JP4606437B2 - Apparatus and method for crown control of hot rolling mill - Google Patents

Description

  The present invention relates to a crown control apparatus and method for a hot rolling mill, and more particularly to a control method suitable for making the crown uniform in the longitudinal direction of a steel sheet.

  Patent Documents 1 and 2 are methods for making the conventional crown uniform in the longitudinal direction of the steel sheet. In Patent Document 1, the detected crown obtained during rolling is locked on at an appropriate timing, and the crown is made uniform in the longitudinal direction of the steel sheet by performing FF / FB control in the longitudinal direction of the steel sheet with the lock-on value as a target value. The technique to make it is shown.

  Patent Document 2 discloses a technique for optimizing the timing for locking on in the above manner by paying attention to changes in crown deviation, rolling load, rolling speed, etc., and increasing the degree of uniformity of the crown in the longitudinal direction.

Japanese Unexamined Patent Publication No. 2006-021243 JP 2006-231387 A

  The technique of Patent Document 1 is more effective as the crown detection during rolling is better. When the crown of each pass or odd pass can be measured with sufficient accuracy with a stickel mill, or a crown meter is installed between stands with a tandem mill. However, this method is effective when the measurement result can be used. However, the crown meter is installed only on the exit side of the final stand in the tandem mill, so that only the crown as the final rolling result can be measured, or even if the crown during rolling can be measured, sufficient accuracy cannot be secured. In some cases, there was a problem that the effectiveness decreased.

  Patent Document 2 discloses a method for optimizing the lock-on timing, but does not disclose a method for further uniforming the crown in the longitudinal direction of the steel sheet by advancing the lock-on timing.

  The problem to be solved by the present invention is to control the bender, which is the operation end of the crown control, by appropriately correcting and controlling the front and rear ends of the steel sheet, thereby minimizing the region where the crown is unsteady at the front and rear ends. The purpose is to make the crown uniform over a wide range in the longitudinal direction of the steel sheet. As a result, the lock on timing is advanced. Further, the correction amount and correction timing of the bender after the next steel plate are calculated using only the crown data measured as the final rolling result.

  In order to solve this problem, in the present invention, the crown correction operation amount at the front and rear ends of the steel sheet is calculated by being divided into four parts: a front end correction amount, a front end correction distance, a rear end correction amount, and a rear end correction distance. , Crown data storage means for storing the crown in the longitudinal direction of the steel sheet detected at the end of rolling, bender adjustment pointer extraction means for extracting features from the chart data of the crown, and adjustment amounts for storing the operation amounts of the four crown corrections Front end correction amount calculation means and front end correction distance calculation that respectively calculate a front end correction amount, a front end correction distance, a rear end correction amount, and a rear end correction distance from the storage means, the extracted adjustment pointer, and the stored operation amount Means, a trailing edge correction amount calculating means, and a trailing edge correction distance calculating means. Further, from the outputs of these four calculating means, the front and rear end correction amount means for calculating and outputting the bender correction amount in the steel plate longitudinal direction, and the bender value determined by the preset control, correspond to each part in the steel plate longitudinal direction. An operation amount calculating means for finally calculating the vendor operation amount is provided.

  The operation of the present invention will be described. The crown of the steel sheet wound as a product is stored in the crown data storage means in association with the distance from the front end of the steel sheet. The bender adjustment guideline extraction means is based on the chart data of the crown, the amount of undershoot of the tip crown, the distance from the steel plate tip until the tip crown reaches the steady state, the amount of undershoot of the trailing edge crown, and the rear plate after the steady state end. Four feature amounts of distance to the end are extracted as vendor adjustment guidelines. The leading edge correction amount calculating means, the leading edge correction distance calculating means, the trailing edge correction amount calculating means, and the trailing edge correction distance calculating means fetch the previous value output by each calculating means from the adjustment amount storage means and use the extracted feature values. Four crown correction operation amounts to be applied to the next steel plate are calculated by a predetermined calculation. Further, the leading and trailing edge correcting means combines these, and calculates the vendor correction amount corresponding to each part in the longitudinal direction of the steel sheet. By combining, the bender operation amount corresponding to each part in the longitudinal direction of the steel sheet is calculated.

  According to the present invention, a crown that is relatively close to the target value can be obtained by appropriate correction even in the crown unsteady portion (transient state portion) at the front and rear ends of the steel plate, and the steady crown can be obtained at an earlier timing of the steel plate tip. As a result, the lock-on timing can be advanced.

  Furthermore, since the vendor correction amount is determined according to the final crown data after rolling without using the crown information during rolling, only the crown as the final rolling result can be measured, or the crown during rolling can be measured. However, it can also be applied to cases where sufficient accuracy cannot be ensured for various reasons.

  In the embodiment of the present invention, a steel plate is produced in which crowns having values close to the target value are uniformly distributed in the longitudinal direction including the front and rear ends. Furthermore, by increasing the accuracy of the crown, the shape of the steel sheet (variation in the elongation in the width direction) can be made uniform, and as a result, a high-quality product can be produced. Hereinafter, Embodiment 1 to Embodiment 6 of the present invention will be described in detail with reference to the drawings.

  FIG. 1 shows a configuration diagram of a crown control apparatus according to Embodiment 1 of the present invention. The crown control device 100 receives various signals from the control target 150 and outputs control signals to the control target 150. First, the configuration of the control target 150 will be described.

