JP5727907B2 - Control device, control method, and control program - Google Patents

Description

  The present invention relates to a control device that controls a hot rolling device, and more particularly, to a control device, a control method, and a control program that suppress a tip warp of a rolled material that occurs when rolling the rolled material.

  In general, rolling lines for metal materials include hot thin plate rolling, thick plate rolling, cold rolling lines for producing steel plates, and aluminum and copper rolling lines. Among these, reverse rolling that rolls in the plate thickness direction over multiple passes with one or multiple rolling mills in rolling on a rough rolling mill on a hot sheet rolling line or rolling on a thick sheet rolling line Is done. Moreover, the finishing rolling mill of a hot sheet rolling line is composed of a plurality of stands, and tandem rolling is performed in which one pass is rolled in one direction at each stand.

  In hot thin plate rolling and thick plate rolling, there are cases where a longitudinal warp or a downward warp in which the longitudinal tip or tail end of the rolled material bends upward or downward. The warpage of the rolled material causes various problems such as poor biting of the rolled material into the rolling mill, breakage of equipment such as a conveying table roller, and defective product shape. In addition, although the metal material rolled in a rolling line is also called a slab, a bar | burr, and a coil from the shape in the rolling process, it shall be unified by the name of a rolling material hereafter.

  The cause of warping is shown in Hiroshi Suzuki, “Rolling Hundred Episode”, Episode 64 (Yokendo Co., Ltd., 2000), etc. It is said that the asymmetry of the speed, the asymmetry of the roll condition, the asymmetry of the rolling material temperature, the incident angle of the rolling material, and the like are factors, and these factors may be combined. Among these factors, the incident angle of the rolled material is greatly related to the problem of warpage and the biting failure of the rolled material.

  As a method of suppressing warpage and biting failure, the top point height of the transfer table and the top point height of the lower work roll are set so that the rolling material is bitten into the rolling mill at an incident angle that suppresses warpage and biting failure. The effectiveness of the method for controlling the pickup amount, which is the difference between the two, is known, and is described in, for example, Patent Document 1 and Patent Document 2.

Japanese Patent No. 3540883 Japanese Patent No. 3993724

  However, when rolling in multiple passes such as reverse rolling and tandem rolling from the initial plate thickness such as slab thickness to the target plate thickness such as bar thickness, even if it is assumed that the incident angle that does not cause warpage and biting failure is the same, Since the shape of the rolled material, particularly the length of the rolled material, changes from pass to pass, the relationship between the pickup amount and the incident angle is not constant. For this reason, when the pickup amount is a fixed value, the incident angle changes for each pass, and warping or biting failure may occur. In addition, since the shape of the rolled material, particularly the plate thickness and the plate width, changes from pass to pass, the incident angle at which no warpage or biting failure occurs may vary from pass to pass.

  In the technique described in Patent Document 1, the pickup amount is set in advance so that the incident angles of all the paths are within a certain allowable value, and the pickup amount is changed from the viewpoint of rolling efficiency in the paths where the incident angles are within the allowable value. Because there is no, it was difficult to set an appropriate pickup amount.

  In the technique described in Patent Document 1, the pick-up amount is calculated from the geometric relationship between the rolling mill, the conveyance table, and the rolled material, based on the allowable value of the incident angle at which no warp occurs. Due to the complexity, iterative calculations such as Newton-Raphson method are required. For this reason, there is a problem that a high-performance computer is required and the manufacturing cost is increased accordingly.

  Further, in the technique described in Patent Document 2, in each pass of reverse rolling, the prediction of warpage and the calculation of the incident angle that suppresses warpage are performed, and rolling of each pass is performed at an incident angle that eliminates warpage. The adjustment method is described only when the conveyance table is moved up and down, for example. No specific method is disclosed, and it is difficult to set an appropriate pickup amount.

  The present invention has been made in view of the above problems, and provides a control device, a control method, and a control program for setting an appropriate pickup amount with a simple device configuration.

  In order to achieve the above-mentioned object, the first feature of the control device according to the present invention is a conveyance means for conveying a rolled material, and a roll set composed of an upper work roll and a lower work roll. Rolling means for rolling the rolled material to be conveyed from the initial size to the target size by pressing the rolled material to be conveyed from above and below with the upper work roll and the lower work roll, the top point height on the entry side of the carrying means and the lower work A control unit for controlling a rolling device having a pickup amount changing means for changing a pickup amount that is a difference from the height of the uppermost point of the roll, and an angle at which the rolled material enters the rolling means from the conveying means As the angle, the incident angle information that correlates the incident angle that does not cause warpage and biting failure in the rolled material, and the rolling conditions for the rolling means to perform rolling, is provided. Incident angle information storage means for storing, rolling condition calculation means for calculating the rolling conditions based on the initial size and the target size, the calculated rolling conditions, and the stored incident angle information A pickup amount calculating means for calculating the pickup amount from a geometrical and mechanical relationship, and a pickup amount for controlling the pickup amount changing means so as to be the pickup amount calculated by the pickup amount calculating means And a change control means.

  In order to achieve the above object, a second feature of the control device according to the present invention is that the pick-up amount calculation means is configured to use the rolling material based on the calculated rolling condition and the stored incident angle information. It is to calculate the maximum deflection amount when the lens is bent downward as the pickup amount.

