JP4980323B2 - Plant control diagnosis apparatus, method and program - Google Patents

Description

  The present invention relates to a plant control diagnosis apparatus, method, and program for detecting and diagnosing signs of deterioration in plant control in a plant control system that controls operation of a continuously operated plant.

  For example, in the electric control system of various plants such as a continuous rolling plant of steel sheets in the rolling process of the steel industry, the causes of deterioration of the control state are equipment deterioration, process state change, control disturbance, measurement abnormality, setting abnormality, There are operator skill deviations and operation errors (see FIG. 1). Here, the equipment deterioration is, for example, a malfunction (damage, wear, etc.) of equipment such as an actuator of a rolling roll. The process state change is any physical or chemical state change in the entire manufacturing process to be controlled (for example, a variety of gas composition changes to be controlled, material components / materials to be controlled, etc.). Control disturbance is caused by the influence of external noise on the control system. A measurement abnormality is a problem such as a measurement trouble of a sensor for measuring a process state or a state of each device arranged in the plant, for example, a change in a measurement environment, a measurement error, or an influence of responsiveness. Etc.

  For example, when the thickness of a steel sheet manufactured in a continuous rolling plant for steel sheets fluctuates greatly from the desired thickness, it is difficult to identify the cause of deterioration of plant control during automatic control. The situation is that it has not been determined and the trial and error are repeated by changing the setting parameters or relaxing the operation conditions according to the judgment of the operator. Further, when the plant control continues to deteriorate, it is necessary to analyze various data during operation offline to determine the abnormal part, which requires time and manpower.

  Patent Document 1 discloses a process in a plant which is an invention whose subject is to provide an integrated system capable of optimally using a plurality of data (apparatus, process control and performance data) related to a process control system as a whole. A control system is disclosed. The process control system includes a process device monitoring device that collects device data, a process control monitoring device that collects process control data, a process model configured to perform process performance monitoring and generate process performance data, And a computer system that executes a diagnostic function in the plant using two or more of the apparatus data, the process control data, and the process performance data.

JP 2004-38596 A

  However, the process control system disclosed in Patent Document 1 performs failure diagnosis and the like, and it may not be possible to deal with the failure immediately and appropriately by detecting it after the failure has occurred. is there. Therefore, it is strongly desired from the viewpoint of continuously and stably operating the plant that the deterioration of the plant control can be caught before it occurs or as soon as possible.

  This invention is made | formed in view of the above situations, and it aims at making it possible to catch deterioration of plant control before it generate | occur | produces or as early as possible.

The plant control diagnostic apparatus of the present invention, the plant control system for controlling the operation of a plant comprising a plurality of equipment and sensors, a plant control diagnostic apparatus for detecting the deterioration signs of plant control, the plant control system A reference model holding means for holding a reference model generated by quantifying a healthy operating state, and a state value of an actual process at the time of operation of the plant control system by signals input from the plurality of equipment and sensors An acquisition means for acquiring, a diagnostic means for diagnosing a sign of deterioration in plant control by comparing the state value of the actual process acquired by the acquisition means with the value of the reference model held by the reference model holding means The acquisition process by the acquisition unit and the diagnosis process by the diagnosis unit are performed in a predetermined cycle during plant control. In a repeating run to pulp plant controller diagnostic apparatus, a plant comprising a plurality of equipment or sensors located in the rolling mill and a plurality placed steel plate manufacturing plant along the sheet passing direction of the stand steel sheet having a looper The reference model holding means includes, as a reference model, a frequency analysis value of a mill current for a rolling mill of a predetermined downstream stand in a healthy operating state, and a tension to the rolling mill of a predetermined upstream stand in a healthy operating state. Holding the threshold value set based on both or any one of the frequency analysis value of, the acquisition means, as the state value of the actual process, the frequency analysis value of the mill current for the rolling mill of the predetermined downstream stand, And obtaining both or one of the frequency analysis values of the tension with respect to the predetermined upstream stand rolling mill, and the diagnostic means The state value of the actual process acquired by the acquisition unit and the value of the reference model held by the reference model holding unit are compared to diagnose signs of looper hunting occurring at the diagnosis target stand. It is characterized by that .
Plant control diagnostic methods of the invention, the plant control system for controlling the operation of a plant comprising a plurality of equipment and sensors, a plant control diagnostic method for detecting the deterioration signs of plant control, the plant control system A reference model holding procedure for quantifying a healthy operating state to generate a reference model and holding it in the reference model holding means, and a state value of an actual process at the time of operation of the plant control system, from the plurality of equipment and sensors The acquisition procedure acquired by the input signal, the state value of the actual process acquired by the acquisition procedure, and the value of the normative model held by the normative model holding unit are compared, and an indication of deterioration in plant control is obtained. A diagnostic procedure for diagnosing the problem, and the acquisition procedure and the diagnostic procedure are repeated at a predetermined cycle during plant control. A run to pulp plant control diagnostic method, the plant comprising a plurality of equipment and sensors are steel production plant in which a plurality arranged along the stand with rolling mill and looper in the sheet passing direction of the steel sheet, said In the reference model holding procedure, as a reference model, the frequency analysis value of the mill current for the rolling mill of a predetermined downstream stand in a healthy operating state, and the frequency of the tension for the rolling mill of a predetermined upstream stand in a healthy operating state The threshold value set based on both or either of the analysis values is held in the reference model holding means, and in the acquisition procedure, the mill current of the rolling mill of the predetermined downstream stand is set as the actual process state value. Either or both of the frequency analysis value and the frequency analysis value of the tension for the predetermined upstream stand rolling mill are taken. In the diagnosis procedure, a looper generated in the diagnosis target stand is compared by comparing the state value of the actual process acquired by the acquisition unit with the value of the reference model held by the reference model holding unit. It is characterized by diagnosing signs of hunting .
Program of the present invention, the plant control system for controlling the operation of a plant comprising a plurality of equipment and sensors, a program for executing a process for detecting the deterioration signs of plant control to the computer, the plant control The reference model holding means for holding the reference model generated by quantifying the sound operating state of the system, and the actual process state value at the time of operation of the plant control system are input from the plurality of equipment and sensors. obtaining means for obtaining the signal, it compares the status value of the actual process obtained by the obtaining means and the value of the reference model, which is held by the reference model holding unit, for diagnosing the deterioration signs of plant control cause the computer to function as a diagnostic tool, an acquisition process by the acquisition means, by said diagnosis means A running to that program repeatedly at a predetermined cycle and a cross-sectional process in plant control plant comprising the plurality of equipment and sensors along the stand with rolling mill and looper in the sheet passing direction of the steel sheet more The reference model holding means includes, as a reference model, a frequency analysis value of a mill current for a rolling mill of a predetermined downstream stand in a healthy operating state and a predetermined upstream in a healthy operating state as a reference model. A threshold value set based on both or one of the frequency analysis values of the tension with respect to the rolling mill of the side stand is held, and the acquisition means is the state value of the actual process with respect to the rolling mill of the predetermined downstream stand Either or both of the frequency analysis value of the mill current and the frequency analysis value of the tension for the predetermined upstream stand rolling mill The diagnosis means compares the state value of the actual process acquired by the acquisition means with the value of the reference model held by the reference model holding means, and It is characterized by diagnosing signs of generated looper hunting .