  The control object 150 of this embodiment is a hot-rolled stickel mill, and a rough material 152 having a thickness of about 30 mm produced by a roughing mill, which is the previous process, is reciprocally rolled about 3 to 7 times by a mill 151 to 2 mm. Produces steel sheet 153 of ~ 10mm. Hereinafter, each rolling is called a pass. The steel plate being rolled is gradually thinned from the rough plate state by being reciprocally rolled while being wound around the inlet side coiler 162 and the outlet side coiler 163. In the present embodiment, a crown meter 171 for measuring the crown amount of the steel plate is provided on the exit side of the mill 151.

  FIG. 2 is an explanatory view showing the definition of the crown. The crown C is the difference between the thickness hc at the center of the plate and the thicknesses he1 and he2 at a certain distance from the edge.

ｈe1、ｈe2の測定点であるエッジからの距離は40mmで定義されることが多いが、25mmや70mmの場合もある。クラウン計171は、図２のように板幅方向に複数の測定ポイント201を有しており、板幅方向の板厚分布を検出した上で、クラウン量を算出する。本実施例で板幅方向の厚み分布は、主としてワークロール160に与えられる鋼板幅方向の曲げ力で制御される場合を例に説明するが、上下のロールをクロスさせ、クロス角で制御する場合にも、本発明を同様に適用できる。以下曲げ力をベンディング力と称する。

The distance from the edge that is the measurement point of he1 and he2 is often defined as 40 mm, but it may be 25 mm or 70 mm. As shown in FIG. 2, the crown meter 171 has a plurality of measurement points 201 in the plate width direction, and calculates the crown amount after detecting the plate thickness distribution in the plate width direction. In the present embodiment, the thickness distribution in the sheet width direction will be described as an example in which the thickness distribution is mainly controlled by the bending force in the sheet width direction given to the work roll 160, but the upper and lower rolls are crossed and controlled by the cross angle. In addition, the present invention can be similarly applied. Hereinafter, the bending force is referred to as bending force.

  The operation amount output from the control device 100 to the mill 151 is a set value of the bending force. The crown meter 171 detects the crown obtained as a result of the control, and outputs it to the crown control device 100 as a measured value. Although many signals are actually exchanged, only necessary ones will be described.

  Next, the configuration of the crown control device 100 will be described. The crown control device 100 determines a target crown for each pass of reciprocating rolling so that a target steel plate crown is produced, and refers to a control model 103 to calculate a setup command 102 for calculating a vendor command B0 for realizing the target crown. have. Further, crown receiving means 110 for receiving the measurement result of the crown meter 171; crown data storing means 111 for storing the received crown data in association with the distance from the front end of the steel sheet; and a steel sheet that is subsequently rolled from the stored crown data On the other hand, it has a leading and trailing edge correction adjusting means 104 for calculating and outputting a vendor correction specification applied to the leading and trailing edges of the steel plate. Furthermore, it has a front / rear end correction means 105 that specifically calculates the correction amount of the front / rear end according to the distance from the front end of the steel sheet in accordance with the vendor correction specification that is the output of the front / rear end correction adjustment means 104 and outputs it as ΔB1. The operation unit calculating unit 130 outputs a vendor setting value Bref that is output to the work roll 160 by combining the outputs of the setup unit 102 and the leading and trailing end correction unit 105.

  Further, the leading and trailing edge correction means 104 is a vendor adjustment guideline extraction means 112 that extracts a feature amount for determining the leading and trailing edge correction specifications of the vendor from the crown data for one steel sheet stored in the crown data storage means 111. It has an adjustment amount storage means 113 that accumulates the current adjustment amount for leading and trailing edge correction. Further, from the feature amount extracted by the vendor adjustment guideline extraction means 112 and the contents of the adjustment amount storage means 113, the tip correction amount calculation means 114 for calculating the correction amount of the bender at the steel plate tip, the range for tip correction is determined from the tip of the steel plate. Leading edge correction distance calculating means 115 for calculating as the distance, trailing edge correction amount calculating means 116 for calculating the correction amount of the bender at the rear end of the steel sheet, and trailing edge correction distance for calculating the range for performing the trailing edge correction as the distance from the trailing edge of the steel sheet Calculation means 117 is provided.

  Hereinafter, the processing of each unit will be described in detail. The control model 103 is a mathematical formula for estimating the crown amount after rolling (the steel plate exit-side crown amount). Crown is mainly determined by the amount of crown before rolling (the amount of crown on the steel sheet entry side), rolling load, and roll diameter profile shape in the width direction of the work roll (work roll crown) in addition to the bending force. 4 is an algebraic expression. A value obtained by dividing the crown by the plate thickness is called a crown ratio. In the algebraic expression, εH represents a crown ratio before rolling, and εh represents a crown ratio after rolling.

ただし，CH：鋼板入側クラウン量（圧延前クラウン量）、Ch：鋼板出側クラウン量（圧延後クラウン量）、Hc：入側板厚、hc：出側板厚、B：ベンディング量、P：圧延荷重、CRW：ワークロールクラウン、A1〜A5：板厚、板幅、鋼種等により決定される係数。

However, CH: Steel plate entry side crown amount (Crown amount before rolling), Ch: Steel plate exit side crown amount (Crown amount after rolling), Hc: Entrance side plate thickness, hc: Outlet plate thickness, B: Bending amount, P: Rolling Load, CRW: Work roll crown, A1 to A5: Coefficient determined by plate thickness, plate width, steel grade, etc.

