JP5790636B2 - Rolled material meander control method, rolled material meander control device, rolled material meander control program, and rolled material manufacturing method - Google Patents

Description

  The present invention relates to a rolling material meandering control method, a rolling material meandering control device, a rolling material meandering control program, a rolling material meandering control program, and a rolled material manufacturing method, which controls the meandering amount of the rolled material by manipulating the leveling amount of the continuous rolling mill Regarding the method.

  When rolling a rolled material such as a steel sheet using a continuous rolling mill, the center position in the width direction of the rolled material is shifted from the rolling center (mill center) of the rolling roll, and the rolled material moves toward the end of the rolling roll. The meandering phenomenon of the moving rolled material may occur. When such a meandering phenomenon occurs, the load applied to the housing of the continuous rolling mill on the side to which the rolled material has moved becomes larger than the load applied to the other housing side. As a result, the meandering phenomenon is further promoted.

  When the meandering phenomenon of the rolled material occurs, a plate thickness difference occurs in the width direction of the rolled material, and the quality of the rolled material is deteriorated. In addition, when the meandering phenomenon is further increased, the rolling material comes into contact with the side guide, so that the rolling material is narrowed and rolled in a bent state, the rolling roll is wrinkled, and the productivity of the rolling material is increased. May decrease. The meandering phenomenon is likely to occur particularly when the tail end portion of the rolling material passes through the rolling roll, in other words, when there is no tension of the rolling material on the entry side of the rolling roll.

  For this reason, when rolling a rolled material using a continuous rolling mill, the difference between the rolling load on the working side of the rolling roll and the rolling load on the driving side is measured, and the working side is determined from the measured rolling differential load. By estimating the difference between the mill elongation on the drive side and the mill elongation on the drive side, and manipulating the difference between the roll opening on the work side and the roll opening on the drive side, that is, the leveling amount based on the estimated mill elongation difference A meandering control method for suppressing meandering of the rolled material is applied. This meandering control method is also called parallel stiffness control, and is the most general control method.

  In addition to the meandering control method of the parallel stiffness control method described above, the meandering amount of the rolled material on the entry side or the exit side of the rolling roll and its first-order differential value are measured, and rolling is performed based on the measured value. A method of adjusting the leveling amount so that the meandering amount of the material is within an allowable range within a predetermined time has been proposed (see Patent Document 1). In addition, the theoretical value of the difference between the advanced coefficient and the reverse coefficient of the rolled material between the end portions in the width direction of the rolling roll is calculated based on the rolling theory, and the difference between the advanced coefficient and the reverse coefficient becomes zero based on the calculation result. A method of adjusting the leveling amount has also been proposed (see Patent Document 2).

  In addition, a method using an optimal regulator that corrects the leveling amount so that the value of the evaluation function with the meandering amount and leveling amount of the rolled material measured based on the meandering motion model as a variable, or the rolling difference of the rolling rolls A method using an optimal regulator that estimates the meandering amount of the rolled material from the load and corrects the leveling amount so that the value of the evaluation function with the estimated meandering amount and leveling amount as variables is minimized ( (See Patent Document 3).

JP-A-3-90207 Japanese Patent Laid-Open No. 10-5840 JP 2004-74207 A

  However, in the meandering control method of the parallel stiffness control method, if the control gain is increased too much, the amount of meandering becomes larger. Therefore, the control gain needs to be set small, and the sufficient meandering suppression capability cannot be exhibited. In addition, the meandering control method described in Patent Document 1 cannot be applied to on-line meandering control because the leveling amount calculation process for suppressing the meandering amount within a predetermined range is very complicated. In order to solve such a problem, a method of performing meandering control online using a table in which solutions of some leveling amounts calculated offline in advance are described. However, when this method is used, a very large table must be prepared in order to output an appropriate leveling amount for various rolling conditions, which is not realistic.

