JP3686899B2 - Method for calculating sheet crown of rolling mill, sheet thickness and sheet crown control method of rolling mill, and calculation program - Google Patents

Description

ここに、Ｊｗ：第一ロール１１の圧下手段１５ａ，１５ｂのシリンダの圧縮性を表す係数
Ｊｂ：第二ロール１２の圧下手段１６ａ，１６ｂのシリンダの圧縮性を表す係数
Ｋ：圧延機２の剛性
ｍ：圧延材Ｓの材料塑性定数
【００４２】
また、板クラウンについても、板クラウンモデルを決定する。この板クラウンモデルは、第一ロール１１と第二ロール１２とに作用する圧延荷重Ｐｗ，Ｐｂから求める方法を用いる。
【００４３】
まず、第一ロール１１および第二ロール１２のそれぞれに対して、パススケジュールを元に、通板中に入側板厚変化、材料温度変化、材料変形抵抗変化、摩擦係数変化、および材料張力変化の外乱によって、変動すると考えられる第一ロール圧延荷重Ｐｗ、第二ロール圧延荷重Ｐｂの範囲を決定する。
【００４４】
次に、前記第一ロール圧延荷重Ｐｗおよび第二ロール圧延荷重Ｐｂの範囲内で、第一ロール圧延荷重Ｐｗと第二ロール圧延荷重Ｐｂとの組合せを適当数、抽出し、その組合せ毎にＦＥＭ解析などによって出側板クラウンＱを求める。
【００４５】
こうして求めた第一ロール圧延荷重Ｐｗ、第二ロール圧延荷重Ｐｂ、板クラウンＱの複数の組合せから、最小２乗法を用いて下記の式２に示す回帰式、すなわち第一ロール１１の圧延荷重Ｐｗと第二ロール１２の圧延荷重Ｐｂとから出側板クラウンＱを求める式２を決定する。
Ｑ＝α・Ｐｗ＋β・Ｐｂ＋γ …（２）
ここに、α：出側板クラウン算出時の第一ロール圧延荷重係数
β：出側板クラウン算出時の第二ロール圧延荷重係数
γ：出側板クラウン算出時の定数項
Ｑ：出側板クラウン
Ｐｗ：第一ロール圧延荷重
Ｐｂ：第二ロール圧延荷重
【００４６】
図４は、出側板クラウンＱの算出例を示す図である。板幅１６５０ｍｍの圧延材Ｓに対して、第一ロール圧延荷重、第二ロール圧延荷重および出側板クラウンの関係は、図４に示される空間内の平面ＰＬによって表される。これによって、第一ロール圧延荷重および第二ロール圧延荷重の２つの変数Ｐｗ，Ｐｂを平面ＰＬ上に拘束し、これらの２変数から出側板クラウンＱを求めることができる。
【００４７】
このようにして求めた関係を使い、出側板クラウンＱの変化量ΔＱと、第一ロール圧延荷重Ｐｗの変化量ΔＰｗ、第二ロール圧延荷重Ｐｂの変化量ΔＰｂの関係は、
ΔＱ＝α・ΔＰｗ＋β・ΔＰｂ …（３）
となる。
【００４８】
また、板厚についても板厚モデルを決定する。
図５は、圧延機２による板厚修正に関する入側板厚Ｈ、出側板厚ｈと圧延荷重Ｐとの関係およびロールギャップＧと圧延荷重Ｐとの関係を示すグラフである。ロールギャップＧをＧ０に設定した初期状態においては、圧延材Ｓの入側板厚がＨ０であれば、出側板厚ｈは、初期値ｈ０であり、そのときの圧延荷重はＰ０であり、点Ａで平衡している。
【００４９】
この状態から入側板厚ＨがΔＨだけ増加してＨ１に変化すると、ロールギャップＧが元のＧ０のままであれば出側板厚ｈがΔｈだけ増加してｈ１になり、平衡点が点Ａから点Ｂへ移る。しかし、第一ロール１１の圧下量を増加させることによって、ロールギャップＧをΔＧだけ小さくしてＧｎにすれば、圧延荷重がΔＰだけ増加してＰｎになるとともに、出側板厚ｈをΔｈだけ小さくして元のｈ０に戻し、平衡点を点Ｚに移すことができる。
【００５０】
このようにして入側板厚ＨのＨ０からＨ１への変化ΔＨは、圧延荷重ＰをＰ０からＰｎにすることによって、出側板厚ｈをｈ１に変化させずに、元の板厚ｈ０に修正することができる。
【００５１】
図５において、ロールギャップＧ０やＧ１を通るラインの傾きＫは、圧延機２の剛性（ミル剛性ともいう）に相当し、入側板厚Ｈ０，Ｈ１を通るラインの傾きｍは、圧延材Ｓの材料塑性定数に相当する。ロールギャップＧの変化量ΔＧと圧延荷重Ｐの変化量ΔＰとの関係は、
ΔＧ＝−ΔＰ／Ｋ …（４）
となる。このような関係に従う板厚の修正方法は、ゲージメータＡＧＣ（
Automatic Gauge Control)と呼ばれる。
【００５２】
入側板厚Ｈが変化したとき、出側板厚ｈを初期値ｈ０に戻すだけのロールギャップ変化量ΔＧを最適に決定できるように、前述のように圧延荷重Ｐを圧下力検出器３０ａ，３０ｂ，３１ａ，３１ｂによって検出しながら、その圧延荷重Ｐの変化量ΔＰからみて出側板厚ｈを初期値ｈ０に近づけると見込まれる微小な変化量ΔＧだけ、ロールギャップＧを変化させ、それによる圧延荷重Ｐの変化を逐次的に検出し、それに基づいて同様に微少な変化量ΔＧだけロールギャップＧを変化させるという操作を繰り返す。
【００５３】
具体的に述べると、入側板厚ＨがＨ０からΔＨだけ変化したことによって、出側の板厚ｈがｈ０からΔｈだけ変化し、圧延荷重ＰがＰ０からΔＰ１だけ変化してＰ１となり、平衡点が点Ａから点Ｂに移ったとき、まず、その圧延荷重Ｐの変化量ΔＰ１を圧下力検出器３０ａ，３０ｂ，３１ａ，３１ｂによって検出する。検出した圧延荷重Ｐの変化量ΔＰに基づいて、出側板厚ｈを初期値ｈ０に近づけると見込まれるロールギャップＧの微少変化量ΔＧ１は、
ΔＧ１＝−α・ΔＰ１／Ｋ …（５）
によって求められ、この変化量ΔＧだけロールギャップＧを変化させる。ここに、αは制御ゲインであり、制御の安定化のために、０＜α＜１．０に選ばれる。
【００５４】
前述のロールギャップＧの変化量ΔＧによって圧延荷重ＰはさらにΔＰ２だけ変化し、平衡点が点Ｃに移るが、その変化量ΔＰ２を、圧下力検出器３０ａ，３０ｂ，３１ａ，３１ｂによって検出する。検出した圧延荷重Ｐの変化量ΔＰ２（＝Ｐ２−Ｐ１）に基づいて、出側板厚ｈを初期値ｈ０に近づけると見込まれる式６で求められる微少な変化量ΔＧ２、
ΔＧ２＝−α・ΔＰ２／Ｋ …（６）
を変化させる。
【００５５】
また、同様に、圧延荷重Ｐの変化量ΔＰｎを検出し、ロールギャップＧを、
ΔＧｎ＝−α・ΔＰｎ／Ｋ …（７）
なる微少量だけ変化させる、という手順を繰り返す。このロールギャップＧの変化量ΔＧｎが負の値である場合には、ロールギャップＧを減少させる方向に制御する。
【００５６】
このような手順を繰り返し行うことによって、圧延荷重Ｐが徐々に変化して、平衡点が点Ｃから点Ｄへ移動し、最終的には点Ｚに到達して平衡する。制御手段３の制御周期を１０〜２０Ｈｚ程度に設定して、上記の手順を極めて短時間に繰り返すことが可能であるので、新たな平衡点への移行はほとんど一瞬に行われる。
【００５７】
平衡点Ｚでは、平衡点Ａにおける条件と比べて、ロールギャップＧがΔＧだけ変化し、圧延荷重ＰがΔＰだけ変化したことになるが、出側板厚ｈは初期値に等しいｈ０である。
【００５８】
なお、ここでは、外乱として入側板厚Ｈが変化した場合を想定して説明したが、入側板厚ではなく、材料の温度、変形抵抗、摩擦抵抗、張力などが変化する外乱があった場合であっても、上記と同様に、圧延荷重Ｐの変化に基づいて、板厚修正に対する制御を実施することができる。
【００５９】
図６は、圧延機２の機械モデルの状態方程式を示す図である。圧延機２の制御手段３に対して、以下の機械モデルを構築する。圧延機２の機械モデルは、状態ｘ、入力ｕ、出力ｙの関係を、
【００６０】
【数１】

