated using the above model formula is sent to the parameter conversion unit 3-2-2,
Therefore, in the parameter conversion unit 3-2-2, the deformation resistance errors Δkm2, Δkm3, ...
・ Predict by considering the reduction rate.

The following method is available as a method for predicting the deformation resistance error in the second and subsequent stands. First, it is assumed that the deformation resistance is expressed by the following equations.

[0074]

[Equation 14]

[0075]

[Equation 15]

At this time, if a similar relationship also exists in the second stand and thereafter,

[0077]

[Equation 16]

Therefore, the deformation resistance error in the second and subsequent stands can be estimated.

Deformation resistance error Δ calculated as described above
The km1, Δkm2, Δkm3, ... Are sent to the stand set value correction unit 3-3. The error predicting unit 3-3-1 of the stand setting value correcting unit 3-3 uses the deformation resistance error sent from the parameter converting unit 3-2-2 and the setup control unit 1-3 in each stand based on the linear approximation formula. The rolling load errors ΔP2, ΔP3, ... And the advance rate errors Δf2, Δf3, ... From the set values set by are calculated based on the following equations.

[0080]

[Equation 17]

[0081]

[Equation 18]

The setup controller 1-3 in each stand calculated by the error predictor 3-3-1 as described above.
The predicted values of the rolling load error and the advance rate error from the set value (setup value) according to are sent to the correction unit 3-3-2.

In the stand set value correction unit 3-3-2, the rolling position correction amounts ΔS1, ΔS2, ΔS3, ...
And the roll speed correction amounts ΔVR1, ΔVR2, ΔVR3, ...
Is calculated using the following formula:

[0084]

[Formula 19]

[0085]

[Equation 20]

In the present embodiment, the first correction calculation unit determines the correction amount of the set value after the second stand from the data regarding the rolling condition at the first stand.
The correction amount of the set value at the first stand can also be obtained from the above equations 19 and 20 like the other stands. Therefore, according to this configuration, not only is the setting value of the second and subsequent stands changed in accordance with the passage of the change point, but also the setting value of the first stand through which the change point has already passed is changed. Therefore, the rolling mill system 1 as a whole can realize a more accurate rolling state.

Next, referring to FIG. 4, an example of the internal details of the second correction operation unit 4 in this embodiment and the relationship between the rolling system 1, the model 2, the first correction operation unit 3 and the correction control unit 5 will be described. And explain.

As shown in FIG. 4, the second correction operation section 4
It has a comparison calculation unit 4-1, a parameter estimation calculation unit 4-2, a draft schedule change unit 4-3, and a setup calculation unit 4-4.

When a change point such as a welding point passes through the front stand 1-1 of the rolling mill system 1, a passing signal is measured by the state measuring section 1-1-2. This passing signal is sent to the correction calculation control section 5-1 of the correction control section 5. The correction calculation control unit 5-1 sends a control command to the first correction calculation unit 3 to calculate the correction amount for the passing signal, and similarly, the second correction calculation unit 4 also calculates the set values of all the stands. Send a control command to perform.

In response to the control command to the second correction calculation unit 4, the comparison calculation unit 4-1 in the second correction calculation unit 4 is provided with a front stand (first stand) 1-1 of the rolling mill system 1.
The actual result data of the state measuring unit 1-1-2 for measuring the rolling state of the steel sheet and the difference between the estimated values of the model 2 based on the actual result data are calculated. This is, for example, to obtain the difference between the actual rolling load of the first stand 1-1 and the estimated rolling load estimated by substituting the measured values such as the plate thickness and tension into the rolling load formula obtained in advance. To be The difference between the actual value calculated by the comparison calculation unit 4-1 and the model estimated value is sent to the parameter estimation calculation unit 4-2.