  According to the present invention, the state value of the actual process at the time of operation of the plant control system is compared with the reference model generated by quantifying the sound operation state of the plant control system. It is possible to diagnose the state of the previous stage where the deterioration of the plant control occurs and the state of the initial stage where the deterioration has occurred but has not yet appeared on the surface. Thereby, deterioration of plant control can be caught before it occurs or as soon as possible, and the plant can be operated continuously and stably.

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 shows a schematic configuration of a plant control system and a plant control diagnostic apparatus according to an embodiment of the present invention. As shown in the figure, a plant control diagnostic apparatus 10 is installed above a plant control system 50 that controls a plant 51.

  In the plant control system 50, 51 is a plant including various equipment and devices such as actuators and manufacturing processes (hereinafter also simply referred to as processes). Reference numeral 52 denotes a controller (plant control device) that outputs a drive signal to the plant 51 and controls the plant 51 to operate and operate. 53 is a sensor, and in many cases, a plurality of sensors are arranged, and the operation status of each equipment and device constituting the plant 51, the temperature of the process, the conveying speed of the workpiece, the thickness For example, various state quantities of the plant 51 are measured every moment. Reference numeral 54 denotes a setter, and an operator or the like makes various settings related to the target value for control in order to operate and operate the plant 51 in a desired state.

  The controller 52 controls the plant 51 based on an instruction from the operator or a setting made by the setting device 54. Various state quantities of the plant 51 are measured every moment by the sensor 53, and the measurement data is input to the controller 52. Some of the measurement data is input to the setting device 53 or a display (not shown) to the operator. Then, the controller 52 executes feedback control based on the measurement data from the sensor 53 and the target value input by the setting device 54. The setting device 54 changes the setting contents as necessary based on the measurement data obtained by the sensor 53. In FIG. 1, the sensor 53 is shown separated from the outside of the plant 51 for easy identification. However, the sensor 53 is usually arranged inside the plant, and the equipment / device itself. Sometimes it is built in.

  In the plant control diagnostic apparatus 10, reference numeral 11 denotes a reference model holding unit, which holds a reference model generated by quantifying the sound operation state of the plant control system 50. The reference model can be used to check the sound operating state of the plant control system 50 in advance by performing on-line simulation calculation or verification based on actual measurement data in advance during plant operation or offline in advance of plant operation. This is a model that is quantified. Here, the “sound operating state” means a state of a plant, that is, equipment, an apparatus, and a process in which a product having a desired standard can be continuously and stably produced by operating the plant.

Here, examples of the normative model include the following (1) to (3).
(1) The healthy operating state of the plant 51 is expressed by a mathematical model, and the mathematical model, various process state data (measurement data by the sensor 53), and the operation amount of an apparatus such as an actuator (output from the controller 52). On-line simulation to predict the result of plant control in parallel while performing plant control (that is, operation) based on the drive signal and measurement data from sensor 53), and various process states obtained thereby Calculated value (hereinafter also referred to as simulation information).
In this case, as shown in FIG. 1, the plant control diagnosis apparatus 10 includes a reference model generation unit 16, and the reference model generation unit 16 is on-line to perform simulation, and the simulation information obtained thereby is stored in the reference model holding unit 11. To store.