  In order to achieve the above object, a third feature of the control device according to the present invention is further provided with a measuring unit that measures a rolling state by the rolling unit, and the rolling unit includes a rolled material conveyed by the conveying unit. The upper work roll and the lower work roll are rolled from the initial size to the target size by pressing a plurality of times from the up and down direction, and the rolling condition calculation means uses the upper work roll and the lower work roll to roll the rolled material. The rolling condition is calculated based on the actual value of the rolling state measured by the detection means, the initial size, and the target size each time the pressing is performed.

  In order to achieve the above-mentioned object, the first feature of the control method according to the present invention is a conveyance means for conveying a rolled material, and a roll set composed of an upper work roll and a lower work roll. Rolling means for rolling the rolled material to be conveyed from the initial size to the target size by pressing the rolled material to be conveyed from above and below with the upper work roll and the lower work roll, the top point height on the entry side of the carrying means and the lower work A pick-up amount changing means for changing a pick-up amount that is a difference from the height of the uppermost point of the roll, and a control method for controlling the rolling device, wherein an angle at which the rolling material enters the rolling means from the conveying means is incident As the angle, the incident angle information that correlates the incident angle that does not cause warpage and biting failure in the rolled material, and the rolling conditions for the rolling means to perform rolling, is provided. Incident angle information storage step to be stored in the incident angle information storage means, rolling condition calculation step for calculating the rolling condition based on the initial size and the target size, the calculated rolling condition, and the storage A pickup amount calculation step for calculating the pickup amount from a geometrical and mechanical relationship based on the incident angle information, and the pickup amount change so as to be the pickup amount calculated by the pickup amount calculation step And a pickup amount changing control step for controlling the means.

  In order to achieve the above object, a second feature of the control method according to the present invention is that the pick-up amount calculation step is based on the calculated rolling condition and the stored incident angle information. It is to calculate the maximum deflection amount when the lens is bent downward as the pickup amount.

  In order to achieve the above object, a third feature of the control method according to the present invention further includes a measurement step of measuring a rolling state by the rolling means, and the rolling means is a rolled material conveyed by the conveying means. Is rolled from the initial size to the target size by pressing the upper work roll and the lower work roll a plurality of times in the vertical direction, and the rolling condition calculation step is performed by using the upper work roll and the lower work roll. Is to calculate the rolling condition based on the actual value of the rolling state measured by the detecting step, the initial size, and the target size.

  In order to achieve the above-mentioned object, the first feature of the control program according to the present invention includes a conveying means for conveying a rolled material, and a roll set composed of an upper work roll and a lower work roll. Rolling means for rolling the rolled material to be conveyed from the initial size to the target size by pressing the rolled material to be conveyed from above and below with the upper work roll and the lower work roll, the top point height on the entry side of the carrying means and the lower work A pick-up amount changing means for changing a pick-up amount that is a difference from the height of the uppermost point of the roll, and a control program executed by a computer that controls the rolling apparatus, and the rolling material enters the rolling means from the conveying means The angle of incidence is the angle of incidence, the angle of incidence that does not cause warpage and biting failure in the rolled material, and the rolling means for rolling Incident angle information storage step for storing the incident angle information in the incident angle information storage means in association with the extending condition, the rolling condition calculation step for calculating the rolling condition based on the initial size and the target size, Based on the calculated rolling conditions and the stored incident angle information, a pickup amount calculation step for calculating the pickup amount from a geometrical and mechanical relationship, and a pickup amount calculated by the pickup amount calculation step In other words, the computer executes the pickup amount change control step for controlling the pickup amount changing means.

  In order to achieve the above object, a second feature of the control program according to the present invention is that the pick-up amount calculation step is based on the calculated rolling condition and the stored incident angle information. It is to calculate the maximum deflection amount when the lens is bent downward as the pickup amount.

  In order to achieve the above object, a third feature of the control program according to the present invention further includes a measuring step of measuring a rolling state by the rolling means, and the rolling means is a rolled material conveyed by the conveying means. Is rolled from the initial size to the target size by pressing the upper work roll and the lower work roll a plurality of times in the vertical direction, and the rolling condition calculation step is performed by using the upper work roll and the lower work roll. Is to calculate the rolling condition based on the actual value of the rolling state measured by the detecting step, the initial size, and the target size.

  According to the control device, control method, and control program of the present invention, an appropriate pickup amount can be set with a simple device configuration.

It is the block diagram which showed the structure of the hot rolling apparatus controlled by the control apparatus which concerns on Example 1 of this invention. It is a side view explaining the rolling of the rolling material with the rough rolling mill with which a hot rolling apparatus is provided. It is the block diagram which showed the function structure of the control system to which the control apparatus which concerns on Example 1 of this invention was applied. It is the figure which showed an example of the incident angle information which the incident angle information storage part with which the control apparatus which concerns on Example 1 of this invention is equipped has memorize | stored. It is the figure which showed typically the side of the rough rolling mill when the deflection occurs in the rolling material, It is a figure explaining calculation of the amount of pick-up in case deflection arises in a rolling material. It is a figure explaining calculation of the amount of pick-up in case deflection arises in a rolling material. It is the block diagram which showed the effect | action of the control system to which the control apparatus which concerns on Example 1 of this invention was applied. It is the block diagram which showed the function structure of the control system to which the control apparatus which concerns on Example 2 of this invention was applied. It is the block diagram which showed the effect | action of the control system to which the control apparatus which concerns on Example 2 of this invention was applied.