  The setup means 102 determines the target crown of each pass so that the target crown can be obtained in the final pass, based on the rolling load of each pass determined to obtain the target plate thickness, the temperature of the plate, and the like. Then, the estimated value of the entry side crown, entry side plate thickness, exit side plate thickness, rolling load, and work roll crown amount is used as an input value, and from the relationship between the input value given by Equations 2 to 4 and the steel plate exit side crown amount, The bending force B0 that realizes the target crown for each pass is calculated and output for each pass. Further, the estimation of the work roll crown is determined by a calculation that takes into account the amount of thermal expansion during rolling, the effect of reducing the roll diameter due to wear after replacement of the work roll 160, and the shift amount of the work roll 160 in the steel plate width direction.

  FIG. 3 schematically shows a general crown distribution from the front end to the rear end of the steel plate. A detection crown C (l) from the steel plate front end 301 to the rear end 302 is drawn with respect to the steel plate length (l). The crown in the steel sheet rolled by the stickel mill has a large value as shown in the figure at the front and rear ends of the steel sheet due to a decrease in temperature.

  Therefore, the crown distribution of the entire steel plate is large, and the front end transient state portion 303, the steady portion 304, and the rear end transient state portion 305 are divided. In order to obtain a good crown control result in the longitudinal direction of the steel plate, in addition to bringing the crown of the steady portion 304 close to the target value, the range of the tip transient state portion 303 and the rear end transient state portion 305 is narrowed as much as possible, It is necessary to secure 304 in a wider range in the longitudinal direction of the steel plate. In general, the crown accuracy of the stationary part 304 is determined by the goodness of the calculation result of the setup means 102. On the other hand, the vendor's leading and trailing edge correction method provided in the present application aims to widen the range of the stationary part.

  FIG. 4 shows the configuration of the crown data storage unit 111. The crown data accumulating unit 111 takes in the measurement crown received by the crown receiving unit 110 and accumulates it by associating it with the distance from the front end of the steel plate. FIG. 4 shows an example in which the measured value of the crown is stored in units of 100 mm from the front end to the rear end of the steel plate.

  Hereinafter, the configuration of the leading and trailing edge correction specification adjusting means 104 will be described. FIG. 5 schematically shows the feature amount extracted by the vendor adjustment guideline extraction unit 112. The vendor adjustment guideline extraction means 112 uses the length Lt of the tip transient state portion 303, the crown undershoot amount Ut in the tip transient state portion 303, and the features as features for adjusting the correction specifications of the leading and trailing ends from the waveform of the crown. The length Lb of the end transition state portion 305 and the crown undershoot amount Ub in the rear end transition state portion 305 are extracted. Here, Ut and Ub take negative values when undershooting occurs. In the detection crown 401, Lt and Ut are calculated using the steel plate front end crown 404 and the steady portion crown 405, and Lb and Ub are calculated using the steady portion crown 405 and the steel plate rear end crown 406 as follows. .

  FIG. 6 shows an algorithm for extracting four feature quantities Lt, Ut, Lb, and Ub. First, in S6-1, the moving average Ca (l) is calculated for the detected crown C (l) every 100 mm. The moving average Ca (l) can be calculated by Equation 5.

ｎはクラウンデータのバラツキ具合に依存して決める値であるが、実際には２〜５程度の値が選択される場合が多い。次に各ｌに対応した移動分散を算出する。移動分散Cv(ｌ)は数６で算出できる。

Although n is a value determined depending on the variation of crown data, in practice, a value of about 2 to 5 is often selected. Next, the moving variance corresponding to each l is calculated. The moving variance Cv (l) can be calculated by Equation 6.

次に定常部クラウンの平均値に相当する値を算出する。鋼板長をＬとし、ＭからＬ−Ｍの間のＣ(ｌ)の平均値CAを算出する。平均値CAは数７で算出される。

Next, a value corresponding to the average value of the steady portion crown is calculated. The steel plate length is L, and an average value CA of C (l) between M and LM is calculated. The average value CA is calculated by Equation 7.

Ｍは定常クラウンが十分に実現されている範囲を特定するためのパラメータで、例えばＬの１／３に設定すれば良い。この場合、鋼板の中央１／３のクラウンデータで平均値を算出したことになる。

M is a parameter for specifying a range in which the steady crown is sufficiently realized, and may be set to 1/3 of L, for example. In this case, the average value is calculated by the crown data of the center 1/3 of the steel plate.

Next, in S6-2, the minimum value l _{min of} l that satisfies the difference between Ca (l) and CA equal to or less than a certain value and Cv (l) equal to or less than the certain value is extracted. l _min indicates the length from the front end of the steel plate until the crown gradually approaches the value of the steady portion and the variation settles below a certain value. That is, the length of the tip transient state portion is quantified.

In S6-3, the distance l from the steel plate front end is at _{l min} is smaller than the range, extracts the minimum value Ct _min of Ca (l) -CA. When Ct _min is negative, it indicates that the crown undershoots in the vicinity of the tip of the steel sheet, and the larger the Ct _min , the larger the amount of undershoot.

In S6-4, the maximum value l _max of l is extracted so that the difference between Ca (l) and CA is less than a certain value and Cv (l) is less than the certain value. l _max indicates the length until the crown gradually approaches the value of the steady portion and the variation settles below a certain value when going back from the rear end of the steel plate toward the front end. That is, the length of the rear end transient state portion is quantified.