(2) Various process state data in the healthy operating state of the plant control system 50 (the process state data itself may be information such as a threshold value derived therefrom), and a predetermined analysis method for the data Analytical value that is the result obtained by implementation. Examples of the predetermined analysis method performed on various process state data include known methods in the field of signal processing or data processing such as FFT (Finite Fourier transform) analysis and wavelet transform.

(3) Information indicating the correlation between the amount of operation (equal to absolute value or change) of the equipment or device, for example, an actuator, in the sound operation state of the plant control system 50 and the process state data (may be absolute value or change) . For example, the correlation between the operation amount of the pressurizing cylinder and the pressurization load in the pressurization control of the steel plate manufacturing plant as shown in FIG. 8, the opening degree of the flow control valve in the fluid control, the flow rate, the pressure, etc. There is a correlation. Here, the “correlation” can be expressed by, for example, a figure, a table, or a formula including variables of various process states.

  Reference numeral 12 in the plant control diagnosis apparatus 10 of FIG. 1 denotes an acquisition unit that acquires a state value of an actual process when the plant control system 50 is in operation. Here, the state value of the actual process refers to the facility equipment / device that is input from the facility equipment / device or sensor in the plant control system 50 every moment or at predetermined time intervals in the actual operation of the plant. For example, the operation amount of the actuator, process state data, and analysis values obtained by analyzing them using a predetermined analysis method. That is, the acquisition unit 12 is provided with an analysis function such as frequency analysis as necessary. Note that the type and breakdown of the status values of the actual process acquired here may be appropriately selected according to the equipment / process of each control target for diagnosing the occurrence of abnormality.

  Reference numeral 13 in the plant control diagnosis apparatus 10 is a diagnosis unit, which is the state value of the actual process acquired by the acquisition unit 12 and the reference model corresponding to the state value of the process held by the reference model holding unit 11. By comparing with the value, it is diagnosed whether there is a tendency to increase / develop, as a sign of deterioration of plant control, that is, deterioration such as abnormality or deterioration occurs. Here, the sign of deterioration refers to a state in a previous stage where deterioration of plant control occurs and a state in an initial stage where deterioration has occurred but has not yet appeared on the surface. Further, for comparison, there may be a case where a threshold value process is used for a calculation result such as one type of data value or a derivative thereof, or a determination is made by multidimensional correlation or the like based on a plurality of types of data values. In some cases.

  Moreover, you may make it the diagnosis part 13 diagnose also about the cause of the deterioration sign of plant control. In this case, the difference occurrence situation when the state value of the actual process acquired by the acquisition unit 12 and the state value of the process in the reference model held by the reference model holding unit 11 are compared, and signs of deterioration in plant control. The relationship with the cause information is generated in advance based on past operation data and experiments, and is held in the cause information holding unit 17. Then, using the cause information, the cause of the deterioration sign of plant control is estimated and diagnosed. The diagnosis result is displayed on a screen of a display device such as a monitor (not shown). Further, depending on the diagnosis result, an alarm device composed of an alarm or a red light may be activated.

  The acquisition process of the state value of the actual process by the acquisition unit 12 described above and the diagnosis process of the deterioration sign of the plant control by the diagnosis unit 13 are periodically performed, for example, from several hundred milliseconds to several minutes during the plant control. Run repeatedly. Thereby, it is possible to diagnose a sign of deterioration in plant control in real time while the plant control system 50 is in operation (during automatic control).

  14 in the plant control diagnosis apparatus 10 is a cause-state recovery measure information holding unit, which associates the cause of the deterioration sign of the plant control derived by the diagnosis unit 13 with the state recovery measure information for recovering the state. Hold. The correspondence between the cause of the deterioration sign of plant control and the state recovery measure information for recovering the state may be generated based on the past state recovery operation results performed by the operator, and the cause In some cases, it is generated after a technical study based on the physical mechanism of generation. The association between the cause and the state recovery measure information is generated in advance and held in the cause-state recovery measure information holding unit 14.

  A state recovery measure execution unit 15 refers to the state recovery measure information in the state recovery measure information holding unit 14 based on the cause diagnosed by the diagnosis unit 13, and selects and executes an appropriate state recovery measure. As the state recovery measure, a command is output to the controller 52 to execute the equipment operation for the state recovery, and the recovery measure is automatically performed. As equipment operation for state recovery, equipment operation is automatically performed based on a predetermined procedure, a control algorithm is automatically selected, a parameter such as a control gain related to control and a setting value are automatically changed, etc. This can be determined by the control program of the controller 52. In addition, as an automatic recovery measure, the operator may be guided to the response and the operator may be allowed to work. For example, future operator prediction, candidate action response prediction, expert operator model action and result comparison, action guidance, and the like may be provided to the operator through a monitor (not shown).

(Concrete example)
Hereinafter, specific examples of the present invention will be described. In this example, a steel plate manufacturing plant 1 equipped with a tandem rolling mill will be described. Then, as a sign of deterioration in plant control, a sign of looper hunting is diagnosed by comparing it with the process state data in the healthy operating state of the reference model (2).

  In FIG. 2, the example of the steel plate manufacturing plant 1 provided with the tandem rolling mill is shown. This steel plate manufacturing plant 1 is an example of the plant 51 shown in FIG. The tandem rolling mill has a plurality of stands arranged along the sheet passing direction D of the steel plate S. Here, the respective stands are sequentially referred to as a first stand 101, a second stand 102, a third stand 103,... From the upstream side, and the respective stands are collectively referred to as a stand 100. Each stand 100 is provided with a rolling mill 110. For example, a slab manufactured in a steelmaking plant is heated in a heating furnace and rolled by a roughing mill and a finish rolling mill, and a strip-like continuous long steel plate S is manufactured. Here, only the finish rolling mill is illustrated.