  On the other hand, the meandering control method described in Patent Document 2 adjusts the leveling amount based on the advanced coefficient and the reverse coefficient of the rolled material, and thus cannot estimate the meandering amount of the rolled material. Further, in the meandering control method described in Patent Document 2, since the model representing the meandering of the rolled material in the continuous rolling mill is a static model, the control method of the modern control theory such as the optimum regulator, state feedback, observer, etc. Cannot be used, and optimization of control is difficult. Furthermore, since the meandering control method described in Patent Document 2 does not consider the camber and strip rigidity between the rolling stands, it is necessary to measure the tension difference between the entry side and the exit side of the rolled material, and the control system is complicated. Become.

  Further, in the meandering control method described in Patent Literature 3, since the model representing the meandering of the rolled material in the continuous rolling mill is a model based on kinematics, it is not possible to use dynamic information such as rolling differential load. It is necessary to install a meandering meter for measuring the meandering amount of the rolled material. In addition, in the meandering control method described in Patent Document 3, since the mathematical expression representing the rolling material rotation speed of the continuous rolling mill is simplified, the parameters of the mathematical expression representing the rolling material rotation speed are set to the rolling conditions under the new rolling conditions. It needs to be adjusted according to the situation and requires a lot of labor.

  The present invention has been made in view of the above, and an object of the present invention is to provide a rolling material meander control method and a rolling material capable of optimally controlling the amount of meandering of the rolled material online without requiring much cost and labor. To provide a meandering control device, a meandering control program for a rolled material, and a method for producing the rolled material.

  A rolling material meandering control method according to the present invention is a rolling material meandering control method for controlling a meandering amount of a rolling material by manipulating a leveling amount of a continuous rolling mill, and a rolling load on a working side of a rolling roll. And a detection step for detecting a difference between the rolling load on the driving side as a rolling differential load, and a meandering amount of the rolled material and an entrance angle of the rolling material to the rolling roll using the rolling differential load detected in the detection step. An estimation step for estimating a certain entry side angle, and a meandering control step for manipulating the leveling amount based on the meandering amount of the rolled material estimated in the estimation step and the integral value of the entry side angle and the meandering amount. Including.

  The meandering control method for a rolled material according to the present invention is the value of an evaluation function in which the meandering control step is based on the meandering amount and the entrance angle of the rolled material, the integral value of the meandering amount, and the leveling amount. The step of manipulating the leveling amount so that is minimized.

  A rolling material meandering control device according to the present invention is a rolling material meandering control device that controls the meandering amount of a rolling material by manipulating the leveling amount of a continuous rolling mill, the rolling load on the working side of the rolling roll. Detecting means for detecting the difference between the rolling load on the drive side and the rolling load as a rolling differential load, and using the rolling differential load detected by the detecting means, the meandering amount of the rolled material and the approach angle of the rolled material to the rolling roll Estimation means for estimating a certain entry side angle, and meandering control means for manipulating the leveling amount based on the meandering amount of the rolled material estimated by the estimation means, the entry side angle, and the integral value of the meandering amount. .

  A rolling material meandering control program according to the present invention is a rolling material meandering control program for controlling a meandering amount of a rolling material by manipulating a leveling amount of a continuous rolling mill. Detection process for detecting the difference between the rolling load on the driving side and the rolling load on the drive side, and the meandering amount of the rolled material and the approach angle of the rolling material to the rolling roll using the rolling differential load detected in the detection process. An estimation process for estimating a certain entry side angle, and a meandering control process for manipulating the leveling amount based on the meandering amount of the rolled material estimated in the estimation process, the entry side angle, and the integral value of the meandering amount. To run.

  The method for producing a rolled material according to the present invention is detected in the detection step of detecting a difference between the rolling load on the working side and the rolling load on the driving side of the rolling roll of the continuous rolling mill as a rolling differential load, and is detected in the detection step. An estimation step for estimating a meandering amount of the rolled material and an entrance angle which is an approach angle of the rolled material to the rolling roll using the rolling differential load, and a meandering amount and an entrance side angle of the rolled material estimated in the estimation step And a rolling step of rolling the rolled material while controlling the meandering amount of the rolled material by manipulating the leveling amount based on the integrated value of the meandering amount.

  According to the rolled material meander control method, rolled material meander control device, rolled material meander control program, and rolled material manufacturing method according to the present invention, the rolled material meandering online without much cost and labor. The amount can be optimally controlled.