In S6-5, the distance l from the steel sheet rear end at _{l max} greater range, extracts the minimum value Cb _min of Ca (l) -CA. This shows that when Cb _min is negative, the crown undershoots in the vicinity of the rear end of the steel sheet, and the larger the Cb _min , the larger the amount of undershoot.

In _S6-6, the Lt by substituting _{l min,} Ut by substituting Ct _min, and Lb by substituting _{L-l max,} respectively calculates the Ub by substituting Cb _min.

  Thus, all the four feature amounts shown in FIG. 5 are calculated. Hereinafter, a method of appropriately correcting the bender at the front and rear ends of the steel sheet will be described for the purpose of reducing the range of the undershoot amount and the transient state at the front and rear ends of the steel sheet.

  FIG. 7 shows the configuration of the adjustment amount storage means 113, and FIG. 8 shows a schematic diagram of the bender correction amount applied to the longitudinal direction of the steel sheet. Bender correction is applied to the front and rear ends of the steel plate. As shown in FIG. 8, the correction range (correction length from the front end of the steel plate) is A, the correction amount at the front end of the steel plate is B, and the correction of the rear end of the steel plate is performed. The range (correction length to the rear end of the steel plate) is C, and the correction amount of the rear end of the steel plate is D. Here, the adjustment of the correction specifications of the leading and trailing end benders is nothing but adjusting A, B, C, and D to appropriate values.

  In this embodiment, the adjustment amount storage means 113 is stratified by steel type, plate thickness, plate width, and pass number as shown in FIG. 7, and an adjustment amount A for bender correction corresponding to each layer. , B, C, D are stored. As the initial values of A, B, C, and D, appropriate values are input according to empirical values. In FIG. 7, SUS304 steel grade, plate thickness 2.0-3.0, plate width 900mm, 1st pass, bender correction length A from the steel plate tip is 24m, bender correction amount B is 150ton, steel plate rear end It shows that the vendor correction range C is 14 m and the correction amount D is 120 tons.

  The maximum number of passes was set to 7 following the normal Steckel mill for stainless steel rolling, but a larger value may be required as the maximum number of passes for mills targeting high-strength materials. . At this time, it is only necessary to secure as many stratifications of the number of passes of the adjustment amount storage means 113 as necessary.

  The tip correction amount calculation means 114, the tip correction distance calculation means 115, the tip correction amount calculation means 116, and the tip correction distance calculation means 117 are extracted from the contents of the adjustment amount storage means 113 and the crown waveform obtained by the latest rolling. From the feature amounts Lt, Ut, Lb, Ub, A ′, B ′, C ′, D ′ of each pass used for the next rolling is calculated for each pass.

  The basic calculation method is the same for both the front and rear ends. Paying attention to the crown undershoot amount, if the undershoot amount is large, decrease the bender correction amount. Adjust the bender's correction range in the direction of decreasing. In order to calculate A ′ to D ′, the calculation formulas executed by the tip correction amount calculation unit 114, the tip correction distance calculation unit 115, the tip correction amount calculation unit 116, and the tip correction distance calculation unit 117 are expressed by Equations 8 to 11 below. Is shown quantitatively.

Ａ'〜Ｄ'が求められたことで、鋼板長手方向の部位ｌに対するベンダー補正量ΔＢ1(ｌ)が一意に決定できる。

By obtaining A ′ to D ′, the bender correction amount ΔB1 (l) for the portion 1 in the longitudinal direction of the steel plate can be uniquely determined.

  FIG. 9 shows a processing procedure executed by the leading and trailing edge correcting means 105. In S9-1, the current rolling length l is fetched with respect to the vendor correction amount ΔB1 (l) for the steel plate length (l) calculated using the adjustment results A ′ to D ′ of the leading and trailing edge correction amount adjusting means 104. The corresponding ΔB1 (l) is calculated.

  In S9-2, the calculation result is output to the operation amount calculation means 130. The operation amount calculation unit 130 outputs a value obtained by adding ΔB1 (l) to the vendor value B0 output from the setup unit 102 to the control target 150 as the vendor setting value Bref. The calculated A ′ to D ′ are stored as new A to D for each corresponding layer of the adjustment amount storage means 113.

  In the present embodiment, the crown distribution and the bender operation amount are considered focusing on the distance from the steel plate tip, but it is also possible to focus on the rolling time after the steel plate 153 is caught in the work roll 160. Even in that case, the present invention can be applied in the same way. In this embodiment, the bender is considered as the operation end for controlling the crown, but it is also conceivable to use a cross angle and a bender together as the operation end. Even in this case, the present invention can be applied in the same manner.

  Next, a second embodiment of the present invention will be described. The load increases when the steel plate 153 is bitten into the mill 151 and the tail is removed. When the load increases, the crown increases correspondingly. Therefore, it is effective to detect the increase in load and cancel the increase in the crown by the bender in order to obtain a uniform crown in the steel plate length method. is there.

  FIG. 10 shows a configuration in the case where a load correction function is provided in addition to the leading and trailing edge correction means 105 shown in the first embodiment. In this embodiment, load receiving means 1001 and load correcting means 1002 are provided, and the bender is corrected according to the detected load. However, in FIG. 10, only the front and rear end correction means 105 is shown, and the front and rear end correction specification adjusting means 104 and the crown receiving means 110 are omitted.