  The steel plate manufacturing plant 1 is controlled by a plant control device 2. This plant control apparatus 2 is an example of the controller 52 and the setting device 54 shown in FIG. The plant control apparatus 2 has a looper control unit 210 arranged for each stand 100, and each of the looper control units 210 performs looper control of the stand 100.

  Next, the configuration of each stand 100 will be described with reference to FIG. As shown in FIG. 3, a rolling mill 110 and a looper 120 are arranged in each stand 100.

  The rolling mill 110 performs a rolling process on the steel sheet S. The rolling mill 110 includes a pair of work rolls 111, a pair of backup rolls, a mill motor 112, and an ASR (speed controller) 113. The pair of work rolls 111 are disposed with the steel plate S interposed therebetween, and the pair of backup rolls are disposed with the pair of work rolls 111 interposed therebetween. The backup roll urges the work roll 111 in the direction of the steel sheet S, and the pair of upper and lower work rolls 111 roll the steel sheet S by this urging force. This backup roll is omitted for convenience of explanation. An intermediate roll (not shown) may be disposed between the work roll 111 and the backup roll.

  The mill motor 112 rotates the work roll 111. When the mill motor 112 rotates the work roll 111, the steel plate S in contact with the work roll 111 is passed in the plate passing direction D.

  The ASR 113 controls the speed of the mill motor 112. The ASR 113 is controlled by the plant control device 2. More specifically, the ASR 113 acquires a roll speed command signal from the looper control unit 210 of the plant control device 2. Then, the ASR 113 outputs a mill current to the mill motor 112 to rotate the mill motor 112 so that the rotation speed of the work roll 111 satisfies (matches) this roll speed command signal. At this time, the ASR 113 may feedback control the mill motor 112 based on the rotation speed of the work roll 111 or the mill motor 112.

  A plurality of rolling mills 110 having the above configuration are arranged along the steel sheet S, and each of the rolling mills 110 rolls the steel sheet S, whereby the hot continuous rolling process of the steel sheet S is performed. At this time, the rotational speed of the work roll 111 of each stand 100 determines the sheet passing speed of the steel sheet S and also determines the tension T between the stands 100 of the steel sheet S. On the other hand, the thickness of the steel sheet S becomes thinner as it passes through each rolling mill 110, and it is difficult to precisely control the rotation speed of all the work rolls 111 of each stand 100. Therefore, in order to perform a stable manufacturing process, a looper 120 for adjusting the tension T of the steel sheet S between the rolling mills 110 is provided.

  The looper 120 performs a tension adjusting process for the steel sheet S. The tension adjusting process performed by the looper 120 is performed continuously with the rolling process performed by the rolling mill 110.

  The looper 120 includes a looper roll 121, a looper motor 123, and an ASR (speed controller) 124. The looper roll 121 is disposed so as to be in contact with the steel sheet S so as to be rotatable about a rotation axis. The looper motor 123 rotates the looper roll 121 around a rotation center 122 that is different from the rotation axis of the looper motor 123. In other words, the looper motor 123 rotates the looper roll 121 around the rotation center 122 to urge the looper roll 121 toward the steel sheet S, and the tension T of the steel sheet S is adjusted.

  The ASR 124 controls the speed of the looper motor 123. The ASR 124 is controlled by the plant control device 2. More specifically, the ASR 124 acquires a looper motor speed command signal from the looper control unit 210 of the plant control device 2. The ASR 124 then outputs a current to the looper motor 123 to rotate the looper motor 123 so that the rotational speed of the looper motor 123 satisfies (matches) this looper motor speed command signal. At this time, the ASR 124 may feedback-control the looper motor 123 based on the rotation speed of the looper motor 123.

  The rolling mill 110 and the looper 120 described above are loop-controlled by the plant control device 2. The loop control is a kind of feedback control, in particular, and controls the rolling mill 110 and the looper 120 so that the feedback signal matches a predetermined command value using the tension T of the steel sheet S and the looper angle θ as feedback signals. Is the method. In order to perform this looper control and the like, each stand 100 is provided with various measuring instruments (sensors). An example of this measuring device will be described.

  In the stand 100 shown in FIG. 3, a looper angle measuring device 131, a looper tension measuring device 132, and a mill current measuring device 133 are arranged. These measuring instruments 131 to 133 are examples of the sensor 53 shown in FIG.

  The looper angle measuring device 131 measures an angle θ at which the looper motor 123 rotates the looper 120 about the rotation center 122. The looper motor 123 is feedback controlled using the angle θ of the looper 120 as a main feedback signal. That is, the tension T of the steel sheet S is mainly determined by the relative relationship of the rotation speed of the rolling mill 110 of each stand 100, but the looper 120 suppresses the slackness of the steel sheet S between the stands 100 and the fluctuation of the tension T. To do. Therefore, the looper 120 may be controlled so that, for example, the angle θ is constant, and further, the angle θ is decreased when the tension T is too large, and the angle θ is increased when the tension T is too small. It is also possible. Therefore, the angle θ of the looper 120 mainly reflects the operation state of the looper 120, and indirectly reflects the operation state of the rolling mill 110.