とし、状態方程式によって表すと、
【００６１】
【数２】

のようになる。ただし、Ａ，Ｂ，Ｃ，Ｗ_１，Ｗ_２は、下記の行列である。
【００６２】
【数３】

【００６３】
ここに、Ｋ：圧延機２の剛性
ｍ：圧延材Ｓの材料塑性定数
α：出側板クラウン算出時の第一ロール圧延荷重係数
β：出側板クラウン算出時の第二ロール圧延荷重係数
Ｍ_Ｗ：第一ロール重量
Ｔ_ＨＷ：第一ロール油圧サーボ時定数
Ｊ_Ｗ：第一ロールシリンダ１５ａ，１５ｂの圧縮性を表す係数
Ａ_Ｗ：第一ロールシリンダ１５ａ，１５ｂの有効面積
Ｋ_ＡＷ：第一ロールサーボアンプのゲイン
Ｍ_Ｂ：第二ロール重量
Ｔ_ＨＢ：第二ロール油圧サーボ時定数
Ｊ_Ｂ：第二ロールシリンダ１６ａ，１６ｂの圧縮性を表す係数
Ａ_Ｂ：第二ロールシリンダ１６ａ，１６ｂの有効面積
Ｋ_ＡＢ：第二ロールサーボアンプのゲイン
【００６４】
図７（１）は圧延機２の機械モデルに非干渉制御系を構築した図であり、図７（２）は非干渉制御系の伝達関数を示す図である。板厚を制御したときは板クラウンの変化量に、また板クラウンを制御したときは板厚の変化量に影響が出るという干渉問題を解決するために、本実施の形態の制御手段３は、次のように構築される。すなわち、前述の圧延機２の機械モデルに対して、系を安定化し、目標値から出力値までの伝達関数を互いに干渉のない伝達関数に分割し、さらに伝達関数の全ての極が設定可能になるように非干渉制御系を構成するフィードバックｕ＝Ｆｘ＋Ｇνを求める。
【００６５】
図７（１）に示すように構成した非干渉制御系は、図７（２）に示すように、目標値から出力値までの伝達関数に書き直すと、対角成分のみとなり、非干渉化が行われていることがわかる。このとき、フィードバックゲインＦ，Ｇは、式１８〜２２によって表される。ただし、ν＝［Δν_Ｑ Δν_ｈ］^Ｔで、Δν_Ｑは板クラウン目標値の変化量、Δν_ｈは板厚目標値の変化量、Ｍは非干渉化を行うのに必要な変換行列、ｆ~_１１，ｆ~_１２，ｆ~_２３，ｆ~_２４，ｆ~_２５，ｆ~_２６は、非干渉化によってできたサブシステムの極を任意の位置に設定することができるように適当なものを選択する。
【００６６】
【数４】

【００６７】
図８は、圧延機２の機械モデルにロバストサーボ系を構築した図である。圧延機２の機械モデルに対して、入側板厚変化、材料温度変化、材料変形抵抗変化、摩擦係数変化および材料張力変化の外乱が入力されても、出力値が目標値から変化しないロバストサーボ系を構築する。このとき、フィードバックゲインＫ_１，Ｋ_２を以下のように求める。
積分器Ｉ／ｓの出力に状態ｚを割り当てた次式の拡大系を考える。
【数５】

【００６８】
この拡大系において、安定化するような適当な極を指定し、その極を満たすように、フィードバックゲインＫ_１，Ｋ_２を決定する。このとき、指定する極によっては、板厚、板クラウンの非干渉化が可能となり、以下では、そのような極を指定した。
【００６９】
図９は、制御手段３に構築したロバストサーボ系に対する第１のシミュレーション結果を示す図であり、図９（１）は板クラウン目標値の設定状態の変化を示し、図９（２）は出側板クラウンの変化を示し、図９（３）は出側板厚の変化を示す。このシミュレーションは、図９（１）に示されるように、制御開始から０．２ｓｅｃ後に板クラウン目標値の変化量を０．０２ｍｍに変更した例である。
【００７０】
その結果、制御手段３により、図９に示されるように、出側板クラウンについては応答するものの、図９（３）に示されるように、出側板厚についてはほとんど応答しないことが判る。
【００７１】
図１０は、制御手段３に構築したロバストサーボ系に対する第２のシミュレーション結果を示す図であり、図１０（１）は板厚目標値の設定状態の変化を示し、図１０（２）は出側板クラウンの変化を示し、図１０（３）は出側板厚の変化を示す。このシミュレーションは、図１０（１）に示されるように、制御開始から０．２ｓｅｃ後に板厚目標値の変化量を０．１ｍｍに変更した例である。
【００７２】
その結果、制御手段３により、図１０（２）に示されるように、出側板クラウンについてはほとんど応答がなく、図１０（３）に示されるように、出側板厚については応答することが判る。
【００７３】
図１１は、制御手段３に構築したロバストサーボ系に対する第３のシミュレーション結果を示す図であり、図１１（１）は外乱入力として入側板厚の変化を示し、図１１（２）は出側板クラウンの変化を示し、図１１（３）は出側板厚の変化を示す。このシミュレーションは、図１１（１）に示されるように、制御開始から０．２ｓｅｃ後に外乱入力として入側板厚の変化量を０．２ｍｍに変更した例である。
【００７４】
その結果、制御手段３により、図１１（２）、図１１（３）に示されるように、出側板クラウンおよび出側板厚の双方がほとんど応答しないことが判る。
【００７５】
図１２は、圧延機２の機械モデルにＩＬＱ（Inverse Linear Quadratic）制御系を適用した図である。圧延機２の機械モデルに対して、入側板厚変化、材料温度変化、材料変形抵抗変化、摩擦係数変化、および材料張力変化の外乱が入力されても、出力値が目標値から変化せず、また、非干渉化された形で目標とする出力応答波形を指定できるように、制御系を構築する。
このとき、フィードバックゲインＫ_Ｆ，Ｋ_Ｉを以下のように求める。
【００７６】
【数６】