FIG. 1 is a plan view showing a rolled material that is a control target of the present invention. FIG. 2 is a block diagram showing a meandering model of the rolled material shown in FIG. FIG. 3 is a block diagram showing an example of a meandering control model for the rolled material shown in FIG. FIG. 4 is a block diagram illustrating an example of a meandering control model for the rolled material illustrated in FIG. 1. FIG. 5 is a block diagram showing a configuration of a meandering control apparatus according to an embodiment of the present invention. FIG. 6 is a flowchart showing the flow of the meander control process according to the embodiment of the present invention. FIG. 7 is a diagram showing calculation results of the meandering amount of the rolled material when the meandering control process of the present invention is performed and when it is not performed. FIG. 8 is a diagram showing the calculation result of the meandering amount of the rolled material when the meandering control process of the present invention is performed.

  Hereinafter, the configuration of a meandering control device for a rolled material and the meandering control method thereof according to an embodiment of the present invention will be described.

  First, the concept of the meandering control method for rolled material according to the present invention will be described.

[Concept of the present invention]
FIG. 1 is a plan view showing a rolled material that is a control target of the present invention. If the rolled material 11 immediately below the rolling roll 10 does not slip in the width direction (y direction), that is, if the speed in the width direction of the rolled material 11 is zero, the roll neutrality in the center in the width direction of the rolled material 11 is assumed. meandering amount w _n at the point P1 is expressed as equation (1) below. In addition, parameter _{vc0 in Numerical} formula (1) is the speed | rate (henceforth an exit side plate speed) of the sheet feeding direction (x direction) of the width direction center part of the rolling material 11 in the exit side of the rolling roll 10, and parameter (theta) _1. Indicates the angle in the width direction center of the rolled material 11 with respect to the rolling roll 10 (hereinafter referred to as the entry side angle). The parameter λ is a ratio between the thickness h _{c1 of the} central portion in the width direction of the rolling material 11 on the entry side of the rolling roll 10 and the thickness h _c0 of the center portion in the width direction of the rolling material 11 on the exit side of the rolling roll 10. And is represented by the following formula (2).

On the other hand, the entrance angle θ ₁ and the angle in the moving direction of the central portion in the width direction of the rolled material 11 on the exit side of the rolling roll 10 (hereinafter referred to as the exit side angle) θ ₀ are kinematically expressed as follows: 3), (4) holds (Formula (3) is derived from the material differential of the entrance angle. For the formula (4), “Theory and Practice of Sheet Rolling”, page 241 of the Japan Iron and Steel Institute, “Center line gradient” Connection conditions ”,“ bending strain ”). In Equation (3), parameters ψ ₁ and ρ _c1 are respectively the rotational angular velocity (hereinafter referred to as the entry-side rotational angular velocity) of the rolling material 11 in the width direction of the rolling material 11 on the entry side of the rolling roll 10 and the rolling material 11. It represents the curvature (hereinafter referred to as the incoming camber).

Further, for the curvature of the rolled material 11 on the exit side of the rolling roll 10 (hereinafter referred to as an exit side camber) ρ _c0 , the following mathematical expression (5) is established kinetically (for details, “Plate” (See “Theory and practice of rolling” on page 241, “Connection conditions for camber curve”). In Equation (5), the parameter Ψ ₀ represents the rotational angular velocity (hereinafter referred to as the outgoing rotational angular velocity) of the central portion in the width direction of the rolled material 11 on the outgoing side of the rolling roll 10.

  Therefore, the kinematic state space model of the meandering motion of the rolling material 11 in the continuous rolling mill is expressed as the following formulas (6) and (7) from the above formulas (1) to (5). .

Next, according to the primary rolling theory, the delivery-side rotational angular velocity Ψ ₀ is expressed as the following formula (8). Here, in Equation (8), the parameter v _x0 is the speed of the rolled material 11 on the exit side of the rolling roll 10, the parameter f _s is the advanced rate, the parameter v _R is the peripheral speed of the rolling roll 10, and the parameter y is the rolled material 11. Represents the position in the width direction.