  Embodiments according to the present invention will be described below with reference to the drawings.

  A control device according to Embodiment 1 of the present invention will be described.

≪Configuration of hot rolling equipment≫
FIG. 1 is a configuration diagram illustrating a configuration of a hot rolling apparatus controlled by a control apparatus according to Embodiment 1 of the present invention. The arrow in FIG. 1 has shown the conveyance direction in which the rolling material 200 rolled in a hot rolling apparatus (hot rolling line) is conveyed. In general, the rolled material 200 is also referred to as a slab, a bar, or a coil in the process of being rolled in a hot rolling apparatus, but here, it is assumed that the rolled material 200 is unified as a name.

  As shown in FIG. 1, the hot rolling apparatus 1000 includes a heating furnace 101, a primary descaler 103, a rough edger 105, a roughing mill 107, a roughing side plate width meter 109, and a roughing side thermometer 111. Finishing side thermometer 113, crop shear 115, secondary descaler 117, finishing rolling mill 119, finishing side plate thickness meter 121, multigauge 123, finishing side thermometer 125, flatness A total 127, a run-out laminar spray cooling unit 129, a coiler inlet side thermometer 131, a coiler inlet side plate width meter 133, and a coiler 135 are provided.

  The heating furnace 101 is a furnace for heating the rolled material 200.

  The primary descaler 103 removes the oxide film formed on the surface of the rolled material 200 by heating the heating furnace 101 by spraying high-pressure water from the up and down direction of the rolled material 200.

  The rough edger 105 performs rolling in the width direction of the rolled material 200 when viewed from the upper surface direction of the hot rolling line.

  The rough rolling mill 107 includes one or more stands and performs rolling in the vertical direction of the rolled material 200. Further, the rough rolling mill 107 includes a reversible rolling mill because it is necessary to shorten the line length from the viewpoint of preventing temperature decrease and the like, and further, rolling by a plurality of passes (reciprocating motion in the conveying direction) is necessary. It is often composed of. The rough rolling mill 107 is equipped with a descaler for spraying high-pressure water onto the rolled material 200, which is a semi-finished product, to remove the oxide film on the surface. Since rolling is performed at a high temperature, an oxide film is likely to be formed, and it is necessary to use an apparatus for removing such an oxide film as appropriate.

  The roughing side plate width meter 109 measures the plate width of the rolled material 200 which is a semi-finished product during rolling.

  The roughing side thermometer 111 measures the surface temperature of the rolled material 200 which is a semi-finished product during rolling.

  The finish entry side thermometer 113 measures the surface temperature of the rolled material 200 at the entrance of the finish rolling mill 119 because the distance between the rough rolling mill 107 and the finish rolling mill 119 is long.

  The crop shear 115 cuts the leading end of the rolled material 200.

  Since the secondary descaler 117 has a long distance between the rough rolling mill 107 and the finish rolling mill 119, the secondary descaler 117 is provided at the entrance of the finish rolling mill 119 to improve the surface properties of the rolled material 200 after the finish rolling. The oxide film formed on the surface of the rolled material 200 is removed by spraying high-pressure water from above and below the rolled material 200.

  The finishing mill 119 employs a tandem type in which a plurality of rolling rolls called stands are installed, and a rolling material 200 having a target plate thickness can be obtained by rolling up and down with a plurality of rolling rolls. . A spray is provided between the stands of the finish rolling mill 119 in order to suppress oxide film formation and to control the temperature.

  The finish delivery side thickness gauge 121 measures the thickness of the rolled material 200 rolled by the finish rolling mill 119.

  A multi-channel gauge (Multi-Channel Gauge) 123, which is a kind of X-ray measuring device, has a configuration in which X-ray detectors are arranged in the width direction of the rolled material 200, and the thickness distribution in the width direction can be measured. It is a composite measuring instrument that can measure multiple types of process values such as plate thickness, crown, and plate width with a single unit.

  The finish delivery side thermometer 125 measures the surface temperature of the rolled material 200 after being rolled by the finish rolling mill 119. The temperature of the rolled material 200 is closely related to the formation and material of the metal structure of the product, and needs to be managed at an appropriate temperature.

  The flatness meter 127 measures the flatness of the rolled material 200 after being rolled by the finish rolling mill 119. Further, the flatness meter 127 includes a plurality of CCD cameras, and can measure the plate width of the rolled material 200. Since the flatness meter 127 has higher measurement accuracy than the multigauge 123, the plate width value measured by the flatness meter 127 is often used as the plate width value on the exit side of the finishing mill 119.

  The run-out laminar spray cooling unit 129 is a device that cools the rolled material 200 with cooling water in order to control the temperature of the rolled material 200. These may be provided with a forced cooling device in the front and rear in addition to a normal run-out table cooling device.

  The coiler entry side thermometer 131 measures the surface temperature of the rolled material 200 cooled by the run-out laminar spray cooling unit 129. The temperature of the rolled material 200 is closely related to the formation and material of the metal structure of the rolled product, and needs to be managed at an appropriate temperature.