【００７７】
ただし、φ_１＝（ｓ＋α_１）^２，φ_２＝（ｓ＋α_２）^４で、これらは板クラウン制御系の閉ループ系応答をα_１ ^２／（ｓ＋α_１）^２、板厚制御系の閉ループ系応答をα_２ ^４／（ｓ＋α_２）^４とすることに相当する。また、σ_１，σ_２は、応答波形を指定するパラメータを調整するものであり、操作量と制御量間のトレードオフによって決定される。その際、σ_１，σ_２を大きくすると出力は指定した応答波形に漸近するが、操作量ｕが一般に大きくなる。そこで、シミュレーションによって両者の妥協を計りながらσ_１，σ_２の適切な値を決定する。この際、サーボ系の最適性は、σ_１，σ_２をある下限値よりも大きく設定することで保証される。
【００７８】
図１３は、制御手段３に構築したＩＬＱ制御系に対する第１のシミュレーション結果を示す図であり、図１３（１）は板クラウン目標値の設定状態の変化を示し、図１３（２）は出側板クラウンの変化を示し、図１３（３）は出側板厚の変化を示す。このシミュレーションでは、制御開始から０．２ｓｅｃ後に板クラウン目標値の変化量を０．０２ｍｍに変更した例である。
【００７９】
その結果、制御手段３により、図１３（２）に示されるように、出側板クラウンについては応答するものの、図１３（３）に示されるように、出側板厚については殆ど応答しないことが判る。
【００８０】
図１４は、制御手段３に構築したＩＬＱ制御系に対する第２のシミュレーション結果を示す図であり、図１４（１）は板厚目標値の設定状態の変化を示し、図１４（２）は出側板クラウンの変化を示し、図１４（３）は出側板厚の変化を示す。このシミュレーションでは、図１４（１）に示されるように、制御開始から０．２ｓｅｃ後に板厚目標値の変化量を０．１ｍｍに変更した例である。
【００８１】
その結果、制御手段３により、図１４（２）に示されるように、出側板クラウンについては殆ど応答がなく、図１４（３）に示されるように、出側板厚については応答することが判る。
【００８２】
図１５は、制御手段３に構築したＩＬＱ制御系に対する第３のシミュレーション結果を示す図であり、図１５（１）は外乱入力として入側板厚の変化を示し、図１５（２）は出側板クラウンの変化を示し、図１５（３）は出側板厚の変化を示す。このシミュレーションでは、制御開始から０．２ｓｅｃ後に入側板厚の変化量を０．２ｍｍに変更した例である。
【００８３】
その結果、制御手段３により、図１５（２）、図１５（３）に示されるように、出側板クラウンおよび出側板厚の双方がほとんど応答していないことが判る。
【００８４】
図１６は、制御手段３で、非干渉制御系、ロバストサーボ系、ＩＬＱ制御系のいずれかを構築した板厚・板クラウン制御を実機に適用する際のシーケンスを示す図である。制御手段３には、待機モードｍ１、噛込モードｍ２、圧延モードｍ３、および尻抜モードｍ４の４つのモードが設定される。これらのモードｍ１〜ｍ４においては、第一ロール零荷重制御、第一ロール定荷重制御、第二ロール定位置制御、および板厚・板クラウン制御の４つの制御に１または複数が適用される。ここで、第一ロール零荷重制御は、第一ロール圧延荷重を設定値０ｔに従って行う制御であり、第一ロール定荷重制御は、第一ロール圧延荷重を圧延材情報を元に与えられる設定値に従って行う制御であり、第二ロール定位置制御は、ロールギャップ値を圧延材情報を元に与えられる設定値に従って行う制御である。
【００８５】
前記待機モードｍ１は、先行する圧延材Ｓの後端が圧延機２を抜けたとき、これを圧延機２に設けられるロードリレー検出器（図示せず）が検出してから、次の圧延材Ｓの圧延制御が開始されるまでの期間に適用される。この待機モードｍ１が適用される期間は、第一ロール零荷重制御と第二ロール定位置制御とが実行される。
【００８６】
前記噛込モードｍ２は、圧延材Ｓが圧延機２のロードリレー検出器によって検出されてから所定時間Ｔｓｅｃ後までの期間に適用される。この噛込モードｍ２が適用される期間は、第一ロール定荷重制御と第二ロール定位置制御とが実行される。
【００８７】
前記圧延モードｍ３は、圧延材Ｓが圧延機２のロードリレー検出器によって検出されてから所定時間Ｔｓｅｃ後から、圧延材Ｓが圧延機２のロードリレー検出器がオフされるＡｍｍ手前までの期間に適用される。この圧延モードｍ３が適用される期間は、板厚・板クラウン制御が実行される。
【００８８】
前記尻抜モードｍ４は、圧延材Ｓが圧延機２のロードリレー検出器がオフされるＡｍｍ手前から圧延材Ｓが圧延機２のロードリレー検出器がオフされるまでの期間に適用される。この尻抜モードｍ４が適用される期間は、第一ロール零荷重制御と第二ロール定位置制御とが実行される。
【００８９】
図１７は、制御手段３の具体的機能分担を示す図である。前述した制御手段３は、設定値情報および圧延材情報を出力するプロセスコンピュータ（略称プロコン）などである上位制御装置Ｃｏｎ１と、上位制御装置Ｃｏｎ１から設定値情報および圧延材情報を入力し、これらの情報に基づいて前述した第一ロール零荷重制御、第一ロール定荷重制御、第二ロール定位置制御および板厚・板クラウン制御の各目標値および開始指令を出力するプログラマブルロジックコントローラ（ＰＬＣ）などの中位制御装置Ｃｏｎ２と、中位制御装置Ｃｏｎ２から入力した前記第一ロール零荷重制御、第一ロール定荷重制御、第二ロール定位置制御および板厚・板クラウン制御の各目標値および開始指令に基づいて、各圧下手段１５ａ，１５ｂ；１６ａ，１６ｂを制御するボードコンピュータなどである下位制御装置Ｃｏｎ３とを含む。
【００９０】
前記上位制御装置Ｃｏｎ１から中位制御装置Ｃｏｎ２に出力される設定値情報は、ロールギャップ値、第一ロール圧延荷重、第二ロール圧延荷重および板厚・板クラウン制御ゲインである。また圧延材情報は、板厚目標値および板クラウン目標値である。
【００９１】
図１８は、制御手段３の動作を説明するためのタイミングチャートであり、図１８（１）は上位制御装置Ｃｏｎ１の設定値情報、圧延材情報の送信タイミングを示し、図１８（２）は中位制御装置Ｃｏｎ２の制御動作を示し、図１８（３）は下位制御装置Ｃｏｎ３の第一ロール零荷重制御および第一ロール定荷重制御に関する制御動作を示し、図１８（４）は下位制御装置Ｃｏｎ３の第二ロール定位置制御に関する制御動作を示し、図１８（５）は圧延機２のロードリレー検出器の検出動作を示す。
【００９２】
まず、圧延機２に先行圧延材Ｓが通板された状態では、図１８（１）に示されるように、時刻ｔ１で入力された当該圧延材Ｓの設定値情報および圧延材情報が、図１８（２）、図１８（３）、図１８（４）に示されるように、中位制御装置Ｃｏｎ２、下位制御装置Ｃｏｎ３に与えられる。
【００９３】
図１８（５）に示されるように、時刻ｔ３でロードリレー検出器がオン状態からオフ状態に変化し、先行圧延材Ｓの後端が圧延機２から抜けたことが検出され、下位制御装置Ｃｏｎ３は、上位制御装置Ｃｏｎ１からの当該圧延材Ｓの設定値情報および圧延材情報に基づいて第二ロール定位置制御を実行し、ロールギャップを制御する。
【００９４】
時刻ｔ４で次の当該圧延材Ｓの始端が圧延機２に供給されると、ロードリレー検出器がそれを検出してオフ状態からオン状態に変化し、下位制御装置Ｃｏｎ３は入力した前記設定値情報および圧延材情報に基づいて、第一ロール定荷重制御を実行し、圧延荷重を制御する。
【００９５】
前記ロードリレー検出器がオン状態になると、中位制御装置Ｃｏｎ２は、図１８（２）に示されるように、時刻ｔ４から計時動作を開始し、所定時間Ｔｓｅｃを経過した時刻ｔ５でオフ状態からオン状態に変化し、板厚・板クラウン制御を実行する。この中位制御装置Ｃｏｎ２からの指令によって、下位制御装置Ｃｏｎ３は、図１８（３）に示されるように、第一ロール定荷重制御を停止するとともに、図１８（４）に示されるように、第二ロール定位置制御を停止する。
【００９６】
図１８（２）に示されるように、当該圧延材Ｓについて、圧延機２のロードリレー検出器がオフされるＡｍｍ手前である時刻ｔ６で、中位制御装置Ｃｏｎ２の板厚・板クラウン制御が終了してオン状態からオフ状態に変化すると、下位制御装置Ｃｏｎ３は、図１８（３）に示されるように、第一ロール零荷重制御を開始するとともに、図１８（４）に示されるように、第二ロール定位置制御を開始する。
【００９７】
図１８（５）に示されるように、ロードリレー検出器が時刻ｔ９でオン状態からオフ状態に変化することによって、当該圧延材Ｓの圧延が終了する。
【００９８】
本発明は、前述の実施の形態で述べた３段単純ロール積重ね方式のロールベンディングミルだけでなく、４段圧延機や６段圧延機、片テーパクラウンロールシフト圧延機（略称Ｋ−ＷＲＳミル）、Ｓ字クラウンロールシフト圧延機（略称ＣＶＣミル）、cigar-shapedクラウンロールシフト圧延機(略称ＵＰＣミル）および中間ロールシフト圧延機などのロールシフト圧延機、ならびにバックアップロールクロス圧延機、ワークロールクロス圧延機およびペアロールクロス圧延機などのロールクロス圧延機に好適に実施することができる。
【００９９】
【発明の効果】
請求項１記載の本発明によれば、第一ロールの圧延荷重の変化量と第二ロールの圧延荷重の変化量とに基づいて、圧延材の出側板クラウンの変化量が算出されるので、第一ロールと第二ロールとの圧延荷重比が変化しただけで、圧延荷重和が変化しない場合でも前記従来のように、出側板クラウンの変化量を検出するためのセンサを圧延機に設置する必要がなく、これによってコストを増加させずに、前記第一および第二ロールの各圧延荷重から板クラウンを求めることができる。
【０１００】
請求項２記載の本発明によれば、制御手段によって、第一ロールの圧延荷重および第二ロールの圧延荷重に基づいて、圧延材の出側板厚および出側板クラウンが目標値に追従するように、圧下手段の圧下力を制御するので、別途に出側で板クラウンの変化量を検出するクラウン検出器などのセンサを圧延機に設置する必要がなく、これによってコストを増加させずに、圧下手段による第一および第二ロールへの圧下力を変化させて圧延材に作用する圧延荷重を制御し、出側板厚および出側板クラウンを目標値に追従させて修正することができる。
【０１０１】
請求項３記載の本発明によれば、制御手段は、圧延材の出側板厚および出側板クラウンを、相互に非干渉で目標値に追従させるので、板厚を制御したときの板クラウンへの影響および板クラウンを制御したときの板厚への影響が生じることを防止し、板厚変化および板クラウン変化の修正に対する応答性を向上することができる。
【０１０２】
請求項４記載の本発明によれば、制御手段は、入側板厚変化、材料温度変化、材料変形抵抗変化、摩擦係数変化、および材料張力変化のうち少なくとも１つの外乱の入力に対して、圧延材の出側板厚および出側板クラウンの各変化量を、相互に非干渉で目標値に追従させるので、入側板厚変化、材料温度変化、材料変形抵抗変化、摩擦係数変化、および材料張力変化のうちの１または複数が外乱として制御手段に入力されても、出側板厚の修正量および出側板クラウンの修正量が相互に干渉することが防がれ、外乱による応答性の低下を防止することができる。
【０１０３】
請求項５記載の本発明によれば、制御手段によって出側板厚および出側板クラウンの目標とする応答波形を指定することができるので、設計の結果として応答が決定するのではなく、所望の応答を得るための設計ができるので、設計が容易となる。
【０１０４】
請求項６記載の本発明によれば、コンピュータによってプログラムを実行することによって、第一および第二ロールの圧延荷重の変化量に基づいて、出側板クラウンの変化量を算出する。またコンピュータは、圧延機を圧延材の出側板クラウンが目標値に追従するように圧下力を制御する制御装置として実現することができるので、別途に出側で板クラウンの変化量を検出するクラウン検出器などのセンサを圧延機に設置する必要がない。これによってコストを増加させずに、圧下手段による第一および第二ロールへの圧下力を変化させて、圧延材に作用する圧延荷重を制御し、出側板厚および出側板クラウンを目標値に修正することができる。
【図面の簡単な説明】
【図１】本発明の実施の一形態の圧延機の板厚・板クラウン制御方法が適用される圧延設備１の正面図である。
【図２】圧延機２に備えられる圧下手段１５ａを示す断面図である。
【図３】制御手段３が制御対象とする圧延機２を示す図であり、図３（１）は第一および第二ロール１１，１２と圧延材Ｓの平衡状態を示し、図３（２）は第一および第二ロール１１，１２が圧延材Ｓを図３（１）の平衡状態からさらに圧下した状態を示す。
【図４】出側板クラウンＱの算出例を示す図である。
【図５】圧延機２による板厚修正に関する入側板厚Ｈ、出側板厚ｈと圧延荷重Ｐとの関係およびロールギャップＧと圧延荷重Ｐとの関係を示すグラフである。
【図６】圧延機２の機械モデルの状態方程式を示す図である。
【図７】図７（１）は圧延機２の機械モデルに非干渉制御系を構築した図であり、図７（２）は非干渉制御系の伝達関数を示す図である。
【図８】圧延機２の機械モデルにロバストサーボ系を構築した図である。
【図９】制御手段３で構築したロバストサーボ系に対する第１のシミュレーション結果を示す図であり、図９（１）は目標板クラウン目標値の設定状態の変化を示し、図９（２）は出側板クラウンの変化を示し、図９（３）は出側板厚の変化を示す。
【図１０】制御手段３で構築したロバストサーボ系に対する第２のシミュレーション結果を示す図であり、図１０（１）は板厚目標値の設定状態の変化を示し、図１０（２）は出側板クラウンの変化を示し、図１０（３）は出側板厚の変化を示す。
【図１１】制御手段３で構築したロバストサーボ系に対する第３のシミュレーション結果を示す図であり、図１１（１）は外乱入力として入側板厚の変化を示し、図１１（２）は出側板クラウンの変化を示し、図１１（３）は出側板厚の変化を示す。
【図１２】圧延機２の機械モデルにＩＬＱ制御系を構築した図である。
【図１３】制御手段で構築したＩＬＱ制御系に対する第１のシミュレーション結果を示す図であり、図１３（１）は板クラウン目標値の設定状態の変化を示し、図１３（２）は出側板クラウンの変化を示し、図１３（３）は出側板厚の変化を示す。
【図１４】制御手段３で構築したＩＬＱ制御系に対する第２のシミュレーション結果を示す図であり、図１４（１）は板厚目標値の設定状態の変化を示し、図１４（２）は出側板クラウンの変化を示し、図１４（３）は出側板厚の変化を示す。
【図１５】制御手段３で構築したＩＬＱ制御系に対する第３のシミュレーション結果を示す図であり、図１５（１）は外乱入力として入側板厚の変化を示し、図１５（２）は出側板クラウンの変化を示し、図１５（３）は出側板厚の変化を示す。
【図１６】制御手段３で非干渉制御系、ロバストサーボ系、ＩＬＱ制御系のいずれかを構築した板厚・板クラウン制御を実機に適用する際のシーケンスを示す図である。
【図１７】制御手段３の具体的機能分担を示す図である。
【図１８】制御手段３の動作を説明するためのタイミングチャートであり、図１８（１）は上位制御装置Ｃｏｎ１の設定値情報、圧延材情報の送信タイミングを示し、図１８（２）は中位制御装置Ｃｏｎ２の制御動作を示し、図１８（３）は下位制御装置Ｃｏｎ３の第一ロール零荷重制御および第一ロール定荷重制御に関する制御動作を示し、図１８（４）は下位制御装置Ｃｏｎ３の第二ロール定位置制御に関する制御動作を示し、図１８（５）は圧延機２のロードリレー検出器の検出動作を示す。
【符号の説明】
１ 圧延設備
２ 圧延機
３ 制御手段
１１ 第一ロール
１２ 第二ロール
２１ 圧延ロール
１３ａ，１３ｂ；１４ａ，１４ｂ；２２ａ，２２ｂ 軸受部
１５ａ，１５ｂ；１６ａ，１６ｂ 圧下手段
２３ａ，２３ｂ 高さ調整手段
２６ａ，２６ｂ バランスシリンダ
２７ 圧延機ハウジング
２８ａ，２８ｂ ハウジングウィンドウ
３０ａ，３０ｂ；３１ａ，３１ｂ 圧下力検出器
２９ ビーム
５０ シリンダ
５１ 油圧調整手段
５２ シリンダ本体
５３ ピストン
５４ シリンダチューブ
５６ ピストン室
５７ａ，５７ｂ 圧力室
６３ 圧下量検出手段
７０ サーボ弁
７１ ポンプ
７２ モータ
７３ タンク[0001]
BACKGROUND OF THE INVENTION
The present invention controls the variation of a plate thickness or a plate-shaped rolled material represented by a steel strip and a steel plate with respect to a target value of the plate thickness and the plate crown without interfering between the plate thickness correction and the plate crown correction. The present invention relates to a method for calculating a sheet crown of a rolling mill, a sheet thickness / crown control method, and a calculation program.
[0002]
[Prior art]
As the rolling mill for controlling the plate crown, a pair cross mill, a CVC mill, an HC / VC mill, etc. are used, and the amount of control of the plate crown of these mills is often set as a preset. It does not have fast response. In order to solve this problem, in the conventional technique, a first roll that is easy to bend on one side of the rolled material and a second roll that supports the first roll are provided, and the other side of the rolled material is highly rigid. A rolling roll is provided, and a rolling load is applied to the first and second rolls by the rolling-down means, and the rolling load of the first and second rolls by the rolling-down means is detected by the load detecting means.
[0003]
The correction of the change in the output side plate crown is based on the change in the rolling load detected by the load detecting means, and the amount of change in the reduction position necessary to bring the output side plate crown close to the target value is obtained. The position is corrected, and the change in the change in the delivery side plate thickness is achieved by the control of correcting the reduction position of the first and second rolls by obtaining the amount of change in the reduction position necessary to bring the delivery side plate thickness closer to the target value. (For example, see Patent Document 1).
[0004]
[Patent Document 1]
JP 2002-210506 A
[0005]
[Problems to be solved by the invention]
The exit plate crown varies not only with the sum of rolling loads, but also with the ratio of rolling loads between the first roll and the second roll. In the conventional technique, when the value detected as the sum of rolling loads changes, the exit side plate crown can be corrected based on the amount of change in the rolling load sum, but the rolling of the first roll and the second roll If the rolling load sum does not change only by changing the load ratio, the above-described exit side plate crown cannot be corrected. Therefore, it is necessary to newly provide a sensor such as a crown detector in order to detect the change amount of the exit side plate crown, and the cost increases due to the sensor and the control device for reflecting the detection result. There is. Even if a sensor is provided to detect the change in the exit side plate crown, the sensor is installed at the rear side of the exit of the rolling mill, and the detection time is delayed even if the detected exit side plate crown is fed back for dynamic control. Therefore, there is a problem that a sufficient effect cannot be obtained.
[0006]
SUMMARY OF THE INVENTION An object of the present invention is to provide a rolling mill capable of correcting the exit side plate thickness and the exit side plate crown without using a sensor for detecting the change amount of the exit side plate crown even if the sum of rolling loads does not change. A sheet crown calculation method, a rolling mill sheet thickness / plate crown control method, and a rolling mill sheet thickness / plate crown calculation program.
[0007]
[Means for Solving the Problems]
  The present invention according to claim 1 calculates a sheet crown of a rolling mill comprising a first roll for rolling down a rolled material, a second roll for supporting the first roll, and a rolling means for rolling down the first and second rolls. In the method
  Rolling load of the first rollAmount of changeAnd rolling load of second rollAmount of changeThe amount of change in the exit side plate crown of the rolled material is calculated based on
[0008]
  According to the present invention, the rolling load of the first rollAmount of changeAnd the rolling load of the second rollAmount of changeAnd on the basis of the rolled sheet outlet plate crownStrangeThe amount of change is calculated, so even if the rolling load ratio between the first roll and the second roll only changes and the rolling load sum does not change, the amount of change in the exit side plate crown is detected as in the conventional case. Therefore, it is not necessary to install a sensor for the rolling mill, so that the plate crown can be obtained from the rolling loads of the first and second rolls without increasing the cost.
[0009]
The present invention described in claim 2 includes a first roll for rolling down the rolled material, a second roll for supporting the first roll, a rolling means for rolling down the first and second rolls, an exit side plate thickness of the rolled material, and Control means for controlling the reduction force applied to the first and second rolls by the reduction means so that the exit plate crown becomes equal to the target value;
The control means controls the rolling force of the rolling means based on the rolling load of the first roll and the rolling load of the second roll so that the exit side plate thickness and the exit side plate crown of the rolled material follow target values. This is a sheet thickness and sheet crown control method for a rolling mill.
[0010]
According to the present invention, the first roll for rolling the rolled material, the second roll for supporting the first roll, the rolling means for rolling down the first and second rolls, the exit side plate thickness and the exit side plate crown of the rolled material Control means for controlling the reduction force applied to the first and second rolls by the reduction means so that is equal to the target value.
[0011]
The control means controls the rolling force of the rolling means based on the rolling load of the first roll and the rolling load of the second roll so that the exit side plate thickness and the exit side plate crown of the rolled material follow target values. Therefore, it is not necessary to separately install a sensor such as a crown detector for detecting the amount of change in the plate crown on the exit side, thereby increasing the cost and reducing the cost to the first and second rolls by the rolling means. The rolling force acting on the rolled material can be controlled by changing the rolling force of the sheet, and the exit side plate thickness and the exit side plate crown can be corrected to target values.
[0012]
The present invention described in claim 3 is characterized in that the control means causes the exit side plate thickness and the exit side plate crown of the rolled material to follow the target value without mutual interference.
[0013]
According to the present invention, the control means causes the exit side plate thickness and the exit side plate crown of the rolled material to follow the target value in a non-interfering manner, so that the influence on the plate crown when the plate thickness is controlled and the plate crown It is possible to prevent the influence on the plate thickness from being controlled, and to improve the response to the change in the plate thickness target value and the change in the plate crown target value.