On the other hand, the advanced rate f _s is expressed by the following formula (9). Here, in Expression (9), parameters h ₁ and h ₀ represent the sheet thicknesses of the rolled material 11 on the entry side and the exit side of the rolling roll 10, respectively, and parameters σ ₁ and σ ₀ represent the entry side of the rolling roll 10, respectively. And the tensile stress of the rolled material 11 on the outlet side.

Therefore, by substituting the formula (9) into the formula (8), the output side rotational angular velocity Ψ ₀ is expressed as the following formula (10).

Next, assuming that the thicknesses h ₁ and h ₀ and the tensile stresses σ ₁ and σ ₀ of the rolled material 11 on the entry side and the exit side of the rolling roll 10 change linearly with respect to the width direction of the rolled material 11, The following formulas (11) and (12) are established. Here, in the formulas (11) and (12), the parameter B is the sheet width of the rolled material 11, and the parameters h _1df and h _0df are the wedges on the entry side and the exit side of the rolling roll 10 (entrance wedge and exit wedge), respectively. ), Parameters T ₁ and T ₀ represent moments (incoming moment and outgoing moment) acting on the rolled material 11 on the entry side and the exit side of the rolling roll 10, respectively. The wedge means the ratio between the plate thickness on the entry side or the exit side of the rolling roll 10 and the plate thickness difference between the operation side and the drive side.

Therefore, by substituting the formulas (11) and (12) into the formula (10), the output side rotational angular velocity Ψ ₀ is expressed as the following formula (13). Here, in Equation (13), the parameter k represents the deformation resistance of the rolled material 11. The parameter _β h1df, β h0df respectively, show the effect factor for the ingress wedge _{h df} and the exit-side wedge _{h 0Df} rolling roll 10, the formula shown below (14), represented by (15). Further, parameters β _T0 and β _T1 indicate influence coefficients on the entry side moment T ₁ and the exit side moment T ₀ of the rolling roll 10, respectively, and are expressed by the following formulas (16) and (17).

On the other hand, the inlet side wedge h _df and relationship of the ratio of the exit side wedge h _0Df is expressed by equation (18) shown below (details Iron and Steel Institute of Japan Author of the rolling roll 10 "Theory and Practice of plate rolling" (See “Principles of Volume Invariance” on page 241).

Therefore, by substituting Equation (18) into Equation (13), the incoming rotation angular velocity Ψ ₁ is expressed by Equation (19) shown below.

  Thus, by substituting Equations (13) and (19) into Equations (6) and (7) representing the kinematic state space model of the meandering motion, the meandering motion of the rolling material 11 in the continuous rolling mill is determined. The dynamic state space model is expressed as the following formulas (20) and (21).

In the present invention, consider the meandering amount w _n of the tail end 11a of the strip 11 as shown in FIG. 1 as a control object. Therefore, as in the following formulas (22) and (23), the entry moment T ₁ in the formulas (20) and (21) is set to zero, and the meandering amount wn of the rolling material 11 is further _{expressed in} the formula (20). An integral value ω _n is added.

Next, the parallel stiffness model of the continuous rolling mill is expressed as the following mathematical formulas (24) and (25). Here, in the formulas (24) and (25), the parameter P is the rolling load, the parameter P _df is the rolling differential load, the parameter K _l is the mill parallel rigidity, and the parameters M _l ′ and M _l are the entry sides of the rolling roll 10, respectively. The parallel plastic constant of the rolled material 11 on the outlet side, the parameter B ₁ is the distance between the reduction devices 12a and 12b (see FIG. 1) such as screws and hydraulic cylinders, and the parameter S _df is the leveling at the reduction position by the reduction devices 12a and 12b. Represents quantity.

When the strip model between the rolling stands is an in-plane deformation elastic beam model, and the boundary condition is that the meandering amount and the rotational angular velocity in the downstream rolling stand are zero, the exit moment T ₀ is expressed by the following formula ( 26). Here, in Equation (26), the parameter E represents the longitudinal elastic modulus, the parameter L represents the distance between the rolling stands (see FIG. 1), and the parameter s represents the Laplace transform variable. The parameter I indicates the second moment of the cross section of the rolled material 11 and is represented by the following formula (27).