  The coiler entrance side plate width meter 133 measures the plate width of the rolled material 200 cooled by the run-out laminar spray cooling unit 129. In normal rolling, the rolled material 200 heated to the austenite region is transformed into a structure such as ferrite or pearlite in the run-out laminar spray cooling unit 129, and thus the plate width after transformation is measured. In addition, since it is about 860 ° C. on the exit side of the finish rolling mill 119 and about 600 ° C. on the inlet side of the coiler 135, a state where there is less error from room temperature due to linear expansion by measuring in a state closer to room temperature The board width can be measured with.

  The coiler 135 is wound up to convey the rolled material 200.

  FIG. 2 is a side view illustrating the rolling of the rolled material 200 by the rough rolling mill 107 provided in the hot rolling apparatus 1000.

  As shown in FIG. 2, the rough rolling mill 107 includes an entrance-side transport table 10a, a roll set 7, a rolling load detector 8, a pickup amount changing unit 9, an exit-side transport table 10b, a motor 4, And a motor power measuring device 5.

  The entry side conveyance table 10a conveys the rolling material 200 in the direction of the roll set 7 (conveyance direction).

  The roll set 7 includes an upper work roll 7a and a lower work roll 7b that are rotationally driven by a driving force of the motor 4, and the upper work roll 7a and the lower work roll are transferred to the rolled material 200 conveyed by the entry-side conveyance table 10a. 7b is rolled from the initial size to the target size by pressing from above and below. Here, the initial size means at least one of the plate length, the plate width, and the plate thickness in the conveying direction of the rolled material 200 before rolling, and the target size means the rolled material 200 after rolling. It means at least one of the plate length, the plate width, and the plate thickness in the conveying direction.

  Further, in order to suppress warping and biting failure of the rolled material 200, a difference is provided between the uppermost point height 201 of the entry-side transport table 10a and the uppermost point height 202 of the lower work roll 7b. This difference in height is referred to as a pickup amount Δd. And the angle at which the rolled material 200 enters, that is, when the rolled material 200 is bitten by the upper work roll 7a and the lower work roll 7b, the rolled material 200 and the highest point height 201 of the entry-side transport table 10a Is defined as an incident angle α.

  Below the roll set 7, there is provided a pickup amount changing unit 9 that changes the pickup amount Δd by moving the roll set 7 up and down.

  Further, above the upper work roll 7a, there is provided a rolling load detector 8 for detecting a rolling load when the upper work roll 7a and the lower work roll 7b are pressed from above and below to perform rolling. Is provided with a motor power measuring device 5 for measuring the motor power of the motor 4.

  In addition, although the rough rolling mill 107 which rolls from an initial size to a target size by pressing from above and below with the upper work roll 7a and the lower work roll 7b has been described as an example, the number of times of pressing is one time. Not limited to this, it may be performed multiple times. For example, rolling (reverse rolling) may be performed by moving the rolled material 200 back and forth in the conveying direction and pressing the upper work roll 7a and the lower work roll 7b a plurality of times from the vertical direction.

  Further, the present invention is not limited to the rough rolling mill 107, and includes a plurality of roll sets 7, and a rolling mill that rolls the rolled material 200 with the plurality of roll sets 7, for example, a tandem rolling mill such as a finish rolling mill 119. The present invention can be applied even when rolling in one direction for each pass of the stand.

≪Functional configuration of control device 1≫
Next, a functional configuration of the control system to which the control device according to the first embodiment of the present invention is applied will be described.

  FIG. 3 is a block diagram illustrating a functional configuration of a control system to which the control device according to the first embodiment of the present invention is applied. Here, as an example, a rough rolling mill 107 that performs rolling (reverse rolling) by pressing the rolled material 200 back and forth in the conveying direction and pressing the upper work roll 7a and the lower work roll 7b a plurality of times from the vertical direction is taken as an example. I will give you a description. The number of passes through the roll set 7 is called a pass.

  As shown in FIG. 3, the control system 100 includes a host computer 301, the control device 1, and a pickup amount changing unit 9.

  The host computer 301 controls a request signal including chemical component information based on actual measurement information during component adjustment of the rolled material 200 and an initial size and a target size of the rolled material 200 based on a user operation. 1 is supplied.

  The control device 1 calculates the pickup amount based on the request signal supplied from the host computer 301, and controls the pickup amount changing unit 9 based on the calculated pickup amount.

  The control device 1 includes a path schedule calculation unit 12, an incident angle information storage unit 13, a pickup amount calculation unit 14, a pickup storage unit 17, a pickup amount change timing calculation unit 15, and a pickup amount change control unit 16. I have.

  The pass schedule calculation unit 12 calculates rolling conditions based on the initial size and target size of the rolled material 200. For example, the pass schedule calculation unit 12 is based on the plate thickness of the rolled material 200 before rolling, the plate thickness of the rolled material 200 after rolling, and the plate width of the rolled material 200 after rolling supplied by the host computer 301. Thus, the reduction amount in the thickness direction of each pass is calculated in consideration of the reduction amount distribution, the load ratio distribution, and the like.

  Here, the amount of reduction is the plate thickness difference between the rolled material 200 before and after rolling. The load ratio is a ratio obtained by dividing the load of each path using the load of the path with the highest load among all the paths. By calculating the reduction amount by the pass schedule calculation unit 12, the size of the rolled material 200 of each pass, that is, the plate thickness, the plate width, and the plate length are known.