  FIG. 11 shows the processing executed by the load correction means 1002. In S11-1, the load correction means 1002 calculates the load fluctuation using the actual load value of the work roll 160 of the mill 151 and the value assumed in the setup received by the load receiving means 1001. In step S11-2, the vendor correction amount ΔB2 corresponding to this is output. ΔB2 is calculated by Equation 12.

ただし、β1：ゲイン、Ｐset：セットアップ計算で想定した荷重、Ｐact：制御対象150からその都度取り込んだ実績荷重である。

However, β1: Gain, Pset: Load assumed in the setup calculation, Pact: Actual load taken from the controlled object 150 each time.

  From Equation 12, the load variation can be calculated in the form of deviation from the assumed load at the time of setup calculation. As a result of the calculation, when the actual load is large, the increase in the crown is suppressed by correspondingly increasing the vendor. The manipulated variable calculation means 130 outputs a value obtained by adding ΔB2 to B0 in addition to ΔB1 (l) to the controlled object 150 as a vendor setting value Bref.

  Next, a third embodiment of the present invention will be described. In the steel plate 153 rolled by the stickel mill, the crown has a large value because the steel plate temperature at the front and rear ends is low. In order to obtain a uniform crown in the steel plate longitudinal method, it is effective to detect a decrease in temperature and cancel the increase in the crown accompanying this by the bender.

  FIG. 12 shows a configuration when a plate temperature correction function is provided in addition to the leading and trailing edge correction means 105 shown in the first embodiment. In this embodiment, plate temperature detecting means 1201 and plate temperature correcting means 1202 are provided. The plate temperature receiving means 1201 receives the temperature of the steel plate 153 detected from the thermometer 1200. The plate temperature correcting unit 1202 corrects the bender based on the plate temperature received by the plate temperature receiving unit 1201.

  FIG. 13 shows the processing executed by the plate temperature correcting means 1202. In S13-1, the plate temperature correcting means 1202 calculates the temperature fluctuation using the actual steel plate temperature value received from the plate temperature receiving means 1201 and the steel plate temperature assumed in the setup. In step S13-2, the vendor correction amount ΔB3 corresponding to this is output. ΔB3 is calculated by Equation 13.

ただし、γ1：ゲイン、Ｔset：セットアップ計算で想定した荷重、Ｔact：温度計1200からその都度取り込んだ実績温度である。

However, γ1: Gain, Tset: Load assumed in the setup calculation, Tact: Actual temperature taken from the thermometer 1200 each time.

  In Equation 13, the fluctuation amount of the steel sheet temperature is calculated in the form of a deviation from the assumed temperature at the time of setup calculation. When the actual temperature is lower than the assumed temperature, the increase in crown is suppressed by increasing the bender according to the degree. The operation amount calculation means 130 outputs a value obtained by adding ΔB3 to B0 as the vendor setting value Bref to the control object 150.

  In this embodiment, the temperature correction amount is added to the bender's leading and trailing edge correction amount. However, a configuration in which Bref is calculated by further adding the load correction amount and adding B0, ΔB1 (l), ΔB2 is also considered. It is done. In this case as well, appropriate adjustment of each gain is necessary, but the present invention can be applied in the same way.

  Next, a fourth embodiment of the present invention will be described. In this embodiment, rolled crown data is stored for a plurality of steel plates, and these are used comprehensively to perform vendor correction.

  FIG. 14 shows a configuration of a crown control device according to the fourth embodiment. In addition to the configuration of the first embodiment, an adjustment guide storage unit 1401 that accumulates the output of the vendor adjustment guide extraction unit 112 is provided. The adjustment guideline storage unit 1401 stores the output of the vendor adjustment guideline extraction unit 112, and the storage result is calculated at a predetermined timing at the front end correction amount calculation unit 114, the front end correction distance calculation unit 115, the rear end correction amount calculation unit 116, The result is output to the rear end correction distance calculation means 117.

  FIG. 15 shows the configuration of the adjustment pointer storage means 1401. Characteristic quantities Lt (1) to Lt (n), Ut (1) to Ut (n) of the latest steel plates (steel No. 1) to n steel plates for each grade of steel type, plate thickness, and plate width ), Lb (1) to Lb (n), and Ub (1) to Ub (n) are stored. The processes executed by the leading edge correction amount calculating means 114, the leading edge correction distance calculating means 115, the trailing edge correction amount calculating means 116, and the trailing edge correction distance calculating means 117 after taking them in are the same as those in Expressions 8 to 11. In addition, as Lt, Ut, Lb, and Ub to be used, a simple average of the values taken in as shown in Equation 14 may be used, or the most recent result is emphasized as shown in Equation 15. A weighted average may be used.

また、先端補正量算出手段114、先端補正距離算出手段115、後端補正量算出手段116、後端補正距離算出手段117のそれぞれが演算を実施し、先後端補正調整手段104の出力を更新するタイミングとしては、鋼板の圧延毎で良い。あるいは、特徴量格納手段1401に鋼板複数本分のデータが蓄積されたタイミングで先後端補正調整手段104が演算を行い、出力を更新しても良い。後者の場合、クラウン補正を多くの鋼板データで実施するため、補正の応答性は低下するが、安定した先後端補正を行うことができる。

Further, each of the front end correction amount calculating unit 114, the front end correction distance calculating unit 115, the rear end correction amount calculating unit 116, and the rear end correction distance calculating unit 117 performs an operation, and updates the output of the front / rear end correction adjusting unit 104. As timing, it is sufficient for each rolling of the steel sheet. Alternatively, the leading and trailing edge correction adjusting means 104 may perform calculation and update the output at the timing when data for a plurality of steel plates is accumulated in the feature amount storage means 1401. In the latter case, since the crown correction is performed with a lot of steel plate data, the correction responsiveness is lowered, but stable leading and trailing edge correction can be performed.