The expression (26) strictly handles the propagation of the outgoing camber ρ _c0 and is complicated. _Therefore , in the present invention, a steady state where the Laplace transform variable s is 0 is considered, and the outgoing moment T ₀ is considered. Is expressed as the following formula (28).

  Thereby, by using the mathematical formulas (22) to (25) and (28), the dynamic meandering model of the tail end portion 11a of the rolled material 11 shown in FIG. 1 is represented by the mathematical formulas (29) to (33). Can be expressed as

More specifically, the meandering model of the tail end portion 11a of the rolled material 11 shown in FIG. 1 can be expressed as shown in FIG. That is, as shown in FIG. 2, the meandering model of the tail end portion 11 a of the rolled material 11 includes a rolling mill rigidity model 21, a bite meandering model 22, and an inter-stand surface deformation elastic beam model 23. The rolling mill rigidity model 21 is a model described by the above-described mathematical formulas (24) and (25), and includes a leveling amount S _df , an entrance side wedge h _1df , an entrance side camber ρ _c1 , a meandering amount w _n , and an entrance side angle. It has a configuration in which θ ₁ and the output side camber ρ _c0 are input, and the rolling differential load P _df and the output side wedge h _0df are output.

The in-between meandering model 22 is a model described by the above-described mathematical formulas (22) and (23), and includes an exit side wedge h _0df , an entrance side wedge h _1df , an entrance side camber ρ _c1 , and an exit side moment T ₀ . The output, meandering amount w _n , input side angle θ ₁ , and output side camber ρ _c0 are output. The inter-stand in-plane deformation elastic beam model 23 is a model described by the above mathematical formula (28), and inputs the meandering amount w _n , the entrance side angle θ ₁ , and the exit side camber ρ _c0 , and the exit side moment T _0. Is output.

Next, consider the control problem of controlling the leveling amount _Sdf so that the meandering amount of the tail end portion 11a of the rolled material 11 is reduced. Now, _assuming that the entrance wedge h _1df and the entrance camber ρ _c1 are both considered as error terms and are zero, the plant model to be controlled is represented by the following formulas (34), (30) from the formulas (29), (30). 35).

Here, since Equations (34) and (35) are dynamic state space models of meandering motion, the theory of the optimal regulator of the modern control theory can be applied. In this case, the state feedback controller, that is, the meandering controller, can be expressed as the following formula (36). Then, according to the optimal regulator theory, control problems meandering amount w _n of the tail end 11a of the strip 11 to control the leveling amount S _df so small is expressed by equation (37) below rating function J, i.e. order linear 2 so as to minimize the evaluation function J to the integrated value omega _n of meandering amount w _n and entry side angle theta ₁ and meandering amount w _n of the rolled material 11 and leveling amount S _df as a variable It becomes a gain design problem by the type regulator.

According to equation (36), the meander control controller integrated value omega _n of meandering amount w _n, meandering amount w _n, and inputs the entry side angle theta _1, has a configuration to output the leveling amount S _df ing. Meandering amount w _n and entry side angle theta ₁ can be estimated if measuring the displacement of at least two points of the rolled material with more rolling stand upstream. Thereby, in this case, the meandering control model of the tail end portion 11a of the rolled material 11 shown in FIG. 1 can be expressed as shown in FIG. That is, the meandering control model shown in FIG. 3 has a configuration in which the meandering control controller 31 is added to the meandering model shown in FIG. Meander controller 31 is a model described by equation (36), enter the meandering amount w _n and entry side angle theta _1, it has a configuration to output the leveling amount S _df.

However, in general, meandering amount w _n and entry side angle theta ₁ is difficult to measure. Therefore, in the present invention, since a dynamic state space model is used, it is considered to construct a meandering controller having the rolling differential load P _df as an input. That is, the present invention contemplates that the estimated state quantities of meandering amount w _n and entry side angle theta ₁ from rolling difference load P _df by using an observer. Specifically, according to the plant model shown in the mathematical expressions (34) and (35), the observer based on the modern control theory is expressed as the following mathematical expressions (38) and (39).