In the parameter estimation calculation unit 4-2, from the set value set by the setup control unit 1-3, the actual result data of the state measurement unit 1-1-2, and the difference obtained by the comparison calculation unit 4-1. , And the parameters such as deformation resistance are calculated backward.
The parameters such as the deformation resistance calculated by the parameter estimation calculation unit 4-2 are sent to the setup calculation unit 4-4.
Further, the draft schedule used in the setup control unit 1-3 of the rolling mill system 1 is sent from the setup control unit 1-3 to the draft schedule changing unit 4-3, and then the draft schedule of the draft schedule changing unit 4-3. The schedule is sent to the setup calculation unit 4-4.

The setup calculation unit 4-4 uses the parameters such as the deformation resistance calculated by the parameter estimation calculation unit 4-2 and the draft schedule from the draft schedule change unit 4-3 to set the target values and initial values for all stands. A so-called setup calculation for calculating a set value consisting of set values is performed.

In the setup calculation section 4-4,
After the above setup calculation, the load balance is checked for the result. If the load balance is poor, the draft schedule changing unit 4-3 changes the draft schedule, and the setup calculation is performed again. According to the above-mentioned composition, the 2nd amendment computing part 4 can compute the optimal setting value with which the balance between the stands was balanced.

The setting values calculated by the second correction operation unit 4 for all the stands are determined by the correction control unit 5 by the correction determination unit 5-2 to judge whether the correction by the first correction operation unit 3 is good or not, and the correction is insufficient. When it is determined that the load balance is deteriorated by, the correction calculation control 5-1 sends a setting value change command for all the stands to the second correction calculation unit 4 to change the setting values for all the stands.

Next, a method of estimating the deformation resistance and the like in the parameter estimation calculation unit 4 of the second correction calculation unit 4 shown in FIG. 4 will be described.

The first method for estimating the deformation resistance is the parameter estimating section 3 in the first correction calculating section 3.
-2 (see FIG. 3) is the method described in the internal operation description.
By this method, the error from the set value of the deformation resistance in each stand can be estimated, and by adding the obtained deformation resistance error to the set value, it can be predicted from the actual data and the model estimated value. Here, another method other than the above method will be described.

FIG. 5 shows an example of internal details of the parameter estimation calculation unit 4-2 of the second correction calculation unit 4. The parameter estimation calculation unit 4-2 includes a deformation resistance back calculation unit 4-2-1, a deformation resistance model parameter estimation unit 4-2-2, and a deformation resistance estimation unit 4-2-3. Here, consider a case where there is no error in the friction coefficient and the actual results of the first and second stands in the preceding stage can be used. Further, the friction coefficient error can be obtained by the same method as that described below.

First, the difference between the rolling performance data and the estimated value by the model 2 from the comparison calculation unit 4-1 and the state measurement unit 1-1-
Parameter data such as friction coefficient at the time of setup is input to the deformation resistance back calculation unit 4-2-1 of the parameter estimation calculation unit 4-2, and the deformation resistance value is calculated back. It The specific method is as follows.

That is, here, it is assumed that the friction coefficient is correct and the error exists only in the deformation resistance. Therefore, the rolling load can be expressed as described in the above mathematical expression 1. Therefore, the relationship between the model calculated rolling load Pm and the deformation resistance error Δkm when the actual rolling load Pa and the actual data are substituted into the model formula is as follows.
It can be expressed as follows.

[0100]

[Equation 21]

However, b: plate width km: deformation resistance H: entrance side plate thickness h: exit side plate thickness r: reduction ratio (= (Hh) / H) μ: friction coefficient R ': flat work roll radius Dp: load correction Term κ: Tension correction term R: Work roll radius c: Constant τf: Front tension τb: Backward tension Therefore, in the deformation resistance back calculation unit 4-2-1, the difference ΔPi between the model rolling load Pmi and the actual rolling load Pai is obtained. From the actual data, the deformation resistance error can be obtained using the following formula.

[0102]

[Equation 22]

Further, the correct deformation resistance for each stand can be obtained from the deformation resistance error obtained by the above equation 22 and the set value of the deformation resistance used in the setup controller 1-3. Here, since it is considered that the actual data of the first and second stands can be used, the deformation resistance value km1 (= km1 (initial setting value) + Δkm1) at the first stand, the second
(= Km2 (initial setting value) + Δkm2) at the stand km2 is obtained.