  The looper tension measuring device 132 measures the tension applied to the looper 120 in order to measure the tension T of the steel sheet S. That is, since the looper 120 is biased by the steel plate S, the reaction force that the looper 120 receives from the steel plate S reflects the tension T of the steel plate S. Therefore, the looper tension measuring device 132 measures the tension T of the steel sheet S by measuring the reaction force from the steel sheet S. In FIG. 3, a measuring instrument that measures the tension T applied to the looper roll 121 is shown as the looper tension measuring instrument 132, but the looper tension measuring instrument 132 calculates the tension T from the torque of the looper motor 123, for example. It may be a measuring instrument that measures the tension T directly from the steel sheet S. As described above, the tension T is mainly determined by the relative relationship of the rotational speed of the rolling mill 110 of each stand 100. Therefore, the tension T is a value mainly reflecting the operation state of the rolling mill 110, and each rolling mill 110 is feedback-controlled using the tension T as a feedback signal. Since the tension T is adjusted by the looper 120 as described above, the tension T is a value that indirectly reflects the operation state of the looper 120.

  The mill current measuring device 133 measures the mill current I applied to the mill motor 112. The mill current I is an example of a drive signal, and is a drive signal for the rolling mill 110 in feedback control. That is, the rolling mill 110 is feedback controlled mainly using the tension T as a feedback signal, so that the mill current I is generated based on the feedback signal. More specifically, when the tension T is too large, a mill current I having a value that reduces the tension T is generated, and when the tension T is too small, a mill current I having a value that increases the tension T is generated. Is done.

  Next, with reference to FIG. 3, the structure of the plant control apparatus 2 is demonstrated. As shown in FIG. 3, the plant control device 2 corresponds to each stand 100, and includes a target tension setting unit 201, a tension deviation calculation unit 202, a target angle setting unit 203, an angle deviation calculation unit 204, and a looper. And a control unit 210.

  The target tension setting unit 201 sets a target value of the tension T (target tension T0) determined by the operating state of the rolling mill 110 or the like. Then, the tension deviation calculation unit 202 calculates the actual tension T, that is, the deviation (bias, difference) ΔT from the target tension T0 of the tension T measured by the looper tension measuring device 132. As described above, the tension T depends on the relative operating speed of the rolling mill 110 of each stand. Therefore, the target tension setting unit 201 is controlled by a higher-order control unit arranged inside or outside the plant control device 2 to change the target tension T0 to be set. The target tension T0 may be set to a constant value without being changed, for example, while the plant 1 is in operation or while the same steel sheet S is being manufactured.

  The target angle setting unit 203 sets a target value (target angle θ0) of the angle θ of the looper 120 determined by the operation state of the looper 120 and the like. Then, the angle deviation calculation unit 204 calculates the deviation (bias, difference) Δθ from the actual angle θ, that is, the angle θ measured by the looper angle measuring device 131 from the target angle θ0. Similar to the target tension setting unit 201, the target angle setting unit 203 is also controlled by a higher-order control unit disposed inside or outside the plant control device 2 to change the target angle θ0 to be set. Also, this target angle θ0 may be set to a constant value without being changed, for example, while the plant 1 is in operation or while the same steel sheet S is being manufactured.

  The looper control unit 210 acquires the deviation Δθ of the angle θ of the looper 120 and the deviation ΔT of the tension T of the steel sheet S, and based on the deviations Δθ and ΔT, the looper motor speed command value to the ASR 124 and the roll speed to the ASR 113. A command value is generated. The looper control unit 210 includes a controller that performs feedback control such as a PID (Proportional Integral Derivative) controller or a PI controller. Here, the looper control unit 210 includes, for example, a PID controller. However, the present invention is not limited to this example, and any controller that performs feedback control may be used. The looper control unit 210 performs PID control of the looper 120 mainly based on the deviation Δθ, and performs PID control of the rolling mill 110 mainly based on the deviation ΔT. That is, the looper control unit 210 changes the looper motor speed command value so that the deviation Δθ decreases based on the value of the deviation Δθ, the integral value of the deviation Δθ, and the differential value of the deviation Δθ, and the value of the deviation ΔT, the deviation ΔT. The roll speed command value is changed so that the deviation ΔT is reduced based on the integral value and the differential value of the deviation ΔT. Note that the looper control unit 210 may perform control based on not only the deviation Δθ but also the deviation ΔT when controlling the looper 120, and conversely, when controlling the rolling mill 110, only the deviation ΔT may be performed. Alternatively, control based on the deviation Δθ may be performed.

  The rolling mill 110 and the looper 120 controlled by the plant control device 2 having such a configuration perform rolling in cooperation by simultaneously contacting the same steel sheet S and performing each process. Furthermore, the control states of the rolling mill 110 and the looper 120 are also related to each other.

  In this example, the plant control diagnostic device 10 captures signs of deterioration of plant control in the steel plate manufacturing plant 1 described above, more specifically signs of looper hunting of the looper 120. Looper hunting refers to a phenomenon in which the looper 120 vibrates abnormally and the looper angle θ vibrates abnormally as compared with normal control. When such a malfunction occurs, the vibration of the looper 120 is transmitted to the steel sheet S, and the rolling accuracy of the steel sheet S is lowered, and the product quality may be deteriorated. In addition, when the vibration becomes large, there is a possibility that the steel sheet S is damaged when passing through the steel sheet manufacturing plant 1, and the production line must be stopped to repair it.