  Next, a fifth embodiment in which the present invention is combined with the crown control device described in Patent Document 1 will be described. FIG. 16 shows a configuration of a crown control device according to the fifth embodiment, and crown meters are attached to the entrance side and the exit side of the mill 151. The crown of the steel plate 153 located on the entry side with respect to the mill 151 can be measured by the entry-side crown meter 170, and the crown of the steel plate 153 located on the exit side with respect to the mill 151 can be measured by the exit-side crown meter 171. Can be measured. Hereinafter, in reciprocating rolling by the mill 151, rolling per round is referred to as a pass, and the number of reciprocating rollings is referred to as a pass number.

  In this embodiment, the control device 100 determines a target crown for each pass of reciprocating rolling so that a target steel plate crown is produced, and refers to the control model 103 to calculate a vendor command Bset that realizes the target crown. Set-up means 102 In the second and subsequent passes, modify the scheduled crown target value and correct the corresponding vendor command value so that the crown value that did not meet the target in the previous pass can be resolved in the subsequent pass. In addition, an inter-path feedforward (FF) control means 1710 for outputting the correction value B0 is provided. Further, an input-side crown receiving means 1710 for receiving the output of the input-side crown meter 170, and an input-side crown lock-on means 1711 for reading and storing a crown in the vicinity of a predetermined distance from the top of the steel plate 153 at the mill entry side of each path. In order to correct the bending force so that the crown of each part of the steel plate coincides with the lock-on crown after the lock-on is established, the deviation between the output of the entry-side crown lock-on means 1711 and the output of the entry-side crown receiving means 1710 is taken in. Is provided with a longitudinal crown entry side control means 1712 for outputting the correction amount ΔB4. Further, an output-side crown receiving means 1720 for receiving the output of the output-side crown meter 171; and an output-side crown lock-on means 1721 for reading and storing a crown in the vicinity of a predetermined distance from the top of the steel plate 153 at the mill output side of each path. In order to correct the bending force so that the crown of each part of the steel plate coincides with the lock-on crown after the lock-on is established, the deviation between the output of the output-side crown lock-on means 1721 and the output of the output-side crown receiving means 120 is taken in. Is provided with a longitudinal crown exit side control means 1722 for outputting the correction amount ΔB5.

  In the crown distribution from the top of the steel plate 153, the lock-on crown is obtained at an earlier timing than the original target crown. Therefore, by controlling the longitudinal direction of the steel plate 153 using the lock-on crown as the target crown, the steady portion crown 405 of the steel plate 153 is changed. Can be long. Further, by compensating the deviation from the original crown target value by the inter-pass feedforward (FF) control means 1710 in the subsequent pass, the steady portion crown 405 can be brought closer to the original target crown.

  The control device 100 further includes an operation amount calculation unit 1730. The operation amount calculation unit 1730 takes in the value obtained by adding B0, ΔB4, and ΔB5 and the output ΔB1 of the leading and trailing end correction unit 105 shown in the first embodiment. These are added, and the final bender operation amount Bref is output at each timing in rolling the steel plate 153.

  In the configuration shown in the present embodiment, the front and rear end correcting means 105 is added to the crown control device described in Patent Document 1, so that the front end crown of the steel plate 153 quickly approaches the steady state, so that the crown is locked on. The distance from the top of the steel plate 153 can be shortened. Alternatively, when the lock-on is performed at the same distance, the lock-on crown can be brought close to the target value. In either case, it is possible to contribute to lengthening the steady portion crown 405 of the steel plate 153. The fifth embodiment can be combined with the second, third, and fourth embodiments.

  In the sixth embodiment, tuning of vendor correction specifications at the front and rear ends is performed by a plant manufacturer as a service using the Internet from a remote location.

  FIG. 17 shows a system configuration of the sixth embodiment. Manufacturer of steel company 1501, Lt, Ut, Lb, Ub taken by control device 100 from control object 150, actual data such as load, temperature, plate speed, steel type, plate thickness, plate width, etc. The control information is taken into the server 1504 of the company through the network 1511, the server 1510, and the line network 1503. Then, it is stored in the adjustment database 1505. The configuration of the adjustment database 1505 may be the same as that of the adjustment amount storage unit 113.

  Manufacturer 1502 has leading and trailing edge correction means 1506, and according to the request from steel company 1501, A, B, C, D corresponding to each layer is calculated using the data accumulated in adjustment database 1505. The calculation result is sent to the steel company 1501.

  The algorithm executed by the model tuning unit 1506 may be the same as that of the leading and trailing end correction adjusting unit 104. The value of model tuning may be associated with the number of tunings, or may be a result reward associated with a control result improved as a result of tuning.

  In addition to the crown control of the stickel mill described in the embodiment 1-4, the present invention is a control method that pays attention to the crown of the steel sheet after rolling, so that the crown control of the tandem mill provided with a crown meter on the final stand exit side is also used. The present invention can be applied with the same configuration.