In this case, since the meandering control controller when the observer represented by the formulas (38) and (39) is used is represented by the following formula (41), the meandering of the tail end portion 11a of the rolled material 11 is performed. the amount w _n control problem of controlling the leveling amount S _df so small, meandering amount w _n, the entering-side angle theta ₁ of the evaluation function J, i.e. rolled material 11 represented by equation (42) below, And the gain design problem by the linear quadratic regulator that minimizes the evaluation function J using the estimated value of the integral value ω _n of the meandering amount w _n and the leveling amount S _df as variables. Therefore, by using the mathematical formulas (38), (39), and (41), it is possible to construct a meandering control controller that _receives the rolling differential load P _df and outputs the leveling amount S _df . According to such a meandering controller calculates a leveling amount S _df online, the meandering amount w _n regardless of the size of the control gain can be optimally controlled.

Specifically, in this case, the meandering control model of the tail end portion 11a of the rolled material 11 shown in FIG. 1 can be expressed as shown in FIG. That is, the meandering control model shown in FIG. 4 has a configuration in which the observer 41 is added to the meandering control model shown in FIG. Observer 41, equation (38), and outputs the are a model, enter the rolling differential load _{P df} and leveling amount _{S df,} estimates of meandering amount _{w n} and entry side angle theta ₁ described by (39) It has the composition to do. In this case, the meandering control controller 31 is a model described by equation (41), enter the meandering amount w _n and entry side angle theta _1, has a configuration to output the leveling amount S _df Yes.

Here, in order to design the observer 41 and the meandering controller 31, it is necessary to obtain the influence parameters β _h0df , β _h1df , β _T0 . These parameters can be obtained from the advanced rate f _s using equations (14) to (16). Specifically, according to Sims' approximate theory, the advance rate f _s is expressed by the following equations (43) to (45). Therefore, by substituting Equation (43) into Equations (14) to (16), the influence parameters β _h0df , β _h1df , β _T0 can be expressed as Equations (46) to (49) shown below. . Here, Q ₀ is the outlet compression force, and Q ₁ is the inlet compression force.

  In the above description, meandering control of the tail end portion 11a of the rolled material 11 has been described. However, the present invention is not limited to meandering control of the tail end portion 11a of the rolled material 11, and steel with reduced tension. It is effective for the meandering control of the belt tip and tail. Specifically, as the situation where the tension of the steel strip decreases, in the hot rolling line of the steel strip, the tip of the steel strip reaches the winder on the conveying table roller from the finish rolling mill to the winder. Examples include a case where the steel strip is cut just before the end of coil winding in the cold rolling line or continuous processing line of the steel strip after the front or the tail end of the steel strip passes through the finishing mill.

[Configuration of meander control device]
Next, with reference to FIG. 5, the structure of the meander control apparatus which is one embodiment of this invention constructed | assembled based on the said concept is demonstrated.

  FIG. 5 is a block diagram showing a configuration of a rolled material meandering control apparatus according to an embodiment of the present invention. As shown in FIG. 5, the meandering control device 100 for rolled material, which is an embodiment of the present invention, sets the meandering amount of the tail end of the rolled material rolled by a rolling mill 101 such as a continuous rolling mill within a predetermined range. It is configured by an information processing device such as a workstation or a personal computer. The meandering control device 100 functions as an observer 100a and a meandering control controller 100b when an arithmetic processing unit inside the information processing apparatus executes a meandering control program for rolled material according to the present invention.

  The rolled material meandering control program according to the present invention is a computer program in which each step of the rolled material meandering control method according to the present invention is described as an execution command to the arithmetic processing unit. The rolling material meandering control program according to the present invention is provided by recording it in a computer-readable recording medium such as a CD-ROM, a flexible disk, a CD-R, or a DVD in a file that can be installed or executed. You may comprise. The rolling material meandering control program according to the present invention is configured to be stored in an information processing apparatus connected to a telecommunication line such as the Internet and provided by being downloaded from the information processing apparatus via the telecommunication line. Also good. The meandering control program for rolled material according to the present invention may be provided or distributed via a telecommunication line such as the Internet.