  FIG. 4 illustrates that the sign of looper hunting can be diagnosed by comparing the reference model and the state value of the actual process using the process state data in a sound operation state in the steel sheet manufacturing plant 1 as a reference model. It is explanatory drawing for. In FIG. 4, the looper 120 of the fifth stand 105 is taken as an example of looper hunting, and the measurement becomes a process state value for diagnosing signs of looper hunting of the looper 120 (that is, abnormal vibration of the looper angle θ). As an example of data, the mill current I (drive signal) for the rolling mill 110 of the sixth stand 106 (hereinafter referred to as the mill current of the sixth stand 106), the tension T (feedback signal) for the rolling mill 110 of the second stand 102. (Hereinafter referred to as the tension of the second stand 102). As a method for making the characteristics of these signals more prominent, each measurement signal is subjected to frequency analysis (FFT (Finite Fourier transform) analysis). For example, the mill current I is 16.5 Hz, the tension T is 10.5 Hz, the angle In θ, the time transition of the frequency component value of 1.9 Hz is displayed.

  Here, the time change of the tension T has a periodic vibration component. This is because the plant 1 is a facility that rolls slabs and the like by rotating the work roll 111 and the like of the rolling mill 110. In other words, various vibrations such as vibrations caused by driving of each drive system and resonance phenomena thereof appear in the measurement signal of the tension T. In FIG. 4, it is recognized that abnormal vibration that was not seen in the normal operating state may appear near the tension T of 10 Hz, which represents string vibration.

  Further, the mill current I also has a periodic vibration component, and in FIG. 4, abnormal vibration that was not seen in the normal operation state may appear in the vicinity of 16 Hz of the mill current I. It is recognized that it represents shaft torsional vibration that oscillates at a specific frequency due to wear and tear.

  In addition, the angle θ of the looper 120 also has a periodic vibration component, and abnormal vibration that cannot be seen in the normal operating state may appear near the angle θ of 2 Hz, which represents looper hunting. Is allowed.

  In the actual example of FIG. 4, it can be seen from the frequency component of the angle θ of 1.9 Hz that looper hunting (peak Pθ) occurs in the looper 120 of the fifth stand 105 in the vicinity of t = 45 seconds.

  On the other hand, it can be seen that a peak PI occurs in the 16.5 Hz frequency component of the mill current I of the sixth stand 106 before ΔtI (= 2.9 seconds) before the time when the looper hunting occurs. Further, it can be seen that a peak PT occurs in the frequency component of 10.5 Hz of the tension T of the second stand 102 before ΔtT (= 4.3 seconds).

  That is, the looper hunting generated in the looper 120 of the fifth stand 105 as the diagnosis target is correlated with the mill current I of the sixth stand 106 that is the downstream stand and the tension T of the second stand 102 that is the upstream stand. Is strong.

  In other words, as a reference model for diagnosing the sign of looper hunting of the looper 120 of the fifth stand 105, as the process state value in a healthy operating state, the mill current I of the sixth stand 106 and the second stand 102 Tension T can be used. More specifically, a frequency component value near 16 Hz is extracted from the mill current I of the sixth stand 106, and a frequency component value near 10 Hz is extracted from the tension T of the second stand 102. In the healthy operating state of the plant control system 50, the mill current I of the sixth stand 106 has almost no frequency component near 16 Hz, and the tension T of the second stand 102 has almost no frequency component near 10 Hz. A threshold value is set as a reference model (for example, in FIG. 4, the threshold value It = 44.9 for the mill current I and the threshold value Tt = 0.0037 for the tension T).

  Then, frequency component values near 16 Hz are extracted from the mill current I of the sixth stand 106 as process state values, frequency component values near 10 Hz are extracted from the tension T of the second stand 102, and these frequency component values are By determining whether or not the threshold value is exceeded, a sign of looper hunting in the fifth stand 105 can be captured. Although this correlation varies from plant to plant, it is considered that in the case of the same plant, it is possible to detect a sign of deterioration in the control of the drive system to be diagnosed from the measurement signal of the drive system having a strong correlation with the drive system to be diagnosed.

  With respect to the case described with reference to FIGS. 2 to 4, processing of the plant control diagnostic apparatus 10 will be described with reference to FIG. 1. The acquisition unit 12 acquires the mill current I of the sixth stand 106 and the tension T of the second stand 102, extracts a frequency component near 16 Hz from the mill current I of the sixth stand 106, and A frequency component near 10 Hz is extracted from the tension T.

  On the other hand, the analysis value of the mill current I of the sixth stand 106 in the sound operation state of the plant control system 50 (frequency component near 16 Hz) and the analysis value of the tension T of the second stand 102 in the sound operation state ( A threshold value is set as a reference model from a frequency component in the vicinity of 10 Hz.

  FIGS. 5 and 6 are explanatory diagrams for explaining an example of comparison between the normative model and the state value of the actual process acquired by the acquisition unit 12 in the diagnosis unit 13. FIG. 5 is for the mil current I of the sixth stand 106, and FIG. 6 is for the tension T of the second stand 102. The horizontal axis is time, the vertical axis is each frequency component, and each frequency component value exceeds the threshold value. A black dot is displayed.