[0014]
According to a fourth aspect of the present invention, the control means is configured to apply at least one disturbance input among a change in entry side plate thickness, a change in material temperature, a change in material deformation resistance, a change in friction coefficient, and a change in material tension to a rolled material. The exit side plate thickness and the exit side plate crown are made to follow the target value without mutual interference.
[0015]
According to the present invention, the control means is configured to output at least one disturbance among the input side plate thickness change, material temperature change, material deformation resistance change, friction coefficient change, and material tension change to the output side plate of the rolled material. Since the thickness and the exit plate crown follow the target value without mutual interference, one or more of the entry plate thickness change, material temperature change, material deformation resistance change, friction coefficient change, and material tension change are disturbed. As a result, it is possible to prevent the correction amount of the outlet plate thickness and the correction amount of the outlet plate crown from interfering with each other, and to prevent a decrease in responsiveness due to disturbance.
[0016]
The present invention according to claim 5 is characterized in that the control means designates a response waveform that is a target of the exit side plate thickness and the exit side plate crown.
[0017]
According to the present invention, the control means can designate the target response waveform of the outlet side plate thickness and the outlet side plate crown, so that the response is not determined as a result of the design, but a desired response is obtained. Therefore, it is easy to design a control system.
[0018]
  The present invention as set forth in claim 6 is a computer in which the rolling load of the first roll for rolling the rolled material is reduced.Amount of changeAnd rolling load of the second roll supporting the first rollAmount of changeOn the basis of the,Rolled materialOutboard plate crownStrangeRolling machine characterized by functioning as a calculation means for calculating a conversion amountBoardThis is a crown calculation program.
[0019]
  According to the invention, by executing a program by a computer, ActingCalculation meansAs a computerIsFirst and second rollRolling loadAmount of changeOn the basis of the, OutSide plate crownStrangeThe amount of conversion is calculated. Like thisOutSide plate crownStrangeComputer to calculate the amount of rollingOut ofBy realizing as a control device that controls the rolling force so that the side plate crown follows the target value, it is necessary to separately install a sensor such as a crown detector that detects the amount of change in the plate crown on the exit side in the rolling mill. NaYes.Without increasing the cost, the rolling force acting on the rolled material is controlled by changing the rolling force applied to the first and second rolls by the rolling means, and the exit plate thickness and exit plate crown are corrected to the target values. can do.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a front view of a rolling equipment 1 to which a thickness / plate crown control method for a rolling mill according to an embodiment of the present invention is applied. The rolling equipment 1 according to the present embodiment includes a rolling mill 2 and a control unit 3 that controls the rolling mill 2. As will be described later, the control means 3 is realized by a computer that controls the rolling mill 2 by executing a software program.
[0021]
  The rolling mill 2 is provided with a first roll 11 and a second roll 12 on the upper side with respect to a pass line of a strip-shaped rolled material S such as a steel strip, for example.Path lineIs a three-high rolling mill provided with a rolling roll 21 having a larger diameter than the first and second rolls 11 and 12 on the lower side.
[0022]
The first roll 11 is a work roll that directly reduces the rolled material S, and both axial end portions of the roll shaft are rotatably supported by a bearing portion 13a, 13b around a horizontal axis perpendicular to the pass line. . The second roll 12 is a short body roll whose body length L1 is shortened to about 65% of the body length L2 of the first roll 11, and both end portions in the axial direction of the roll shaft are passed by bearing portions 14a and 14b. It is rotatably supported around a horizontal axis perpendicular to the line. On each pair of bearing portions 13a, 13b; 14a, 14b, reduction means 15a, 15b; 16a, 16b are respectively provided.
[0023]
The rolling roll 21 is a work roll that directly reduces the rolling material S from below and has a diameter that is approximately twice that of the first roll 11, and is approximately 10 times as rigid as the first roll 11. It is also a support roll that supports the rolled material S with high strength. The roll shaft of the rolling roll 21 is axially supported at both ends in the axial direction by bearing portions 22a and 22b, and the bearing portions 22a and 22b are supported by height adjusting means 23a and 23b. The height adjusting means 23a and 23b are configured so that the two left and right wedge members 24a1 and 24a2; And a connecting member 25 to be connected. The above-mentioned bearing portions 22a and 22b are fixed to the wedge members 24a1 and 24b1 arranged on the upper side, respectively. The connecting member 25 is realized by, for example, a screw rod, and by rotating an operation tool such as a handle (not shown) around its axis, the bearings 22a and 22b are raised when rotated in one direction. When rotated in the direction, the bearings 22a and 22b are lowered to adjust the height of the pass line.
[0024]
Balance cylinders 26 a and 26 b for supporting the weight of the first and second rolls 11 and 12 are interposed between the bearing parts 13 a and 13 b of the first roll 11 and the bearing parts 22 a and 22 b of the rolling roll 21. Is done.
[0025]
The respective rolling-down means 15a, 15b of the first roll 11 and the respective rolling-down means 16a, 16b of the second roll 12 are disposed adjacent to the inner side in the axial direction of each of the rolls 11, 12, and each base portion of the rolling mill housing 27 is disposed. The upper and lower surfaces of the left and right housing windows 28a and 28b are supported from above. Rolling force detectors 30a, 30b; 31a, 31b for detecting a rolling load are interposed between upper and lower surfaces of the housing windows 28a, 28b and the rolling means 15a, 15b; 16a, 16b, respectively. These rolling force detectors 30a, 30b; 31a, 31b are realized by, for example, load cells.
[0026]
The upper portions of the housing windows 28 a and 28 b are connected to each other by a beam 29. The rolling-down means 15a and 15b are attached not to the beam 29 but to the housing windows 28a and 28b themselves, which are much higher in rigidity than the beam 29, and against the rolling force of the rolling-down means 15a and 15b; 16a and 16b. Can resist with great reaction force.
[0027]
Since the housing 27 of the rolling mill 2 does not have a sufficiently high rigidity with respect to the rolling load, if there is a variation in the thickness of the rolled material S on the entry side of the rolling mill 2 during rolling, the housing 27 is distorted. Or the first roll 11 bends and the roll gap G changes.
[0028]
Therefore, in the rolling mill 2 of the present embodiment, the roll gap G as described above is controlled by optimally controlling the amount of reduction by the reduction means 15a, 15b; 16a, 16b of the first roll 11 and the second roll 12. The sheet thickness and the sheet crown of the rolled material S on the exit side of the rolling mill 2 are controlled without the sheet thickness modification and the sheet crown modification interfering with each other to the target value set in the pass schedule. It becomes possible to make it follow quickly.
[0029]
FIG. 2 is a cross-sectional view showing the rolling-down means 15 a provided in the rolling mill 2. Of the above-described rolling means 15a, 15b; 16a, 16b that apply a rolling force to the first and second rolls 11, 12, one of the rolling rolls that is typically provided at one end of the roll axis of the first roll 11 in the axial direction. The means 15a will be described, and the remaining reduction means 15b; 16a and 16b are configured in the same manner, so that the description is omitted to avoid duplication. The reduction means 15 a includes a double-acting hydraulic cylinder (hereinafter simply abbreviated as a cylinder) 50 and a hydraulic pressure adjusting means 51 that supplies hydraulic oil to the cylinder 50 by a drive signal from the control means 3.
[0030]
The cylinder 50 includes a cylinder body 52 and a piston 53 that is inserted into the cylinder body 52 and extends and retracts. The cylinder body 52 includes a bottomed cylindrical cylinder tube 54 and an end plate 55 that is airtightly fixed to the opening of the cylinder tube 54, and a piston chamber 56 in which the piston 53 is accommodated is formed. Is done.
[0031]
The piston 53 divides the piston chamber 56 of the cylinder body 52 into two pressure chambers 57a and 57b, and a shaft portion 58 is coaxially and integrally provided at the center thereof. The shaft portion 58 is inserted through the shaft hole 59 of the end plate 55, and the piston rod 60 is coaxially fixed to the end surface. The bottom portion of the cylinder tube 54 is supported by the upper lower surface of the housing window 28a via the above-described reduction force detector 30a. The cylinder body 52 is formed with a first port 48 communicating with one pressure chamber 57a and a second port 49 communicating with the other pressure chamber 57b.
[0032]
In such a cylinder 50, a reduction amount detection means 63 for detecting the amount of displacement of the extension and retraction of the piston 53 with respect to the cylinder main body 52, and hence the reduction amount on the one end side in the axial direction of the first roll 11 by the reduction means 15a. Is provided. The reduction amount detection means 63 is disposed in a hollow shaft 64 that protrudes coaxially from the bottom of the cylinder body 52 toward the opening, and in a recess 65 that is formed coaxially with the piston 53. It includes a right cylindrical iron core 67 protruding from a facing bottom surface 66 and an annular electromagnetic coil 68 built in the hollow shaft 64.
[0033]
The electromagnetic coil 68 is mounted in an annular groove 69 facing the insertion hole into which the iron core 67 of the hollow shaft 64 is inserted, and generates an induced voltage by moving in the axial direction of the iron core 67. This induced voltage is input to the control means 3 as a reduction amount detection signal indicating the amount of reduction on the one end side in the axial direction of the first roll 11.
[0034]
The hydraulic pressure adjusting means 51 stores a servo valve 70 that operates according to a command from the control means 3, a pump 71 that supplies hydraulic oil to the servo valve 70, a motor 72 that drives the pump 71, and hydraulic oil. And a tank 73.
[0035]
As a command to the servo valve 70, the control means 3 excites the electromagnetic solenoid to drive the plunger, displaces the spool 74 connected to the plunger, and supplies the hydraulic oil supplied from the pump 71, The cylinder 50 is supplied to one of the first and second ports 48 and 49, and the other of the first and second ports 48 and 49 is connected to the tank 73.
[0036]
Thus, the control means 3 extends or retracts the piston 53 of the cylinder 50 to control the reduction force. The detection signals output from the reduction force detector 30 a and the reduction amount detection unit 63 are input to the control unit 3.
[0037]
Next, a specific configuration of the control means 3 for plate thickness correction and plate crown correction will be described.
[0038]
FIG. 3 is a diagram showing the rolling mill 2 to be controlled by the control means 3, and FIG. 3 (1) shows an equilibrium state between the first and second rolls 11, 12 and the rolled material S, and FIG. ) Shows a state in which the first and second rolls 11 and 12 further reduce the rolled material S from the equilibrium state of FIG. In the rolling mill 2, the first roll 11 and the second roll 12 are provided with the above-described reduction means 15a, 15b; 16a, 16b, respectively.
[0039]
  Note that the reference numerals used in the configuration of the actual machine of the rolling equipment 1 in FIGS. 1 and 2 are the following system of the control means 3 for convenience of explanation.In the descriptionEven in this case, the same reference numerals are assigned to the corresponding parts.
[0040]
First, in the relationship between the roll gap G of the first and second rolls 11 and 12, and the rolling load P, the cylinder stroke of the second roll 12 cannot be extended beyond the position of the first roll 11, and the first roll The cylinder stroke of 11 cannot be shortened beyond the position of the second roll 12. In other words, one of the positions of the first roll 11 and the second roll 12 receives the interference of the other. In consideration of mutual interference between the rolls 11 and 12, the relationship between the roll gap G and the rolling load P is obtained as follows.
[0041]
From the equilibrium state shown in FIG. 3 (1), the first and second rolls 11 and 12 are set to ΔGw for the first roll 11 and ΔGb (ΔGw <ΔGb) for the second roll 12 as shown in FIG. 3 (2). Try to move. At this time, if the roll gap change amount actually moved is ΔGm, each of the pressure chambers 57a, 57b of the cylinder 50 provided in each of the reduction means 15a, 15b; 16a, 16b of the first roll 11 and the second roll 12, respectively. The force obtained from the differential pressure is equal to the rolling load from the rolled material S, and the following formula 1 is established.