The observer 100a corresponds to the observer 41 shown in FIG. That is, the observer 100a is Equation (38), a model described by (39), enter the rolling differential load _{P df} and leveling amount _{S df,} an estimate of the amount of meandering _{w n} and entry side angle theta ₁ It has a configuration for output. The rolling differential load P _df is input from the rolling differential load detection unit 102 that detects the rolling differential load of a reduction device such as a screw or a hydraulic cylinder. The meandering controller 100b corresponds to the meandering controller 31 shown in FIG. That is, the meandering control controller 100b is a model described by equation (41), the structure type the meandering amount _{w n} and entry side angle theta ₁ estimated by the observer 100a, and outputs a leveling amount _{S df} Have.

[Meander control processing]
Such meandering control unit 100 of the rolled material having the configuration, by executing the meander control processing described below, to control the meandering amount w _n of the tail end 11a of the strip 11 within a predetermined range. Hereinafter, the operation of the meandering control apparatus 100 when executing the meandering control process will be described with reference to the flowchart shown in FIG.

  FIG. 6 is a flowchart showing the flow of the meander control process according to the embodiment of the present invention. The meandering control process shown in FIG. 6 starts at the timing when the rolling process of the rolling material 11 by the rolling mill 101 is started, and proceeds to the process of step S1. The meandering control process shown in FIG. 6 is repeatedly executed every predetermined control period while the rolling process of the rolled material 11 is being performed.

In the process of step S <b> 1, the observer 100 a detects the rolling differential load P _df via the rolling differential load detection unit 102. Thereby, the process of step S1 is completed and the meandering control process proceeds to the process of step S2.

In the process of step S2, the observer 100a is, as inputs the detected rolling difference load P _df and current leveling amount S _df by the processing in step S1, to calculate the estimated value of the amount of meandering w _n and entry side angle theta ₁ . The observer 100a outputs the calculated estimated value of the amount of meandering _{w n} and entry side angle theta ₁ to the meandering controller 100b. Thereby, the process of step S2 is completed and the meandering control process proceeds to the process of step S3.

In the process of step S3, meander controller 100b, using the estimated value of the amount of meandering w _n and entry side angle theta ₁ which is input from the observer 100a, meandering amount of the tail end 11a of the strip 11 is smaller leveling The quantity S _df is calculated. Specifically, the meandering controller 100b calculates a leveling amount S _df that minimizes the evaluation function J represented by the mathematical formula (42) shown. Thereby, the process of step S3 is completed and the meandering control process proceeds to the process of step S4.

In the process of step S4, the meandering controller 100b controls the rolling mill 101 so as to roll the rolled material 11 with the leveling amount _Sdf calculated by the process of step S3. Thereby, the process of step S4 is completed and a series of meander control processes are complete | finished.

As is clear from the above description, in the meandering control process according to an embodiment of the present invention, the observer 100a detects the rolling differential load _Pdf through the rolling differential load detection unit 102, and the detected rolling differential load. and it calculates the estimated value of the amount of meandering _{w n} and entry side angle theta ₁ with P _df. The meander controller 100b operates the leveling amount _{S df} based on an estimate of the amount of meandering _{w n} and entry side angle theta ₁ and the integrated value omega _n of meandering amount _{w n.} Thereby, the meandering amount of the rolled material can be optimally controlled online without requiring much cost and labor.

〔Example〕
In this example, the amount of meandering of the rolled material when the meandering control process of the present invention was performed and when it was not performed was evaluated by computer simulation. However, in this simulation, the in-plane deformed elastic beam model between the rolling stands is an unsteady in-plane deformed elastic beam model that is closer to reality than the formula (28). In this simulation, the parameter values shown in Table 1 below were used. In this simulation, disturbance was given with the entrance wedge set to 0.1 mm.