Next, the deformation resistance values of the plurality of stands calculated by the deformation resistance back calculation unit 4-2-1 are input to the deformation resistance model parameter estimation unit 4-2-2, and a model for estimating the deformation resistance is obtained. The coefficient included in the equation (hereinafter referred to as the secondary parameter) is calculated. The model equation for estimating the deformation resistance is expressed by the following equation in relation to the deformation resistance and the rolling reduction.

[0105]

[Equation 23]

However, L, M, N: constants ri: Reduction rate Here, the equation (23) is transformed into the following.

[0107]

[Equation 24]

Here, the constant M is estimated by using the initial value used in the setup control as a set value and L and N as secondary parameters. Since the rolling reduction and the deformation resistance are km1, km2, r1, and r2 obtained from the results of the first and second stands, the secondary parameters L and N of the deformation resistance model are obtained from the following equations.

[0109]

[Equation 25]

[0110]

[Equation 26]

From the above calculation, the secondary parameters L and N of the deformation resistance model are obtained.

Deformation Resistance Model Parameter Estimator 4-2-2
The secondary parameters of the deformation resistance estimation model calculated in
The deformation resistance is input to the deformation resistance estimation unit 4-2-3, and the deformation resistances of all the stands are estimated from the deformation resistance model formula of the above-described equation 23.

Next, the draft schedule changing section 4-3
An example of the internal details of will be described with reference to FIG.

As shown in FIG. 6, the draft schedule changing unit 4-3 includes a schedule storage unit 4-3-1, a draft schedule correction rule storage unit 4-3-2, and a schedule correction control unit 4-3-3. It consists of

First, the draft schedule used by the setup control unit 1-3 is stored in the schedule storage unit 4-3-
It is stored in 1. The stored draft schedule is sent to the setup calculation unit 4-4, and the setup calculation unit 4-4 performs the setup calculation using the parameters estimated by the parameter estimation calculation unit 4-2.
New target values and initial settings are determined.

At this time, in the setup calculation section 4-4,
Calculate the power at each stand and check the balance between the stands. As a result, when it is determined that the balance is not good, the set value calculated by the setup calculation unit 4-4 is sent to the schedule correction control unit 4-3-3.

The schedule correction control unit 4-3-3 uses the draft schedule correction rule changing unit 4 based on the set value of each stand calculated by the setup calculation unit 4-4.
-Select the corresponding modification rule of -3-2 and change the draft schedule stored in the schedule storage unit 4-3-1 based on the modification rule. For example, when the load of a certain stand (i-th stand) is larger than the loads of the front and rear stands, there is a method of changing the reduction rate.

The draft schedule changed by the schedule correction control unit 4-3-3 is stored in the schedule storage unit 4-
It is sent again to the setup calculation unit 4-4 via 3-1 and the set value of each stand is recalculated.

Next, an example of the calculation flow of the setup calculation section 4-4 of the second correction calculation section 4 in FIG. 4 will be described with reference to the flowchart of FIG. In addition, in FIG. 7, a solid line indicates a processing flow, and a dotted line indicates a data flow.

In the setup operation section 4-4, first,
The draft schedule used by the setup control unit 1-3 at the time of initial setting is changed to the draft schedule changing unit 4-3.
It will be calculated according to the draft schedule.

In the processing performed by the setup calculation section 4-4, first, the tension set value of each stand is determined according to the received draft schedule (SCS1). Next, from the determined tension setting value,
The delivery plate speed is calculated (SCS2).

Next, the advanced rate is calculated using the friction coefficient used in the setup control section 1-3 (SCS3). Then, the roll speed of each stand is determined from the calculated advance rate and plate speed (SCS4). Here, since there is a limit on the roll speed, the speed is checked (SCS5), and if there is a problem, the process returns to SCS1, the tension setting is changed, and SCS1 to SCS5 are executed again.