Where, Jw: coefficient indicating the compressibility of the cylinders of the rolling-down means 15a, 15b of the first roll 11
Jb: Coefficient representing the compressibility of the cylinders of the rolling-down means 16a, 16b of the second roll 12.
K: rigidity of the rolling mill 2
m: material plastic constant of the rolled material S
[0042]
A plate crown model is also determined for the plate crown. This plate crown model uses a method of obtaining from rolling loads Pw and Pb acting on the first roll 11 and the second roll 12.
[0043]
First, for each of the first roll 11 and the second roll 12, based on the pass schedule, the change in the entry side plate thickness, material temperature change, material deformation resistance change, friction coefficient change, and material tension change during the passage. The ranges of the first roll rolling load Pw and the second roll rolling load Pb that are considered to vary due to disturbance are determined.
[0044]
Next, an appropriate number of combinations of the first roll rolling load Pw and the second roll rolling load Pb are extracted within the range of the first roll rolling load Pw and the second roll rolling load Pb, and FEM is extracted for each combination. The exit plate crown Q is obtained by analysis or the like.
[0045]
From a plurality of combinations of the first roll rolling load Pw, the second roll rolling load Pb, and the sheet crown Q thus obtained, the regression equation shown in the following equation 2 using the least square method, that is, the rolling load Pw of the first roll 11 is used. And Expression 2 for obtaining the exit side plate crown Q is determined from the rolling load Pb of the second roll 12.
Q = α · Pw + β · Pb + γ (2)
Where α is the first roll rolling load factor when calculating the exit plate crown
β: Second roll rolling load factor at the time of calculating the outlet plate crown
γ: Constant term when calculating the outlet plate crown
Q: Outboard plate crown
Pw: First roll rolling load
Pb: Second roll rolling load
[0046]
FIG. 4 is a diagram illustrating a calculation example of the outlet plate crown Q. For the rolled material S having a plate width of 1650 mm, the relationship between the first roll rolling load, the second roll rolling load, and the exit side plate crown is represented by a plane PL in the space shown in FIG. As a result, the two variables Pw and Pb of the first roll rolling load and the second roll rolling load are constrained on the plane PL, and the exit plate crown Q can be obtained from these two variables.
[0047]
Using the relationship thus obtained, the relationship between the change amount ΔQ of the exit plate crown Q, the change amount ΔPw of the first roll rolling load Pw, and the change amount ΔPb of the second roll rolling load Pb is:
ΔQ = α · ΔPw + β · ΔPb (3)
It becomes.
[0048]
A plate thickness model is also determined for the plate thickness.
FIG. 5 is a graph showing the relationship between the inlet side plate thickness H, the outlet side plate thickness h and the rolling load P and the relationship between the roll gap G and the rolling load P with respect to the plate thickness correction by the rolling mill 2. In the initial state where the roll gap G is set to G0, if the entry side plate thickness of the rolled material S is H0, the exit side plate thickness h is the initial value h0, the rolling load at that time is P0, and point A Is in equilibrium.
[0049]
From this state, when the entry side thickness H increases by ΔH and changes to H1, if the roll gap G remains at the original G0, the exit side thickness h increases by Δh to become h1, and the equilibrium point is from point A. Move to point B. However, if the roll gap G is reduced by ΔG to Gn by increasing the rolling amount of the first roll 11, the rolling load increases by ΔP to become Pn, and the exit side thickness h is reduced by Δh. Then, the original h0 is restored, and the equilibrium point can be moved to the point Z.
[0050]
In this way, the change ΔH in the entry side thickness H from H0 to H1 is corrected to the original thickness h0 without changing the exit thickness h to h1 by changing the rolling load P from P0 to Pn. be able to.
[0051]
In FIG. 5, the slope K of the line passing through the roll gaps G0 and G1 corresponds to the rigidity of the rolling mill 2 (also referred to as mill rigidity), and the slope m of the line passing through the entry side plate thicknesses H0 and H1 is Corresponds to the material plasticity constant. The relationship between the change amount ΔG of the roll gap G and the change amount ΔP of the rolling load P is
ΔG = −ΔP / K (4)
It becomes. The method of correcting the plate thickness according to such a relationship is the gauge meter AGC (
Called Automatic Gauge Control).
[0052]
When the entry side plate thickness H is changed, the rolling load P is reduced by the rolling force detectors 30a, 30b, 30b, as described above so that the roll gap change amount ΔG can be optimally determined to return the exit side plate thickness h to the initial value h0. While detecting by 31a and 31b, the roll gap G is changed by a minute change ΔG that is expected to bring the sheet thickness h closer to the initial value h0 when viewed from the change ΔP of the rolling load P, and the resulting rolling load P Are sequentially detected, and similarly, an operation of changing the roll gap G by a minute change amount ΔG is repeated.
[0053]
Specifically, when the entry side thickness H changes from H0 by ΔH, the exit side thickness h changes from h0 to Δh, and the rolling load P changes from P0 by ΔP1 to P1, and the equilibrium point. , The change ΔP1 of the rolling load P is first detected by the rolling force detectors 30a, 30b, 31a, 31b. Based on the detected change amount ΔP of the rolling load P, the slight change amount ΔG1 of the roll gap G that is expected to bring the exit side thickness h close to the initial value h0 is:
ΔG1 = −α · ΔP1 / K (5)
The roll gap G is changed by this change amount ΔG. Here, α is a control gain, and 0 <α <1.0 is selected for stabilization of control.
[0054]
The rolling load P further changes by ΔP2 due to the above-described change amount ΔG of the roll gap G, and the equilibrium point moves to the point C. The change amount ΔP2 is detected by the rolling force detectors 30a, 30b, 31a, 31b. Based on the detected amount of change ΔP2 (= P2−P1) of the rolling load P, a slight amount of change ΔG2 that is obtained by Equation 6 expected to bring the exit side thickness h close to the initial value h0,
ΔG2 = −α · ΔP2 / K (6)
To change.
[0055]
Similarly, the change amount ΔPn of the rolling load P is detected, and the roll gap G is
ΔGn = −α · ΔPn / K (7)
Repeat the procedure to change only a small amount. When the change amount ΔGn of the roll gap G is a negative value, the roll gap G is controlled to decrease.
[0056]
By repeating such a procedure, the rolling load P changes gradually, the equilibrium point moves from the point C to the point D, and finally reaches the point Z to be balanced. Since the control cycle of the control means 3 can be set to about 10 to 20 Hz and the above procedure can be repeated in a very short time, the transition to a new equilibrium point is performed almost instantaneously.
[0057]
At the equilibrium point Z, the roll gap G is changed by ΔG and the rolling load P is changed by ΔP as compared with the condition at the equilibrium point A, but the exit side plate thickness h is h0 equal to the initial value.
[0058]
Here, the case where the entry side plate thickness H is changed as a disturbance has been described. However, the case where there is a disturbance in which the temperature, deformation resistance, frictional resistance, tension, etc. of the material changes, not the entry side plate thickness. Even if it exists, the control with respect to sheet thickness correction can be implemented based on the change of the rolling load P similarly to the above.
[0059]
FIG. 6 is a diagram showing a state equation of a machine model of the rolling mill 2. The following machine model is constructed for the control means 3 of the rolling mill 2. The machine model of the rolling mill 2 has a relationship between the state x, the input u, and the output y.
[0060]
[Expression 1]