  The incident angle information storage unit 13 associates the rolling conditions for rolling by the rough rolling mill 107 with the incident angle α that does not cause the rolled material 200 to be warped or bite and stores it as incident angle information.

  FIG. 4 is a diagram illustrating an example of incident angle information stored in the incident angle information storage unit 13 included in the control device according to the first embodiment of the present invention.

  As shown in FIG. 4, the average value of the thicknesses of the rolled material 200 on the entry side and the exit side of the roll set 7 is calculated by using the steel type 401 of the rolled material 200 and the contact projected arc length of the rolled material 200 and the roll set 7. The shape ratio 402, which is the value divided by, the temperature 403 of the rolled material 200, and the incident angle 404 are associated with each other and stored as incident angle information. Among these, the steel type 401, the shape ratio 402, and the temperature 403 are referred to herein as rolling conditions. Further, the incident angle 404 is an angle determined in advance as an angle at which warpage does not occur in the target rolling line obtained in advance by experiments or the like, or an angle when the rolling is performed satisfactorily without warping during operational rolling.

  The pickup amount calculation unit 14 calculates the pickup amount from the geometrical and mechanical relationship based on the rolling condition calculated by the pass schedule calculation unit 12 and the incident angle information stored in the incident angle information storage unit 13. To do.

  Specifically, the pick-up amount calculation unit 14 determines the geometric and dynamics of the rolling conditions for each pass calculated by the pass schedule calculation unit 12 and the incident angle α included in the incident angle information in the incident angle information storage unit 13. The set value of the pickup amount Δd of each path is calculated using the target relationship. Here, as described above, the pickup amount Δd is the difference between the highest point height 201 of the entry-side transport table 10a and the highest point height 202 of the lower work roll 7b.

  For example, under conditions where the rolled material 200 is thick and the plate length is short, or when the temperature of the rolled material 200 is low, the rolling material 200 can be assumed not to bend as shown in FIG. The incident angle α when the tail end of the rolled material 200 comes into contact with the entry-side transport table 10a and the rolled material 200 is bitten between the upper work roll 7a and the lower work roll 7b is the rolling material 200 and the entrance-side conveyance. This is the angle formed by the table 10a.

In this case, the pickup amount calculation unit 14 includes the plate length L of the rolled material 200 before rolling of each pass calculated by the pass schedule calculation unit 12 and the warpage of each pass extracted from the incident angle information storage unit 13. The pickup amount Δd is calculated geometrically using the following (Equation 1) with the incident angle α that does not occur.

  However, if the plate thickness of the rolled material 200 is thin and the plate length is long or the temperature of the rolled material 200 is high, there may be a case where the downward bending occurs.

  Therefore, when the rolling material 200 is bent, the pickup amount calculation unit 14 calculates the maximum bending amount when the rolled material 200 is bent downward as the pickup amount.

  FIG. 5 is a diagram schematically illustrating a side surface of the rough rolling mill 107 when the rolled material 200 is bent. FIG. 6 illustrates the calculation of the pickup amount when the rolled material 200 is bent. FIG.

  As shown in FIG. 5, when deflection occurs in the rolled material 200, the rolled material 200 curves downward and contacts the entry-side transport table 10 a at point A. Further, the bent rolled material 200 is in contact with the upper point B of the lower work roll 7b.

  At this time, the distance from the position immediately below point B to point A on the highest point height 201 (pass line) of the entry-side transport table 10a is assumed to be x.

Then, as shown in FIG. 6, the pickup amount calculation unit 14 approximates the incident angle α to, for example, an angle (inclination angle) φ between a straight line connecting the point A and the point B and the pass line, To do. Then, the pickup amount calculation unit 14 geometrically calculates the pickup amount Δd that becomes the incident angle extracted from the incident angle information storage unit 13 in the path, using the following (Equation 2).

  Further, as shown in FIG. 6, assuming that a beam having a length of 2x is supported at both ends, the rolled material 200 comes into contact with the pass line at a position where the deflection of the beam is maximum, and the maximum deflection amount δ is It is equal to the pickup amount Δd.

Therefore, the pickup amount calculation unit 14 dynamically calculates the pickup amount Δd using (Formula 3) obtained by modifying the maximum deflection equation of the beam supported at both ends.

  Here, w is the load per unit length, E is the Young's modulus, and I is the second moment of section.

The load per unit length is calculated using the following (Equation 4) based on the volume density ρ, the sheet thickness H, and the sheet width B of the rolled material 200.

  Where g is the gravitational acceleration. The Young's modulus E varies depending on the temperature and components of the rolled material 200. A table or the like is prepared in advance, and the Young's modulus corresponding to the temperature calculation value calculated by the pass schedule calculation unit 12 is selected, or an appropriate representative value is selected.

Based on the plate thickness H and plate width B of the path, the pickup amount calculation unit 14 calculates the cross-sectional secondary moment I using the following (Formula 5).

When (Equation 1), (Equation 2), and α = φ, the pickup amount calculation unit 14 is based on the incident angle α that does not cause the warp of each path extracted from the incident angle information storage unit 13 as follows. The pickup amount Δd is calculated using (Formula 6).