The block diagram which shows the crown control apparatus by Example 1 of this invention. Explanatory drawing which showed the definition of crown. The schematic diagram which shows the detection crown of a steel plate longitudinal direction. Explanatory drawing which shows the example of accumulation | storage of a crown data storage means. The schematic diagram which shows the feature-value for adjustment with respect to the detection crown of a steel plate longitudinal direction. The flowchart which shows the process of a vendor adjustment guideline extraction means. Explanatory drawing which shows the example of a storage of an adjustment amount storage means. The schematic diagram which shows the bender correction amount of a steel plate longitudinal direction. The flowchart which shows the process of a front-and-back end correction | amendment means. The block diagram of the crown control apparatus provided with the load correction means of Example 2. FIG. The flowchart which shows the process of a load correction | amendment means. FIG. 6 is a configuration diagram of a crown control device including a temperature correction unit according to a third embodiment. The flowchart which shows the process of a temperature correction means. The block diagram of the crown control apparatus provided with the adjustment needle | hook storing means of Example 4. FIG. Explanatory drawing which shows the example of a storage of an adjustment guideline storage means. The block diagram which combined the system and Example 1 which perform FF / FB control to a steel plate longitudinal direction by using the lock-on value as a target value with the crown control apparatus of Example 5. FIG. The system block diagram which carries out remote service of the adjustment of the front-and-rear end correction amount of a vendor.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 100 ... Control apparatus, 102 ... Setup means, 103 ... Control model, 104 ... Lead / rear end correction adjustment means, 105 ... Lead / rear end correction means, 112 ... Bender adjustment guideline extraction means, 113 ... Adjustment amount storage means, 114 ... End correction amount Calculating means, 115 ... tip correction distance calculating means, 116 ... trailing edge correction amount calculating means, 117 ... trailing edge correction distance calculating means, 130 ... manipulated variable calculating means, 150 ... controlled object, 1002 ... load correcting means, 1202 ... temperature Correction means, 1401... Adjustment guide storage means.

Claims (13)