And expressed by the equation of state:
[0061]
[Expression 2]

become that way. However, A, B, C, W₁, W₂Is the following matrix.
[0062]
[Equation 3]

[0063]
Here, K: rigidity of the rolling mill 2
m: material plastic constant of the rolled material S
α: Roll factor of first roll when calculating crown on delivery side
β: Second roll rolling load factor at the time of calculating the outlet plate crown
M_W: First roll weight
T_HW: First roll hydraulic servo time constant
J_W: Coefficient representing the compressibility of the first roll cylinders 15a, 15b
A_W: Effective area of the first roll cylinders 15a and 15b
K_AW: First roll servo amplifier gain
M_B: Second roll weight
T_HB: Second roll hydraulic servo time constant
J_B: Coefficient representing the compressibility of the second roll cylinders 16a, 16b
A_B: Effective area of the second roll cylinders 16a, 16b
K_AB: Second roll servo amplifier gain
[0064]
FIG. 7A is a diagram in which a non-interference control system is constructed in the machine model of the rolling mill 2, and FIG. 7B is a diagram illustrating a transfer function of the non-interference control system. In order to solve the interference problem that the amount of change in the plate crown is affected when the plate thickness is controlled, and the amount of change in the plate thickness is affected when the plate crown is controlled, the control means 3 of the present embodiment includes: It is constructed as follows. That is, with respect to the machine model of the rolling mill 2, the system is stabilized, the transfer function from the target value to the output value is divided into transfer functions that do not interfere with each other, and all poles of the transfer function can be set. Thus, feedback u = Fx + Gν constituting the non-interference control system is obtained.
[0065]
When the non-interference control system configured as shown in FIG. 7 (1) is rewritten into the transfer function from the target value to the output value as shown in FIG. You can see that it is happening. At this time, the feedback gains F and G are expressed by equations 18-22. Where ν = [Δν_Q  Δν_h]^TAnd Δν_QIs the amount of change in the plate crown target value, Δν_hIs the amount of change in the plate thickness target value, M is the transformation matrix necessary for decoupling, f ~₁₁, F ~₁₂, F ~₂₃, F ~₂₄, F ~₂₅, F ~₂₆Select an appropriate one so that the pole of the subsystem formed by decoupling can be set at an arbitrary position.
[0066]
[Expression 4]

[0067]
FIG. 8 is a diagram in which a robust servo system is constructed in the machine model of the rolling mill 2. A robust servo system in which the output value does not change from the target value even when disturbances such as entry side plate thickness change, material temperature change, material deformation resistance change, friction coefficient change and material tension change disturbance are input to the machine model of the rolling mill 2 Build up. At this time, the feedback gain K₁, K₂Is obtained as follows.
Consider an expansion system of the following equation in which the state z is assigned to the output of the integrator I / s.
[Equation 5]