Further, as shown in FIG. 7, assuming that a beam having a length of 2x is supported at both ends, the rolling direction of the lower surface of the rolling material 200 at a point B where the rolling material 200 contacts the lower work roll 7b is assumed. The angle θ between the tangent line and the pass line is approximated to α = θ. Here, since θ is equal to the maximum deflection angle of the both-end support beams, the pickup amount calculation unit 14 calculates the angle θ using the following (Formula 7) obtained by modifying the formula for obtaining the maximum deflection angle.

Then, the pickup amount calculation unit 14 substitutes the incident angle α extracted from the incident angle information storage unit 13 at which no warpage occurs into θ of (Equation 7), and uses the following (Equation 8) to calculate x. calculate.

Here, when assuming a both-ends support beam, the pickup amount Δd is the maximum deflection amount expressed by (Equation 3). Therefore, the pickup amount calculation unit 14 calculates the following (Equation 9) from x calculated using (Equation 8) and the incident angle α that does not cause the warp of each path extracted from the incident angle information storage unit 13. ) To calculate the pickup amount Δd.

  The pickup storage unit 17 stores the pickup amount Δd calculated by the pickup amount calculation unit 14.

  The pick-up amount change timing calculation unit 15, for example, the tail slipping timing at which the tail end of the rolled material 200 comes out of the rough rolling mill 107 in the previous pass, and the biting in which the tip of the rolled material 200 is bitten into the rough rolling mill 107 in the corresponding pass The pick-up amount change timing t for changing the pick-up amount is calculated.

  Here, the bottom-out timing and the biting timing are obtained by, for example, calculation by a tracking device for the rolled material 200 (not shown), calculation of timing at which the rolling load changes by a rolling load calculation device, and the like.

  The pickup amount change control unit 16 enters the lower work roll 7b so that the set value of the pickup amount Δd stored in the pickup storage unit 17 becomes the set value at the pickup amount change timing t calculated by the pickup amount change timing calculation unit 15. There is a difference in height from the side transfer table 10a. Specifically, the pickup amount change control unit 16 controls the pickup amount change unit 9 to move the roll set 7 up and down to change the pickup amount Δd.

  In this way, the pick-up amount Δd is determined by the rolling mill equipped with a device that can change the position of the lower work roll 7b up and down in the vertical direction with respect to the rolling line, In a rolling line equipped with a changeable device, it can be changed mechanically.

  Further, when the pickup amount change control unit 16 includes a device that can change the pickup amount Δd at high speed by hydraulic pressure or the like, it is possible to prevent a reduction in rolling efficiency due to a change in the pickup amount Δd.

<< Operation of the control device 1 >>
Next, the operation of the control system 100 to which the control device 1 according to the first embodiment of the present invention is applied will be described.

  FIG. 8 is a block diagram illustrating the operation of the control system 100 to which the control device 1 according to the first embodiment of the present invention is applied.

  As shown in FIG. 8, the path schedule calculation unit 12 determines whether a request signal is supplied from the host computer 301 (step S101).

  In step S101, when it is determined that the request signal is supplied from the host computer 301 (in the case of YES), the pass schedule calculation unit 12 calculates rolling conditions based on the initial size and the target size of the rolled material 200 ( Step S103).

  Next, the pickup amount calculation unit 14 extracts the incident angle α from the incident angle information storage unit 13 so that no warpage or biting failure corresponding to the rolling condition calculated by the pass schedule calculation unit 12 occurs (step). S105).

  Then, the pickup amount calculation unit 14 calculates the pickup amount from the geometrical and mechanical relationship based on the rolling conditions calculated by the pass schedule calculation unit 12 and the extracted incident angle α (step S107). The calculated pickup amount is stored in the pickup storage unit 17 (step S109).

  Next, the pickup amount change control unit 16 substitutes “1” for the value of the counter i (step S111).

  Then, the pickup amount change timing calculation unit 15 calculates the pickup amount change timing t of the i-th pass (step S113).

  Then, when the pickup amount change timing t reaches the i-th pass pickup amount change timing t, the pickup amount change control unit 16 reads the pickup amount stored in the pickup storage unit 17, and picks up the pickup amount so as to be the read pickup amount. By controlling the changing unit 9, the roll set 7 is moved up and down (step S115).

  Next, the rough rolling mill 107 starts rolling the rolling material 200 in the i-th pass with the set pickup amount (step S117).

  Then, it is determined whether or not the rolling is finished depending on whether or not the rolling condition of the rolled material 200 is satisfied (step S119). When the rolling is not finished (in the case of NO), the pickup amount change control unit 16 Only "1" is added to the value of the counter i (step S121).

  As described above, according to the control system 100 to which the control device 1 according to the first embodiment of the present invention is applied, the rolling conditions calculated by the pass schedule calculation unit 12 and the incident angle information storage unit 13 are stored. Since the pickup amount is calculated from the geometrical and mechanical relationship based on the incident angle information, an appropriate pickup amount can be set without using a high-performance calculator.

  In the first embodiment of the present invention, the control device 1 that calculates and stores the pickup amount for each pass in advance before rolling the rolled material 200 and sets the pickup amount read during rolling has been described as an example. .

  In Example 2 of the present invention, a control device that calculates the pickup amount reflecting the rolling performance (the actual value of the rolling state) for each pass and sets the pickup amount during rolling of the rolled material 200 is taken as an example. explain.

  FIG. 9 is a block diagram illustrating a functional configuration of a control system 100A to which the control device 1A according to the second embodiment of the present invention is applied.