  As shown in FIGS. 5 and 6, in the diagnosis unit 13, the state value of the actual process acquired by the acquisition unit 12, that is, the frequency component of the mill current I of the sixth stand 106 and the frequency component of the tension T of the second stand 102. Is compared with the normative model held in the normative model holding unit 11. When the state value acquired by the acquisition unit 12 includes a frequency component in the vicinity of 16 Hz of the mill current I of the sixth stand 106 and a frequency component in the vicinity of 10 Hz of the tension T of the second stand 102, the fifth stand 105. The looper 120 is diagnosed as having signs of looper hunting.

  Here, an example is described in which both the frequency component near 16 Hz of the mil current I of the sixth stand 106 and the frequency component near 10 Hz of the tension T of the second stand 102 are described, but only one of them is used. May be.

  Next, FIG. 7 shows the relationship between the tension (frequency component near 10 Hz) and the looper angle of the fifth stand 105 and the mill current (frequency component near 16 Hz) and the tension of the fifth stand 105 in the steel plate manufacturing plant 1. The relationship with (frequency components near 10 Hz) is shown. As shown by the dotted line in FIG. 7B, in the region where the looper angle exceeds a predetermined value, that is, the region where looper hunting occurs, the looper angle and the tension have a substantially linear relationship. I understand. Further, as shown in FIG. 7A surrounded by a dotted line, it can be seen that the mill current and the tension have a substantially linear relationship. Here, since the frequency component in the vicinity of 16 Hz of the mill current represents axial torsional vibration, it is considered that one of the causes of looper hunting in the fifth stand 105 is axial torsional vibration in the fifth stand 105.

  Based on such knowledge, the diagnosis unit 13 determines that the cause of the looper hunting of the looper 120 of the fifth stand 105 is the torsional vibration of the fifth stand 105. Diagnose that there is an abnormality such as wear on the part.

  As described above, it is possible to continue and maintain the stabilization of the control performance by diagnosing the control system abnormality and the tendency of deterioration at an early stage. In addition, it is possible to quickly estimate an event that causes control deterioration, and to prevent the control deterioration before it becomes abnormal. Thereby, plant control is stabilized, the quality deterioration of the product manufactured can be prevented, and the fall of productivity can be avoided.

  The plant to which the present invention is applied is not limited to the above-described example. The present invention includes a plant that performs plate rolling, a plant that performs cold rolling, a plant that performs continuous annealing, a plant that performs surface treatment, a blast furnace, a converter, a coke oven, and other plants in a steel mill, a papermaking plant, The present invention can also be applied to various plants such as a purification plant, an automobile manufacturing plant, a manufacturing plant having a manufacturing line for electronic devices, and a plant for purifying gas and liquid.

  Note that the process control diagnostic apparatus of the present invention may be composed of a single device or a plurality of devices. The process control diagnosis apparatus of the present invention specifically includes storage devices such as a CPU, ROM, RAM, and HDD, input / output devices such as a keyboard and a mouse, display devices such as a computer display, and each equipment in a plant. -It can be configured by a computer system equipped with a dedicated signal line or network I / O device for transmitting / receiving signals to / from devices / sensors, and created in advance for the computer system to execute the functions and procedures described above. This is realized by executing the computer program. The computer program is also included in the present invention.

It is a figure which shows schematic structure of the plant control system and plant control diagnostic apparatus which concern on embodiment of this invention. It is a figure which shows the steel plate manufacturing plant provided with the tandem rolling mill. It is a figure which shows the structure of each stunt and a plant control apparatus. It is a characteristic view which shows the example of a track record of a looper angle, a mill current, and looper tension. It is a figure which shows a mode that the reference | standard model and the state value of a real process are compared. It is a figure which shows a mode that the reference | standard model and the state value of a real process are compared. It is a characteristic view which shows the relationship between tension | tensile_strength and a looper angle, and the relationship between mill current and tension | tensile_strength. It is a figure which shows an example of a normative model.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Plant control diagnostic apparatus 11 Reference model holding | maintenance part 12 Acquisition part 13 Diagnosis part 14 Cause-state recovery measure information holding part 15 State recovery measure execution part 50 Plant control system 51 Plant 52 Controller 53 Sensor 54 Setting device

Claims (9)