[0068]
In this expansion system, an appropriate pole to be stabilized is specified, and the feedback gain K is set so as to satisfy the pole.₁, K₂To decide. At this time, depending on the designated pole, it is possible to make the thickness and the crown non-interfering. In the following, such a pole is designated.
[0069]
FIG. 9 is a diagram showing a first simulation result for the robust servo system constructed in the control means 3. FIG. 9 (1) shows the change in the setting state of the plate crown target value, and FIG. 9 (2) shows the output. The change of the side plate crown is shown, and FIG. 9 (3) shows the change of the exit side plate thickness. This simulation is an example in which the amount of change in the plate crown target value is changed to 0.02 mm 0.2 seconds after the start of control, as shown in FIG.
[0070]
As a result, it can be seen that the control means 3 responds to the exit plate crown as shown in FIG. 9, but hardly responds to the exit plate thickness as shown in FIG. 9 (3).
[0071]
FIG. 10 is a diagram showing a second simulation result for the robust servo system constructed in the control means 3. FIG. 10 (1) shows the change in the setting state of the plate thickness target value, and FIG. 10 (2) shows the output. The change of the side plate crown is shown, and FIG. 10 (3) shows the change of the exit side plate thickness. In this simulation, as shown in FIG. 10 (1), the change amount of the plate thickness target value is changed to 0.1 mm 0.2 sec after the start of control.
[0072]
As a result, it is understood that the control means 3 hardly responds to the exit side plate crown as shown in FIG. 10 (2), and responds to the exit side plate thickness as shown in FIG. 10 (3). .
[0073]
FIG. 11 is a diagram showing a third simulation result for the robust servo system constructed in the control means 3. FIG. 11 (1) shows a change in the input side plate thickness as a disturbance input, and FIG. 11 (2) shows the output side plate. The change of the crown is shown, and FIG. 11 (3) shows the change of the outlet side plate thickness. This simulation is an example in which, as shown in FIG. 11 (1), the amount of change in the entry side plate thickness is changed to 0.2 mm as a disturbance input 0.2 sec after the start of control.
[0074]
As a result, it can be seen that the control means 3 hardly responds to both the exit side plate crown and the exit side plate thickness as shown in FIGS. 11 (2) and 11 (3).
[0075]
FIG. 12 is a diagram in which an ILQ (Inverse Linear Quadratic) control system is applied to the machine model of the rolling mill 2. Even if a disturbance of input side plate thickness change, material temperature change, material deformation resistance change, friction coefficient change, and material tension change is input to the machine model of the rolling mill 2, the output value does not change from the target value, In addition, a control system is constructed so that a target output response waveform can be designated in a non-interfering manner.
At this time, the feedback gain K_F, K_IIs obtained as follows.
[0076]
[Formula 6]