  FIG. 7 is a diagram showing the calculation results of the meandering amount of the rolled material when the meandering control process of the present invention is performed and when it is not performed. FIG. 8 is a diagram showing a calculation result of the meandering amount of the rolled material when the meandering control process of the present invention is performed. As shown in FIG. 7, when the meandering control process of the present invention was not performed, the meandering amount of the rolled material increased with time due to the entrance-side wedge given as a disturbance. On the other hand, when the meandering control process of the present invention was performed, the meandering amount of the rolled material was controlled to almost zero. From the above, according to the meandering control process of the present invention, it has been confirmed that the meandering amount of the rolled material can be estimated and controlled online without much cost and labor.

  The embodiment to which the invention made by the present inventors is applied has been described above, but the present invention is not limited by the description and the drawings that constitute a part of the disclosure of the present invention. That is, other embodiments, examples, operational techniques, and the like made by those skilled in the art based on this embodiment are all included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 10 Roll roll 11 Rolled material 11a Tail end part 12a, 12b Reduction device 21 Rolling mill rigidity model 22 In-plane meandering deformation model 23 Inter-stand surface deformation elastic beam model 31, 100b Meander control controller 41, 100a Observer 100 Meander control apparatus 101 Rolling Machine 102 Rolling differential load detector

Claims (4)

A rolling meander control method for controlling a meandering amount of a rolled material by operating a leveling amount of a continuous rolling mill,
A detection step for detecting a difference between the rolling load on the working side of the rolling roll and the rolling load on the driving side as a rolling differential load;
An estimation step for estimating an entry side angle, which is a meandering amount of the rolled material and an approach angle of the rolled material to the rolling roll, using the rolling differential load detected in the detecting step;
A meandering control step of manipulating the leveling amount based on the meandering amount and entry side angle of the rolled material and the integral value of the meandering amount estimated in the estimating step ,
The meandering control step includes the step of manipulating the leveling amount so as to minimize the value of the evaluation function having the meandering amount and the entrance side angle and the leveling amount of the rolled material as variables . Meander control method. A rolling material meandering control device for controlling a meandering amount of a rolled material by operating a leveling amount of a continuous rolling mill,
Detecting means for detecting a difference between the rolling load on the working side of the rolling roll and the rolling load on the driving side as a rolling differential load;
Estimating means for estimating a meandering amount of the rolled material and an entrance angle that is an approach angle of the rolled material to the rolling roll using the rolling differential load detected by the detecting means;
Meandering control means for manipulating the leveling amount based on the meandering amount and entry angle of the rolled material and the integral value of the meandering amount estimated by the estimating means ,
The meandering control means operates the leveling amount so that the value of the evaluation function having the variables of the meandering amount, the entrance angle and the leveling amount of the rolling material is minimized. . A rolling material meandering control program for controlling a meandering amount of a rolled material by operating a leveling amount of a continuous rolling mill,
A detection process for detecting the difference between the rolling load on the working side of the rolling roll and the rolling load on the driving side as a rolling differential load;
An estimation process for estimating the meandering amount of the rolled material and the entry angle of the rolled material into the rolling roll using the rolling differential load detected in the detection process;
A meandering control process for manipulating the leveling amount based on the meandering amount and the entry angle of the rolled material and the integral value of the meandering amount estimated in the estimation process;
To the computer ,
The meandering control process includes a process of manipulating the leveling amount so as to minimize the value of the evaluation function having the meandering amount and the incoming side angle and the leveling amount of the rolled material as variables . Meander control program. A detection step of detecting a difference between the rolling load on the working side and the rolling load on the driving side of the rolling roll of the continuous rolling mill as a rolling differential load;
An estimation step for estimating a meandering amount of the rolled material and an entrance side angle that is an approach angle of the rolled material to the rolling roll using the rolling differential load detected in the detection step;
Rolling step of rolling the rolled material while controlling the meandering amount of the rolled material by manipulating the leveling amount based on the meandering amount and entry side angle of the rolled material and the integral value of the meandering amount estimated in the estimating step And including
The rolling step includes the step of manipulating the leveling amount so as to minimize the value of the evaluation function having the variables of the meandering amount and the entry side angle and the leveling amount of the rolling material. Method.

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