In a hot rolling mill having a crown meter for detecting a crown and at least a bender as an operation end for controlling the crown,
Using the setup means to calculate the set value of the vendor in the setup calculation prior to rolling the steel sheet, the crown storage means to store the crown data of the steel sheet taken from the crown meter, and the stored crown data, Calculates the correction value of the bender during steel plate rolling from the information on the correction specification of the bender and the rolling part of the steel plate calculated by the front and rear end correction adjustment unit for calculating the correction specification of the bender at the front and rear end of the steel plate to be applied. A hot rolling mill comprising: a leading and trailing edge correcting means; and an operation amount calculating means for calculating a vendor command value from the set value of the vendor and the correction value of the vendor and outputting the calculated value to the hot rolling mill. Crown control device.   The leading and trailing edge correction adjusting means takes in the crown data from the crown accumulating means, and extracts the undershoot amount and the length of the transient state portion at each of the steel sheet leading end portion and the trailing end portion by a predetermined calculation. The crown control device for a hot rolling mill according to claim 1, further comprising an adjustment pointer extracting means.   The leading and trailing edge correction adjusting means takes in the output of the bender adjustment guideline extracting means, determines whether or not the crown is undershooting at the tip of the steel sheet, and if undershooting, the steel sheet according to the amount of undershooting A tip correction amount calculation means for increasing the bender correction amount of the steel plate tip according to the length of the steel plate tip transient state portion when the tip end bender correction amount is reduced and undershooting is not provided. The crown control device for a hot rolling mill according to claim 1, wherein:   The leading and trailing edge correction adjusting means takes in the output of the bender adjustment guideline extracting means, determines whether or not the crown is undershooting at the tip of the steel sheet, and if undershooting, the steel sheet according to the amount of undershooting A tip correction distance calculation means for increasing the vendor correction distance of the steel plate tip according to the length of the steel plate tip transient state portion when the bender correction distance of the tip is reduced and the undershoot is not present is provided. The crown control device for a hot rolling mill according to claim 1, wherein:   The leading and trailing edge correction adjusting means takes in the output of the bender adjustment guideline extracting means, determines whether the crown is undershooting at the trailing edge of the steel plate, and if undershooting, according to the amount of undershooting Rear end correction amount calculation means for reducing the bender correction amount at the rear end of the steel plate and increasing the bender correction amount at the rear end of the steel plate according to the length of the transitional state portion of the rear end of the steel plate when there is no undershoot The crown control device for a hot rolling mill according to claim 1, comprising:   The leading and trailing edge correction adjusting means takes in the output of the bender adjustment guideline extracting means, determines whether the crown is undershooting at the trailing edge of the steel plate, and if undershooting, according to the amount of undershooting Rear end correction distance calculation means for reducing the bender correction distance at the rear end of the steel plate and increasing the bender correction distance at the rear end of the steel plate according to the length of the transitional state portion of the rear end of the steel plate when there is no undershoot The crown control device for a hot rolling mill according to claim 1, comprising:   For the crown data captured from the crown storage means, a moving average value, a moving variance value, and an average value near the center of the steel sheet are calculated, and the moving average value and the average value near the center of the steel sheet are less than a certain value, and the moving variance value The length of the transient state part of the steel plate tip is extracted by the distance from the steel plate tip of the part where the value is below a certain value, and the value obtained by subtracting the average value near the center of the steel plate from the moving average value in the transient state part of the steel plate tip The minimum value is extracted as the amount of undershoot at the front end of the steel sheet, the moving average value and the average value near the center of the steel sheet are more than a certain value, and the distance from the rear edge of the steel sheet where the moving dispersion value is more than a certain value, Extract the length of the transitional state part at the rear end of the steel sheet, and extract the minimum value of the moving average value from the moving part average value near the center of the steel sheet in the transient state part at the rear end of the steel sheet to extract the undershoot amount at the rear end of the steel sheet Vendor adjustment guideline extraction means DOO hot rolling mill crown control apparatus according to claim 1, wherein.   The leading and trailing edge correction adjusting means is an adjustment guide for accumulating a plurality of steel sheet leading and trailing edge undershoot amounts and transient state lengths extracted from a recently rolled steel sheet for each predetermined layer. The front end correction amount calculation means, the front end correction distance means, the rear end correction amount calculation means, and the rear end correction distance calculation means are provided with a storage means, the steel plate front end portion and the rear end stored corresponding to the steel plate to be rolled next time. The hot rolling according to claim 1, wherein a front end correction amount, a front end correction distance, a rear end correction amount, and a rear end correction distance are calculated using the undershoot amount of the portion and the length of the transient state portion, respectively. Mill crown control device.   Load correction means for taking in the load during rolling from the hot rolling mill, calculating a vendor correction amount that offsets the influence of fluctuations from the assumed load at the time of setup calculation on the crown, and outputting as a first vendor correction amount And a manipulated variable calculating means for calculating a vendor command value from the second vendor correction amount output by the leading and trailing edge correcting means and the vendor setting value output by the set-up means and outputting the calculated value to the hot rolling mill. The crown control device for a hot rolling mill according to claim 1, wherein:   The steel plate temperature during rolling is taken from the hot rolling mill, a vendor correction amount that offsets the influence of fluctuations from the assumed steel plate temperature during the setup calculation on the crown is calculated, and the plate temperature that is output as the first bender correction amount An operation amount calculation that includes a correction unit, calculates a vendor command value from the second vendor correction amount output by the leading and trailing end correction unit, and the vendor setting value output by the setup unit and outputs the calculated value to the hot rolling mill. The crown control device for a hot rolling mill according to claim 1, further comprising means. In a hot rolling mill having a crown meter on the exit side of the mill and having at least a bender as an operation end for controlling the crown,
A setup means for calculating the set value of the bender in a setup calculation prior to rolling of the steel sheet, a crown storage means for storing the crown data of the steel sheet taken from the crown meter, and the next steel sheet using the stored crown data The front and rear end correction adjustment means for calculating the correction specification of the bender at the front and rear end of the steel sheet to be applied to the bender, and the correction value of the bender during rolling of the steel sheet from the bender correction specification calculated by the front and rear end correction adjustment means and the information on the rolled part of the steel Leading and trailing edge correction means for calculating;
The output crown lock-on means for storing and outputting the crown value at a predetermined distance from the tip of the steel plate, and after the storage, the deviation between the output of the output crown lock-on means and the detected value of the crown meter is taken in, An exit-side longitudinal crown control means for correcting an operation amount of a bender or the like so that the deviation becomes small;
An operation amount calculating means for calculating a bender command value from the set value of the bender, the bender correction value, and the output of the outlet longitudinal crown control means and outputting the bender command value to a hot rolling mill is provided. Item 2. A hot rolling mill control device according to Item 1. In a hot rolling mill having a crown meter on the entry side and the exit side of the mill and having at least a bender as an operation end for controlling the crown,
A setup means for calculating the set value of the bender in a setup calculation prior to rolling of the steel sheet, a crown storage means for storing the crown data of the steel sheet taken from the crown meter, and the next steel sheet using the stored crown data The front and rear end correction adjustment means for calculating the correction specification of the bender at the front and rear end of the steel sheet to be applied to the bender, and the correction value of the bender during rolling of the steel sheet from the bender correction specification calculated by the front and rear end correction adjustment means and the information on the rolled part of the steel Leading and trailing edge correction means for calculating;
Entry-side crown lock-on means for storing and outputting the crown value at a predetermined distance from the tip of the steel sheet, and after the storage, taking in the deviation between the output of the entry-side crown lock-on means and the detected value of the crown meter, An entry-side longitudinal direction crown control means for correcting an operation amount of a bender or the like so that the deviation becomes small;
The output crown lock-on means for storing and outputting the crown value at a predetermined distance from the tip of the steel plate, and after the storage, the deviation between the output of the output crown lock-on means and the detected value of the crown meter is taken in, An exit-side longitudinal crown control means for correcting an operation amount of a bender or the like so that the deviation becomes small;
A manipulated variable for calculating a bender command value from the set value of the bender, the correction value of the bender, the output of the entry side longitudinal direction crown control means, and the output of the exit side longitudinal direction crown control means, and outputting it to the hot rolling mill The control device for a hot rolling mill according to claim 1, further comprising a calculating means. In a crown control method for a hot rolling mill having at least a bender as an operation end for controlling a crown and a crown meter for detecting the crown,
Calculate the set value of the vendor in the setup calculation prior to rolling the steel sheet, accumulate the crown data of the steel sheet taken from the crown meter, and use the accumulated crown data at the front and rear ends of the steel sheet to be applied to the next steel sheet. Calculate the vendor's correction specification, calculate the vendor's correction value during rolling of the steel plate from the vendor's correction specification and information on the rolled part of the steel plate, and calculate the vendor command value from the vendor's setting value and the vendor's correction value. A method for controlling a crown of a hot rolling mill, wherein the crown is output to a hot rolling mill.

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