  As shown in FIG. 9, the control system 100 </ b> A includes a host computer 301, a control device 1 </ b> A, and a pickup amount changing unit 9. Here, the host computer 301 and the pickup amount changing unit 9 are the same as the configurations with the same reference numerals provided in the control device 1 according to the first embodiment of the present invention, respectively, and thus the description thereof is omitted.

  The control device 1A calculates the pickup amount based on the request signal supplied from the host computer 301, and controls the pickup amount changing unit 9 based on the calculated pickup amount.

  The control device 1A includes a rolling performance collection unit 19, a pass schedule calculation unit 12, an incident angle information storage unit 13, a pickup amount calculation unit 14, a pickup amount change timing calculation unit 15, and a pickup amount change control unit 16. It has. Among these configurations, the configuration other than the rolling record collection unit 19 is the same as the configuration with the same reference numeral provided in the control device 1 according to the first embodiment of the present invention, and thus the description thereof is omitted.

  The rolling performance collection unit 19 collects rolling performance such as motor power and reduction amount of each pass during rolling. For example, the rolling record collecting unit 19 collects the motor power of the motor 4 measured by the motor power measuring device 5. Further, the rolling performance collecting unit 19 collects the rolling load detected by the rolling load detector 8.

  Then, the rolling record collecting unit 19 sets the collected rolling load as P (ton), the thickness of the rolled material 200 after rolling as h (mm), and the reduction position S (mm) as shown in the following (Equation 10). The sheet thickness h of the rolled material 200 after rolling is calculated using the gauge meter formula shown.

h = S + (P / M) (Formula 10)
M (ton / mm) is an elastic coefficient of the rolling mill with respect to a rolling load called a mill constant.

  And the rolling results collection part 19 calculates a reduction amount as a difference of the plate | board thickness of the rolling material 200 before rolling, and the plate | board thickness of the rolling material 200 after rolling calculated using (Formula 10), and calculated the reduction The quantity and motor power are supplied to the pass schedule calculation unit 12 as the rolling record.

<< Operation of Control Device 1A >>
Next, the operation of the control system 100A to which the control device 1A according to the second embodiment of the present invention is applied will be described.

  FIG. 10 is a block diagram illustrating the operation of the control system 100A to which the control device 1A according to the second embodiment of the present invention is applied.

  As illustrated in FIG. 10, the path schedule calculation unit 12 determines whether a request signal is supplied from the host computer 301 (step S201).

  In step S201, when it is determined that a request signal is supplied from the host computer 301 (in the case of YES), the pass schedule calculation unit 12 calculates rolling conditions based on the initial size and the target size of the rolled material 200 ( Step S203).

  Next, the pickup amount change control unit 16 substitutes “1” for the value of the counter i (step S207).

  Next, the pickup amount calculation unit 14 extracts the incident angle α from the incident angle information storage unit 13 so that no warpage or biting failure corresponding to the rolling condition calculated by the pass schedule calculation unit 12 occurs (step). S209).

  Then, the pickup amount calculation unit 14 calculates the pickup amount from the geometrical and mechanical relationship based on the rolling conditions calculated by the pass schedule calculation unit 12 and the extracted incident angle α (step S211).

  Next, the pickup amount change timing calculation unit 15 calculates the pickup amount change timing t of the i-th pass (step S213).

  Then, the pickup amount change control unit 16 controls the pickup amount change unit 9 so that the pickup amount calculated by the pickup amount calculation unit 14 is reached when the pickup amount change timing t of the i-th pass is reached. Accordingly, the roll set 7 is moved up and down (step S215).

  Next, the rough rolling mill 107 starts rolling the rolling material 200 in the i-th pass with the set pickup amount (step S217).

  When the rolling of the rolled material 200 in the i-th pass is completed (step S219), the rolling record collecting unit 19 collects rolling records such as motor power and reduction amount of each pass during rolling (step S221). .

  Next, the pass schedule calculation unit 12 recalculates the rolling condition based on the rolling record collected by the rolling record collecting unit 19, the initial size and the target size of the rolled material 200 (step S223).

  Then, it is determined whether or not the rolling is finished depending on whether or not the rolling condition of the rolled material 200 is satisfied (step S225). When the rolling is not finished (in the case of NO), the pickup amount change control unit 16 Only "1" is added to the value of the counter i (step S227).

  As described above, according to the control system 100 to which the control device 1A according to the second embodiment of the present invention is applied, every time the rolling material 200 is pressed by each pass, that is, by the upper work roll 7a and the lower work roll 7b. The rolling condition is calculated based on the rolling record (actual value of the rolling state) collected by the rolling record collecting unit 19, the initial size, and the target size. Therefore, a more appropriate pickup amount is set for each pass. Can do.

  As described above, the control device, the control method, and the control program according to the present invention can be used for the control device, the control method, and the control program that control the hot rolling device that rolls the rolled material.