[0077]
However, φ₁= (S + α₁)², Φ₂= (S + α₂)⁴These represent the closed-loop response of the plate crown control system as α₁ ²/ (S + α₁)², The closed loop response of the plate thickness control system₂ ⁴/ (S + α₂)⁴Is equivalent to Also, σ₁, Σ₂Adjusts a parameter for specifying a response waveform, and is determined by a trade-off between an operation amount and a control amount. In that case, σ₁, Σ₂When is increased, the output gradually approaches the specified response waveform, but the operation amount u generally increases. Therefore, σ₁, Σ₂Determine the appropriate value for. In this case, the optimality of the servo system is σ₁, Σ₂Is guaranteed to be larger than a certain lower limit value.
[0078]
FIG. 13 is a diagram showing a first simulation result for the ILQ control system constructed in the control means 3. FIG. 13 (1) shows a change in the setting state of the plate crown target value, and FIG. The change of the side plate crown is shown, and FIG. 13 (3) shows the change of the exit side plate thickness. This simulation is an example in which the change amount of the plate crown target value is changed to 0.02 mm 0.2 sec after the start of control.
[0079]
As a result, it is understood that the control means 3 responds with respect to the exit side plate crown as shown in FIG. 13 (2), but hardly responds with respect to the exit side plate thickness as shown in FIG. 13 (3). .
[0080]
FIG. 14 is a diagram showing a second simulation result for the ILQ control system constructed in the control means 3. FIG. 14 (1) shows a change in the set state of the plate thickness target value, and FIG. The change of the side plate crown is shown, and FIG. 14 (3) shows the change of the exit side plate thickness. In this simulation, as shown in FIG. 14 (1), the change amount of the plate thickness target value is changed to 0.1 mm 0.2 sec after the start of control.
[0081]
As a result, it can be seen that the control means 3 hardly responds to the exit plate crown as shown in FIG. 14 (2) and responds to the exit plate thickness as shown in FIG. 14 (3). .
[0082]
FIG. 15 is a diagram showing a third simulation result for the ILQ control system constructed in the control means 3. FIG. 15 (1) shows the change in the input side plate thickness as a disturbance input, and FIG. 15 (2) shows the output side plate. The change of the crown is shown, and FIG. 15 (3) shows the change of the outlet side plate thickness. This simulation is an example in which the change amount of the entry side plate thickness is changed to 0.2 mm after 0.2 sec from the start of control.
[0083]
As a result, as shown in FIGS. 15 (2) and 15 (3), the control means 3 shows that both the exit side plate crown and the exit side plate thickness are hardly responding.
[0084]
FIG. 16 is a diagram showing a sequence when the control unit 3 applies plate thickness / crown control in which any one of the non-interference control system, the robust servo system, and the ILQ control system is applied to an actual machine. The control means 3 is set with four modes: a standby mode m1, a biting mode m2, a rolling mode m3, and a bottoming mode m4. In these modes m1 to m4, one or more are applied to the four controls of the first roll zero load control, the first roll constant load control, the second roll constant position control, and the plate thickness / plate crown control. Here, the first roll zero load control is control for performing the first roll rolling load according to the set value 0t, and the first roll constant load control is the set value that is given based on the rolling material information. 2nd roll fixed position control is control performed according to the setting value given based on rolling material information.
[0085]
In the standby mode m1, when the trailing end of the preceding rolled material S passes through the rolling mill 2, this is detected by a load relay detector (not shown) provided in the rolling mill 2, and then the next rolled material. This is applied to the period until the rolling control of S is started. During the period in which the standby mode m1 is applied, the first roll zero load control and the second roll fixed position control are executed.
[0086]
The biting mode m2 is applied to a period from when the rolled material S is detected by the load relay detector of the rolling mill 2 until a predetermined time Tsec. During the period in which the biting mode m2 is applied, the first roll constant load control and the second roll constant position control are executed.
[0087]
The rolling mode m3 is a period from a predetermined time Tsec after the rolling material S is detected by the load relay detector of the rolling mill 2 to Amm before the load relay detector of the rolling mill 2 is turned off. Applies to During the period in which the rolling mode m3 is applied, the plate thickness / plate crown control is executed.
[0088]
The bottom mode m4 is applied to the rolling material S during a period from Amm before the load relay detector of the rolling mill 2 is turned off until the rolling relay S is turned off of the load relay detector of the rolling mill 2. During the period in which the bottom-out mode m4 is applied, the first roll zero load control and the second roll fixed position control are executed.
[0089]
FIG. 17 is a diagram showing a specific function sharing of the control means 3. The control means 3 described above inputs the set value information and the rolled material information from the host control device Con1 such as a process computer (abbreviated as a process control) that outputs the set value information and the rolled material information, and the host control device Con1. Programmable logic controller (PLC) that outputs each target value and start command for the first roll zero load control, first roll constant load control, second roll constant position control, and plate thickness / plate crown control based on the information, etc. The middle control device Con2 and the target values and start of the first roll zero load control, first roll constant load control, second roll constant position control and plate thickness / plate crown control input from the middle control device Con2 Based on the command, the lower control device such as a board computer for controlling each of the reduction means 15a, 15b; And a Con3.
[0090]
The set value information output from the host controller Con1 to the middle controller Con2 is a roll gap value, a first roll rolling load, a second roll rolling load, and a plate thickness / plate crown control gain. The rolled material information includes a plate thickness target value and a plate crown target value.
[0091]
FIG. 18 is a timing chart for explaining the operation of the control means 3. FIG. 18 (1) shows the set value information and rolling material information transmission timing of the host controller Con1, and FIG. FIG. 18 (3) shows the control operation related to the first roll zero load control and the first roll constant load control of the subordinate control device Con3, and FIG. 18 (4) shows the control operation of the subordinate control device Con3. FIG. 18 (5) shows the detection operation of the load relay detector of the rolling mill 2.
[0092]
First, in the state in which the preceding rolled material S is passed through the rolling mill 2, as shown in FIG. 18 (1), the set value information and rolled material information of the rolled material S input at time t1 are As shown in FIG. 18 (2), FIG. 18 (3), and FIG. 18 (4), it is given to the middle level control device Con2 and the lower level control device Con3.
[0093]
As shown in FIG. 18 (5), at time t3, the load relay detector changes from the on state to the off state, and it is detected that the rear end of the preceding rolled material S has come off the rolling mill 2, and the lower control device Con3 controls the roll gap by executing the second roll home position control based on the set value information and the rolled material information of the rolled material S from the host controller Con1.
[0094]
When the start of the next rolling material S is supplied to the rolling mill 2 at time t4, the load relay detector detects it and changes from the off state to the on state, and the lower control device Con3 inputs the set value. Based on the information and the rolling material information, the first roll constant load control is executed to control the rolling load.
[0095]
When the load relay detector is turned on, the intermediate control device Con2 starts timing from time t4 as shown in FIG. 18 (2), and from the off state at time t5 when a predetermined time Tsec has elapsed. Changes to the ON state and executes plate thickness and crown control. By this command from the middle control device Con2, the lower control device Con3 stops the first roll constant load control as shown in FIG. 18 (3), and as shown in FIG. 18 (4), The second roll home position control is stopped.
[0096]
As shown in FIG. 18 (2), for the rolled material S, at the time t6, which is Amm before the load relay detector of the rolling mill 2 is turned off, the plate thickness / plate crown control of the intermediate control device Con2 is performed. When finished and changed from the on state to the off state, the low order control device Con3 starts the first roll zero load control as shown in FIG. 18 (3) and as shown in FIG. 18 (4). Then, the second roll home position control is started.
[0097]
As shown in FIG. 18 (5), when the load relay detector changes from the on state to the off state at time t9, the rolling of the rolled material S is completed.
[0098]
The present invention is not limited to the three-stage simple roll stacking type roll bending mill described in the above embodiment, but also a four-high mill, six-high mill, single taper crown roll shift mill (abbreviated as K-WRS mill). , S-shaped crown roll shift rolling mill (abbreviated as CVC mill), cigar-shaped crown roll shift mill (abbreviated as UPC mill) and intermediate roll shift rolling mills, backup roll cloth rolling mill, work roll cloth It can implement suitably for roll cloth rolling mills, such as a rolling mill and a pair roll cloth rolling mill.
[0099]
【The invention's effect】
  According to this invention of Claim 1, the rolling load of a 1st rollAmount of changeAnd the rolling load of the second rollAmount of changeBased on the above, since the change amount of the exit side plate crown of the rolled material is calculated, even if the rolling load ratio between the first roll and the second roll is changed and the rolling load sum does not change, In addition, it is not necessary to install a sensor for detecting the amount of change in the exit side plate crown in the rolling mill, thereby obtaining the plate crown from each rolling load of the first and second rolls without increasing the cost. Can do.
[0100]
According to the second aspect of the present invention, the control means causes the outlet side plate thickness and the outgoing side plate crown of the rolled material to follow the target values based on the rolling load of the first roll and the rolling load of the second roll. Since the reduction force of the reduction means is controlled, there is no need to separately install a sensor such as a crown detector for detecting the amount of change in the sheet crown on the exit side, thereby reducing the cost without increasing the cost. The rolling force acting on the rolled material can be controlled by changing the rolling force applied to the first and second rolls by the means, and the exit side plate thickness and the exit side plate crown can be corrected to follow the target values.
[0101]
According to the third aspect of the present invention, the control means causes the exit side plate thickness and the exit side plate crown of the rolled material to follow the target value without mutual interference. It is possible to prevent the influence and the influence on the plate thickness when the plate crown is controlled from occurring, and to improve the response to the change of the plate thickness change and the plate crown change.
[0102]
According to the fourth aspect of the present invention, the control means performs rolling with respect to an input of at least one of the disturbances among the entry side plate thickness change, material temperature change, material deformation resistance change, friction coefficient change, and material tension change. Each change amount of the exit side plate thickness and the exit side plate crown is made to follow the target value without mutual interference, so the change of the entrance side plate thickness change, material temperature change, material deformation resistance change, friction coefficient change, and material tension change Even if one or more of them are input as disturbances to the control means, the correction amount of the outlet plate thickness and the correction amount of the outlet plate crown can be prevented from interfering with each other, and deterioration of responsiveness due to disturbance can be prevented. Can do.
[0103]
According to the fifth aspect of the present invention, the target response waveform of the outlet side plate thickness and the outlet side plate crown can be designated by the control means, so that the response is not determined as a result of the design, but a desired response is obtained. Since the design for obtaining can be performed, the design becomes easy.
[0104]
  According to the present invention as set forth in claim 6, by executing a program by a computer,First and second rollRolling loadAmount of changeOn the basis of the, OutSide plate crownStrangeThe amount of conversion is calculated. Computer also rolling mill rolling materialOut ofSince it can be realized as a control device that controls the rolling force so that the side plate crown follows the target value, a sensor such as a crown detector that detects the change amount of the plate crown on the exit side is separately installed in the rolling mill. I need itYes.Without increasing the cost, the rolling force acting on the rolled material is controlled by changing the rolling force applied to the first and second rolls by the rolling means, and the exit plate thickness and exit plate crown are corrected to the target values. can do.
[Brief description of the drawings]
BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a front view of a rolling equipment 1 to which a sheet thickness / crown control method of a rolling mill according to an embodiment of the present invention is applied.
FIG. 2 is a cross-sectional view showing a rolling-down means 15a provided in the rolling mill 2.
3 is a diagram showing a rolling mill 2 that is controlled by the control means 3, FIG. 3 (1) shows an equilibrium state of the first and second rolls 11, 12 and the rolled material S, and FIG. ) Shows a state in which the first and second rolls 11 and 12 further reduce the rolled material S from the equilibrium state of FIG.
FIG. 4 is a diagram showing a calculation example of an exit plate crown Q.
FIG. 5 is a graph showing the relationship between the inlet side plate thickness H, the outlet side plate thickness h and the rolling load P and the relationship between the roll gap G and the rolling load P with respect to the plate thickness correction by the rolling mill 2;
6 is a diagram showing a state equation of a machine model of the rolling mill 2. FIG.
7A is a diagram in which a non-interference control system is constructed in the machine model of the rolling mill 2, and FIG. 7B is a diagram illustrating a transfer function of the non-interference control system.
FIG. 8 is a diagram in which a robust servo system is constructed in the machine model of the rolling mill 2;
9 is a diagram showing a first simulation result for the robust servo system constructed by the control means 3, FIG. 9 (1) shows a change in the setting state of the target plate crown target value, and FIG. The change of the exit side plate crown is shown, and FIG. 9 (3) shows the change of the exit side plate thickness.
10 is a diagram showing a second simulation result for the robust servo system constructed by the control means 3. FIG. 10 (1) shows a change in the setting state of the plate thickness target value, and FIG. The change of the side plate crown is shown, and FIG. 10 (3) shows the change of the exit side plate thickness.
11 is a diagram showing a third simulation result for the robust servo system constructed by the control means 3. FIG. 11 (1) shows the change of the inlet side plate thickness as a disturbance input, and FIG. 11 (2) is the outgoing side plate. The change of the crown is shown, and FIG. 11 (3) shows the change of the outlet side plate thickness.
12 is a diagram in which an ILQ control system is constructed in the machine model of the rolling mill 2. FIG.
13 is a diagram showing a first simulation result for the ILQ control system constructed by the control means, FIG. 13 (1) shows a change in the setting state of the plate crown target value, and FIG. 13 (2) is a delivery side plate; The change of the crown is shown, and FIG. 13 (3) shows the change of the outlet side plate thickness.
14 is a diagram showing a second simulation result for the ILQ control system constructed by the control means 3. FIG. 14 (1) shows a change in the setting state of the plate thickness target value, and FIG. The change of the side plate crown is shown, and FIG. 14 (3) shows the change of the exit side plate thickness.
15 is a diagram showing a third simulation result for the ILQ control system constructed by the control means 3. FIG. 15 (1) shows the change in the inlet side plate thickness as a disturbance input, and FIG. 15 (2) shows the outlet side plate. The change of the crown is shown, and FIG. 15 (3) shows the change of the outlet side plate thickness.
FIG. 16 is a diagram showing a sequence when a plate thickness / crown control in which any one of a non-interference control system, a robust servo system, and an ILQ control system is constructed by the control means 3 is applied to an actual machine.
FIG. 17 is a diagram showing a specific function sharing of the control means 3;
18 is a timing chart for explaining the operation of the control means 3. FIG. 18 (1) shows the set value information and rolling material information transmission timing of the host controller Con1, and FIG. 18 (2) shows the middle. FIG. 18 (3) shows the control operation related to the first roll zero load control and the first roll constant load control of the subordinate control device Con3, and FIG. 18 (4) shows the control operation of the subordinate control device Con3. FIG. 18 (5) shows the detection operation of the load relay detector of the rolling mill 2.
[Explanation of symbols]
1 Rolling equipment
2 Rolling mill
3 Control means
11 First roll
12 Second roll
21 Rolling roll
13a, 13b; 14a, 14b; 22a, 22b Bearing part
15a, 15b; 16a, 16b Reduction means
23a, 23b Height adjustment means
26a, 26b Balance cylinder
27 Rolling machine housing
28a, 28b Housing window
30a, 30b; 31a, 31b Rolling force detector
29 Beam
50 cylinders
51 Hydraulic pressure adjusting means
52 Cylinder body
53 Piston
54 Cylinder tube
56 Piston chamber
57a, 57b pressure chamber
63 Reduction amount detection means
70 Servo valve
71 pump
72 motor
73 tanks

Claims (6)

In a sheet crown calculation method for a rolling mill comprising a first roll for rolling down a rolled material, a second roll for supporting the first roll, and a rolling means for rolling down the first and second rolls,
A plate crown calculation method for a rolling mill, characterized in that a change amount of an exit side plate crown of a rolled material is calculated based on a change amount of a rolling load of a first roll and a change amount of a rolling load of a second roll. The first roll for rolling the rolled material, the second roll for supporting the first roll, the rolling means for rolling down the first and second rolls, and the outlet side plate thickness and the outgoing side plate crown of the rolled material are equal to the target values. Control means for controlling the reduction force to the first and second rolls by the reduction means,
The control means controls the rolling force of the rolling means based on the rolling load of the first roll and the rolling load of the second roll so that the exit side plate thickness and the exit side plate crown of the rolled material follow the target values. A method for controlling the plate thickness and plate crown of a rolling mill. 3. The sheet thickness / plate crown control method for a rolling mill according to claim 2, wherein the control means causes the exit side plate thickness and the exit side plate crown of the rolled material to follow a target value without mutual interference. The control means is configured to set an exit side plate thickness and an exit side plate crown of the rolled material in response to an input of at least one disturbance among an entrance side plate thickness change, material temperature change, material deformation resistance change, friction coefficient change, and material tension change. 4. A method for controlling a thickness and a crown of a rolling mill according to claim 2, wherein the target values are made to follow each other without mutual interference. 5. The sheet thickness / plate crown control method for a rolling mill according to claim 2, wherein the control means specifies a delivery waveform thickness and a target response waveform of the delivery plate crown. 6. . The computer, on the basis of a change amount of the rolling load of the second roll which supports the change amount and the first roll of the rolling load of the first roll for rolling a rolled material, to calculate the change amount of the delivery side crown of the rolled material A program for calculating a sheet crown of a rolling mill, which functions as a computing means.

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