If there is no problem, the deformation resistance calculation is performed by using the deformation resistance calculation coefficient parameter that is calculated back from the actual data of the front stand 1-1 by the parameter estimation calculation unit 4-2 (SCS6). Then, using this deformation resistance, the predicted value of the rolling load at each stand is calculated (SC
S7), The rolling position of each stand is determined based on this rolling load predicted value (SCS8). Further, motor torque calculation (SCS9) and power calculation (SCS10) are performed to check the power balance between the stands (SCS11).

When it is determined that the balance is unbalanced in the check process of SCS11 (No in SCS11), the calculation result is sent to the draft schedule changing unit 4-3 to correct the draft schedule, and the above SCS1 to SCS1 are corrected.
Repeat the setup calculation in 1. If the SCS 11 determines that there is no problem, the rolling positions and roll speeds of all the stands calculated in SCS 4 and SCS 8 are set as new set values (SCS 12), and the process ends.

Next, an example of the operation flow of the dynamic setup control apparatus of this embodiment will be described with reference to the flowchart of FIG. In FIG. 8, the solid line indicates the processing flow, and the dotted line indicates the data flow.

In this processing, first, the correction control unit 5 takes in the measured value of the rolling state (DS01), and the change point which triggers the dynamic setup control operation of the present invention reaches the predetermined front stand 1-1. The presence or absence of a passing signal indicating is checked (DS02). Here, if there is no passage signal of the change point, the measurement is continued, and when the passage signal of the change point is measured, the first correction calculation process (DS0
3) and the second correction calculation process (DS04) are started.

In the first correction calculation process (DS03), the correction amount of the set value at the predetermined rear stage stand 1-2 located on the rear stage side is calculated using the simple model, and the second correction calculation process (DS04). Then, the set values of all the stands are calculated in consideration of the balance of the load distribution of all the stands included in the rolling mill system 1.

In the control command for correcting the set value according to the correction amount obtained in the first correction calculation process, the change point corresponding to the passing signal measured by DS02 reaches the latter stand 1-2. The setting value is sent to the control device of the rear stand 1-2 so that the setting value is changed so that the setting value is changed according to the timing (DS05).

Next, whether or not the result of the correction by the first correction calculation process deteriorates the balance of each stand of the rolling mill system 1 is examined by using actual data and prediction (DS06). If it is determined that the balance is deteriorated, the set values of all the stands are changed according to the processing result of the second correction calculation processing (DS07).

Next, DS0 in the flow chart of FIG.
An example of the flow of the first correction calculation process in No. 3 will be described with reference to the flowchart of FIG.

When this processing is started, first, the model 2
In, the rolling condition is estimated using the actual result data from the condition measuring unit 1-1-2 and the model formula (DS13).

The estimated value calculated in DS13 is sent to the first correction calculation unit 3 and the comparison calculation unit 3-1 calculates the deviation (difference) from the actual data (DS14). The deviation between the actual data and the estimated value is sent to the parameter estimation unit 3-2,
Therefore, based on the linear approximation model for the front stand 1-1, the error in the parameters used in the model formula used in the setup control unit 1-3 such as the deformation resistance error and the friction coefficient error is calculated (DS15).

Next, the parameter error in the post stand 1-2 is estimated from the calculated parameter error (DS16). The estimated value of the parameter error of the setup model in the latter stand 1-2 is sent to the stand set value correction unit 3-3, where the rolling load error and the advance rate error in the latter stand 1-2 are estimated (DS
17).

Finally, based on the estimated rolling load error and the advance rate error, the correction amounts for the set values of the roll gap (reduction position) and roll speed in the latter stand 1-2 are calculated (DS18), and The process ends.

Next, DS0 in the flow chart of FIG.
An example of the flow of the second correction calculation process in No. 4 will be described with reference to the flowchart of FIG.

When this processing is started, first, in the parameter estimation calculation unit 4-2, the parameters of the setup model used in the setup control 1-3 are back-calculated from the actual data (DS23).

When the parameters are calculated backward, the draft schedule is taken out from the draft schedule changing unit 4-3 (DS24), and the parameters and the draft schedule are calculated back in the setup calculation unit 4-4.
The set values of all the stands are calculated (DS25), and the balance between the stands is checked by checking the power distribution of all the stands from the calculation result (DS26).