About a plant control system that controls the operation of a plant consisting of a plurality of equipment and sensors, it is a plant control diagnostic device for detecting signs of deterioration in plant control,
A norm model holding means for holding a reference model generated by quantifying a healthy operating state of the plant control system;
An acquisition means for acquiring a state value of an actual process at the time of operation of the plant control system by a signal input from the plurality of equipment and sensors;
A diagnostic means for diagnosing a sign of deterioration in plant control by comparing the state value of the actual process acquired by the acquisition means with the value of the reference model held by the reference model holding means;
The acquisition process by acquiring means, a pulp plant controller diagnostic apparatus to execute repeatedly at a predetermined cycle and a diagnostic process in plant control by said diagnosis means,
The plant comprising the plurality of equipment and sensors is a steel plate manufacturing plant in which a plurality of stands having rolling mills and loopers are arranged along the sheet passing direction of the steel plate,
The reference model holding means, as a reference model, is a frequency analysis value of a mill current for a rolling mill of a predetermined downstream stand in a healthy operating state, and a tension of a predetermined upstream stand of the rolling mill in a healthy operating state. Holds a threshold set based on both or either of the frequency analysis values,
The acquisition means includes, as an actual process state value, either or both of a frequency analysis value of a mill current for the predetermined downstream stand rolling mill and a frequency analysis value of a tension for the predetermined upstream stand rolling mill. Get one or the other
The diagnosis means compares the state value of the actual process acquired by the acquisition means with the value of the reference model held by the reference model holding means, and performs looper hunting generated at the diagnosis target stand. A plant control diagnosis device characterized by diagnosing a sign .   The plant control diagnosis apparatus according to claim 1, further comprising a reference model generation unit configured to generate the reference model.   The reference model generation means is configured to perform plant control in parallel while performing plant control based on a mathematical model representing a sound operation state of the plant and a state value of an actual process during operation of the plant control system. The plant control diagnosis apparatus according to claim 2, wherein simulation for predicting a result is performed, and a calculated value representing a process state obtained thereby is used as the reference model.   The reference model is process state data in a healthy operating state of the plant control system and / or an analysis value obtained as a result of performing a predetermined analysis method on the process state data. The plant control diagnostic apparatus according to 1.   The plant control diagnosis apparatus according to claim 1, wherein the reference model is information representing a correlation between an operation amount of the facility device and process state data in a sound operation state of the plant control system. Corresponding in advance between the state of actual process acquired by the acquisition means and the value of the reference model held by the reference model holding means and the occurrence status of the difference and the cause information of the deterioration sign of plant control It is equipped with cause information holding means to hold it,
6. The diagnosis unit according to claim 1, wherein the diagnosis unit also diagnoses a cause of a deterioration sign of plant control based on the cause information held by the cause information holding unit. Plant control diagnostic device. Cause-state recovery measure information holding means for preliminarily correlating and holding the cause of the deterioration sign of plant control and state recovery measure information for recovering the state,
7. A state recovery measure execution means for executing a state recovery measure by referring to the state recovery measure information of the state recovery measure information holding means based on the cause diagnosed by the diagnosis means. The plant control diagnostic device according to 1. For plant control system for controlling the operation of a plant comprising a plurality of equipment and sensors, a plant control diagnostic method for detecting the deterioration signs of plant control,
A normative model holding procedure for quantifying the healthy operating state of the plant control system to generate a normative model and holding it in the normative model holding means;
An acquisition procedure for acquiring a state value of an actual process at the time of operation of the plant control system by a signal input from the plurality of equipment and sensors,
A diagnostic procedure for diagnosing a deterioration sign of plant control by comparing the state value of the actual process acquired by the acquisition procedure with the value of the reference model held by the reference model holding means;
Wherein the obtaining step, a said diagnostic procedure performed repeatedly to pulp plant control diagnostic method in a predetermined cycle during the plant control,
The plant comprising the plurality of equipment and sensors is a steel plate manufacturing plant in which a plurality of stands having rolling mills and loopers are arranged along the sheet passing direction of the steel plate,
In the reference model holding procedure, as a reference model, a frequency analysis value of a mill current for a rolling mill of a predetermined downstream stand in a healthy operation state, and a tension of a rolling mill of a predetermined upstream stand in a healthy operation state A threshold set based on both or any one of the frequency analysis values is held in the reference model holding means,
In the acquisition procedure, as the actual process state value, either or both of a frequency analysis value of the mill current for the rolling mill of the predetermined downstream stand and a frequency analysis value of the tension for the rolling mill of the predetermined upstream stand Get one or the other
In the diagnosis procedure, the state value of the actual process acquired by the acquisition unit is compared with the value of the reference model held by the reference model holding unit, and looper hunting generated at the diagnosis target stand is compared. A plant control diagnosis method characterized by diagnosing a sign . For plant control system for controlling the operation of a plant comprising a plurality of equipment and sensors, a program for executing a process for detecting the deterioration signs of plant control to the computer,
A norm model holding means for holding a reference model generated by quantifying a healthy operating state of the plant control system;
An acquisition means for acquiring a state value of an actual process at the time of operation of the plant control system by a signal input from the plurality of equipment and sensors;
Comparing the state value of the actual process acquired by the acquisition means with the value of the reference model held by the reference model holding means , and causing the computer to function as a diagnosis means for diagnosing a deterioration sign of plant control,
The acquisition process by acquiring means, a program that repeatedly executes a diagnosis processing at a predetermined cycle during the plant control by said diagnosis means,
The plant comprising the plurality of equipment and sensors is a steel plate manufacturing plant in which a plurality of stands having rolling mills and loopers are arranged along the sheet passing direction of the steel plate,
The reference model holding means, as a reference model, is a frequency analysis value of a mill current for a rolling mill of a predetermined downstream stand in a healthy operating state, and a tension of a predetermined upstream stand of the rolling mill in a healthy operating state. Holds a threshold set based on both or either of the frequency analysis values,
The acquisition means includes, as an actual process state value, either or both of a frequency analysis value of a mill current for the predetermined downstream stand rolling mill and a frequency analysis value of a tension for the predetermined upstream stand rolling mill. Get one or the other
The diagnosis means compares the state value of the actual process acquired by the acquisition means with the value of the reference model held by the reference model holding means, and performs looper hunting generated at the diagnosis target stand. A program characterized by diagnosing signs .

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