DESCRIPTION OF SYMBOLS 1,1A ... Control apparatus 4 ... Motor 5 ... Motor power measuring device 7 ... Roll set 7a ... Upper work roll 7b ... Lower work roll 8 ... Rolling load detector 9 ... Pick-up amount change part 10a ... Incoming conveyance table 10b ... Out Side transfer table 12 ... Pass schedule calculation unit (rolling condition calculation means)
DESCRIPTION OF SYMBOLS 13 ... Incident angle information storage part 14 ... Pick-up amount calculation part 15 ... Pick-up amount change timing calculation part 16 ... Pick-up amount change control part 17 ... Pick-up storage change part 19 ... Rolling performance collection part 100,100A ... Control system 1000 ... Hot rolling Equipment 101 ... Heating furnace 103 ... Primary descaler 105 ... Coarse edger 107 ... Coarse rolling mill 115 ... Crop shear 117 ... Secondary descaler 119 ... Finishing mill 123 ... Multi-gauge 129 ... Run-out laminar spray cooling part 135 ... Coiler 200 ... Rolling Material 301 ... Host computer

Claims (6)

It has a roll set composed of a transport means for transporting the rolled material, and an upper work roll and a lower work roll, and the rolled material transported by the transport means from above and below with the upper work roll and the lower work roll. Rolling means for rolling from an initial size to a target size by pressing, and a pickup amount changing means for changing a pickup amount which is a difference between the highest point height on the entry side of the conveying means and the highest point height of the lower work roll; A control device for controlling a rolling device having
The incident angle at which the rolled material is incident on the rolling means from the conveying means is defined as an incident angle, and the incident angle at which the rolled material does not warp and bite, and the rolling conditions for the rolling means to roll are set. In association, incident angle information storage means for storing as incident angle information,
Rolling condition calculation means for calculating the rolling conditions based on the initial size and the target size;
Based on the calculated rolling conditions and the stored incident angle information, a pickup amount calculating means for calculating the maximum deflection amount when the rolled material is bent downward as the pickup amount;
A pickup amount change control means for controlling the pickup amount change means so as to be the pickup amount calculated by the pickup amount calculation means;
A control device comprising: Further comprising a measuring means for measuring a rolling state by the rolling means,
The rolling means is
Rolling from the initial size to the target size by pressing the rolled material conveyed by the conveying means multiple times from above and below with the upper work roll and the lower work roll,
The rolling condition calculation means includes
Each time the rolled material is pressed by the upper work roll and the lower work roll, the rolling condition is calculated based on the actual value of the rolling state measured by the measuring means, the initial size, and the target size. The control device according to claim 1 . It has a roll set composed of a transport means for transporting the rolled material, and an upper work roll and a lower work roll, and the rolled material transported by the transport means from above and below with the upper work roll and the lower work roll Rolling means for rolling from an initial size to a target size by pressing, and a pickup amount changing means for changing a pickup amount which is a difference between the highest point height on the entry side of the conveying means and the highest point height of the lower work roll; A control method for controlling a rolling device having
The incident angle at which the rolled material is incident on the rolling means from the conveying means is defined as an incident angle, and the incident angle at which the rolled material does not warp and bite, and the rolling conditions for the rolling means to roll are set. In association, incident angle information storage step of storing in the incident angle information storage means as incident angle information,
Rolling condition calculation step for calculating the rolling condition based on the initial size and the target size;
Based on the calculated rolling conditions and the stored incident angle information, a pickup amount calculating step for calculating a maximum deflection amount when the rolled material is bent downward as the pickup amount;
A pickup amount changing control step for controlling the pickup amount changing means so as to be the pickup amount calculated by the pickup amount calculating step;
A control method characterized by comprising: A measurement step of measuring a rolling state by the rolling means;
The rolling means is
Rolling from the initial size to the target size by pressing the rolled material conveyed by the conveying means multiple times from above and below with the upper work roll and the lower work roll,
The rolling condition calculation step includes
Each time the rolled material is pressed by the upper work roll and the lower work roll, the rolling conditions are calculated based on the actual value of the rolling state measured by the measuring step, the initial size, and the target size. The control method according to claim 3 . It has a roll set composed of a transport means for transporting the rolled material, and an upper work roll and a lower work roll, and the rolled material transported by the transport means from above and below with the upper work roll and the lower work roll. Rolling means for rolling from an initial size to a target size by pressing, and a pickup amount changing means for changing a pickup amount which is a difference between the highest point height on the entry side of the conveying means and the highest point height of the lower work roll; A control program executed by a computer for controlling the rolling apparatus,
The incident angle at which the rolled material is incident on the rolling means from the conveying means is defined as an incident angle, and the incident angle at which the rolled material does not warp and bite, and the rolling conditions for the rolling means to roll are set. In association, incident angle information storage step of storing in the incident angle information storage means as incident angle information,
Rolling condition calculation step for calculating the rolling condition based on the initial size and the target size;
Based on the calculated rolling conditions and the stored incident angle information, a pickup amount calculating step for calculating a maximum deflection amount when the rolled material is bent downward as the pickup amount;
A pickup amount changing control step for controlling the pickup amount changing means so as to be the pickup amount calculated by the pickup amount calculating step;
A control program for causing the computer to execute. A measurement step of measuring a rolling state by the rolling means;
The rolling means is
Rolling from the initial size to the target size by pressing the rolled material conveyed by the conveying means multiple times from above and below with the upper work roll and the lower work roll,
The rolling condition calculation step includes
Each time the rolled material is pressed by the upper work roll and the lower work roll, the rolling conditions are calculated based on the actual value of the rolling state measured by the measuring step, the initial size, and the target size. The control program according to claim 5 .

Images