When it is determined that the balance is not good, the draft schedule modification process (DS27) by the draft schedule changing unit 4-3 is repeated until it is determined that the balance satisfies the predetermined condition. The setting value that is determined to be good is determined (DS28), and this processing ends.

As described above, according to the present invention, the former stand 1 of the rolling mill is determined from the measured value of the state measuring section of the former stand 1-1 of the rolling mill and the rolled material information data.
The rolling condition of -1 is estimated by the model 2, and the estimation result of the model 2 and the measurement result of the former stand 1-1 of the rolling mill are used to set the latter stand 1-2 of the rolling mill by the first correction calculation unit 3. Correct the value. Furthermore, in the present invention,
Using the estimation results of the model 2 and the measurement results of the former stand 1-1 of the rolling mill, the second correction calculation unit 4 considers the balance of the power etc. and is the most suitable correction set value (setup value) for all the stands of the rolling mill. Ask for.

Therefore, according to the present invention, there is an effect that a highly accurate and stable operation suitable for the rolling phenomenon at the time of setup can be realized. More specifically, it is possible to calculate the set value of each stand in the rolling mill control with higher accuracy and to make the rolling state of all the stands into a more optimal state with load balance. A dynamic setup control device and method can be provided.

In the above embodiment, when the balance is checked, the determination is made by looking at the load balance between the stands, but the present invention is not limited to this, and each stand is not limited to this. The balance may be checked by looking at the values of other variables that can be determined for each.

[0142]

According to the present invention, the set values of each stand are determined with higher accuracy, and the rolling conditions of all the stands are balanced and more optimal, and the balance of the rolling mill is not deteriorated. A rolling mill dynamic setup control device and method can be provided.

[Brief description of drawings]

FIG. 1 is a block diagram showing an example of a configuration of a dynamic setup control device of a rolling mill system to which the present invention is applied.

2 is a block diagram showing a configuration and a relationship of a rolling mill system, a correction control unit, and a first correction calculation unit in the control device of FIG. 1. FIG.

3 is a block diagram showing a configuration of a first correction calculation unit in the control device of FIG. 1. FIG.

4 is a block diagram showing a configuration and a relationship of a rolling mill system, a correction control unit, and a second correction calculation unit in the control device of FIG.

5 is a block diagram showing a configuration of a parameter estimation calculation unit of a second correction calculation unit in the control device of FIG.

6 is a block diagram showing a configuration of a draft schedule changing unit of a second correction calculating unit in the control device of FIG.

7 is a flowchart showing a setup calculation processing procedure of a setup calculation section of a second correction calculation section in the control device of FIG. 1. FIG.

8 is a flowchart showing a calculation processing procedure of dynamic setup control of the rolling mill system in the control device of FIG. 1. FIG.

9 is a flowchart showing a procedure in a first correction calculation process in the flowchart of FIG.

10 is a flowchart showing a procedure in a second correction calculation process in the flowchart of FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Rolling mill system, 2 ... Model, 3 ... 1st correction calculation part, 4 ... 2nd correction calculation part, 5 ... Correction control part, 6 ... Rolling material information storage 3-1 ... Comparison calculation unit, 3-2 ... Parameter estimation unit, 3-3 ... Stand setting value correction unit, 4-1 ... Comparison calculation unit, 4-2.
..Parameter estimation calculation unit, 4-3 ... Draft schedule change unit, 4-4 ... Setup calculation unit, 5--
1 ... Correction calculation control unit, 5-2 ... Correction determination unit.

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yasuo Morooka 7-2-1 Omika-cho, Hitachi-shi, Ibaraki Hitachi, Ltd. Electric Power & Electric Development Division (72) Yutaka Saito Gomika-machi, Hitachi-shi, Ibaraki 2-2-1 Hitachi Ltd. Omika Factory (72) Inventor Satoshi Hattori 5-2-1 Omika-cho, Hitachi City, Hitachi, Ibaraki Hitachi Ltd. Omika Factory (72) Inventor Yasunori Katayama Hitachi City, Ibaraki Prefecture 5-2-1 Omika-cho, Hitachi Information Control System Co., Ltd. (72) Inventor Takashige Watanabe 5-2-1 Omika-cho, Hitachi City, Ibaraki Prefecture Hitachi Information Control System Co., Ltd. (72) Kazuhiro Hirohata No. 1 Mizushima Kawasaki Dori, Kurashiki City, Okayama Prefecture Kawasaki Steel Works, Ltd. Mizushima Works (72) Inventor Shigeru Kuroda Mizushima Kawasaki Dori, Kurashiki City, Okayama Prefecture Address Kawasaki Steel Co., Ltd. Mizushima Steel Works (72) Inventor Mizushima Adult 1 Mizushima Kawasaki Dori, Kurashiki City, Okayama Prefecture Kawasaki Steel Co., Ltd. Mizushima Steel Works (56) Reference JP-A-8-33907 (JP, A) Kaihei 9-276915 (JP, A) JP-A-3-32411 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B21B 37/00-37/78

Claims (19)

(57) [Claims] 1. A tandem rolling mill having at least two or more stands, an actuator for changing a rolling state of each stand of the rolling mill, and a setup control section for determining a set value of each stand of the rolling mill. In a controller of a rolling mill system including a state measuring unit that measures the rolling state of each stand of the rolling mill and a stand control unit that controls the rolling state of each stand of the rolling mill, the rolling device is rolled by the rolling mill. A rolled material information storage unit that stores information in the previous step of the rolled material, and a measurement value result of the state measurement unit of the predetermined upstream stand located on the upstream side of the rolling mill and the rolled material information storage unit. From the data, a model part for estimating the rolling condition at the former stand using a model, an estimation result of the model part and a measurement result of the condition measuring part of the former stand. Therefore, with respect to a predetermined rear stand located on the rear side of the front stand, a first correction calculation unit that calculates a correction amount with respect to a set value set by the setup control unit, an estimation result of the model unit, and the front stage. A second correction calculation unit that calculates a set value for each stand so that the rolling states of all the stands of the rolling mill satisfy predetermined conditions from the measurement results of the state measurement unit of the stand; A rolling mill dynamic setup control device comprising: a first correction calculation unit and a correction control unit that controls the operation of the second correction calculation unit. 2. The correction control unit according to claim 1, wherein the first correction calculation unit and the second correction calculation unit are triggered by the fact that a rolled material change point has passed the front stand. A rolling mill dynamic set-up control device, characterized in that the calculation processing in step 1 is started. 3. The correction control unit according to claim 2, wherein the correction value of the rolling material change point to the rear stand is changed by changing the set value in the rear stand according to the calculation result of the first correction calculation unit. A rolling mill dynamic setup control device, which is characterized in that it is performed according to the arrival. 4. The load balance of all stands of the rolling mill according to claim 1, wherein the calculation result of the first correction calculation unit is accepted, and when the set value of the rear stand is corrected according to the calculation result. A rolling mill dynamic setup control device further comprising a correction determination unit that determines whether or not to deteriorate the rolling mill. 5. The correction control unit according to claim 4, when the correction determination unit determines that the load balance is deteriorated, the correction control unit receives the calculation result of the second correction calculation unit and performs the rolling according to the calculation result. A rolling mill dynamic setup control device characterized by changing the setting values of all stands of the rolling mill. 6. The method according to claim 1, wherein the second correction calculation unit performs a setup calculation using the estimation result of the model unit and the measurement result of the state measuring unit of the front stand.
A setup calculation unit that determines set values for all stands, a setup determination unit that determines whether the set values determined by the setup calculation unit for all stands satisfy the predetermined condition, and the setup determination unit And a draft schedule changing unit that changes the draft schedule used in the setup calculation when it is determined that the predetermined condition is not satisfied by the rolling mill dynamic setup control device. 7. The method according to claim 6, wherein the predetermined condition used in the second correction calculation unit is a condition that defines an allowable range of load balance of all stands of the rolling mill. Rolling mill dynamic setup control device. 8. The stand according to claim 1, wherein the former stand is the first stand of the rolling mill, and the latter stand is one or more stands of the second stand and after of the rolling mill. Rolling mill dynamic setup control device. 9. The stand according to claim 1, wherein the former stand is the first stand of the rolling mill, the latter stand is the second stand of the rolling mill, and the model unit includes the first and the second stands. The rolling condition of the first and second stands is estimated from the measurement result of the condition measuring unit of the two stands and the data of the rolled material information storage unit, and the second correction operation unit is the first correction unit of the model unit. , The result of rolling state estimation of the second stand, and the first and second
A rolling mill dynamic setup control device, wherein set values for all the stands of the rolling mill are calculated so as to satisfy the predetermined conditions from the measurement results of the state measuring unit of the stand. 10. The set value for which the correction amount is calculated by the first correction calculation unit according to any one of claims 1 to 9, is a plurality of initial settings for the actuator set by the setup control unit. A rolling mill dynamic set-up controller comprising at least one of the values. 11. The initial setting value of the actuator corrected by the first correction calculating section according to claim 10, is a rolling position setting value and a roll speed setting value of the actuator. Rolling mill dynamic setup control device. 12. The rolling method according to claim 11, wherein the set value set by the second correction computing unit includes at least target values of the outlet side plate thickness and the backward tension in the stand of the rolling mill. Machine dynamic setup control device. 13. A tandem rolling mill having at least two or more stands, an actuator for changing a rolling state of each stand of the rolling mill, and a setup control section for determining a set value of each stand of the rolling mill. A rolling mill system control method comprising a state measuring unit that measures the rolling state of each stand of the rolling mill and a stand control unit that controls the rolling state of each stand of the rolling mill, wherein rolling is performed by the rolling mill. From the measurement result of the state measurement unit of the pre-stage stand located on the pre-stage side of the rolling mill and the pre-stage of the rolled material, the rolling state at the pre-stand is estimated using a model, and the estimation is performed. Based on the result and the measurement result of the state measuring unit of the front stand corresponding to the estimation result, after the predetermined position located on the rear side of the front stand. Correct the set value set for the stand, from the estimation result and the measurement result of the state measuring unit of the preceding stand, so that the rolling state of all the stands of the rolling mill satisfies a predetermined condition , A rolling mill dynamic setup control method characterized by correcting a set value at each stand. 14. The stand according to claim 13, wherein the former stand is the first stand of the rolling mill, and the latter stand is one or more stands of the second stand and after of the rolling mill. Rolling mill dynamic setup control method. 15. The state measurement of the first and second stands according to claim 13, wherein the former stand is the first stand of the rolling mill, the latter stand is the second stand of the rolling mill, Of the rolling condition of the first and second stands from the measurement result of the section and the data of the rolled material information storage unit, and the measurement result of the state measurement unit of the preceding stand corresponding to the estimation result and the estimation result. From the above, by correcting the set value set for the predetermined rear stand located on the rear side of the front stand, the rolling state estimation results of the first and second stands, and the first and second stands. The rolling mill dynamic set-up is characterized in that the set values of all the stands of the rolling mill are corrected so as to satisfy the predetermined condition from the measurement result of the state measuring unit. Control method. 16. The setting value to be corrected according to claim 13, wherein at least one of a plurality of initial setting values for the actuator set by the setup control unit is included. A rolling mill dynamic setup control method characterized in that it is a waste. 17. The initial setting value of the actuator to be corrected according to claim 16,
A rolling mill dynamic setup control method, wherein a rolling position set value of the actuator and a roll speed set value are set. 18. The set value to be corrected when correcting the set value so as to satisfy the predetermined condition according to any one of claims 13 to 15. And a rolling mill dynamic setup control method including at least a target value of backward tension. 19. The rolling mill dynamic setup control method according to claim 18, wherein the predetermined condition is a condition that defines an allowable range of load balance of all stands of the rolling mill.