JP5929828B2 - Looper control device - Google Patents

Description

  The present invention relates to a control device for a looper device.

  A conventional control device for a looper device includes a plurality of carriages that can be moved up and down, a movable helper roll that is provided on the carriage and that moves up and down together with the carriage, and a fixed helper roll whose center position is fixed. It is known to control the tension applied to the strip material by winding the strip material between the fixed helper roll and raising and lowering the carriage.

  In such a control device of the looper device, a part of the fixed helper roll is a driving helper roll that is rotationally driven by a motor, and bending loss compensation, mechanical loss compensation, and inertia compensation in the helper roll are performed by rotating the driving helper roll. Conventionally, an electric tie control that is performed by controlling driving and that synchronizes the positions of a plurality of carriages by controlling the rotational driving of the driving helper roll is known (see, for example, Patent Document 1). .

JP 2008-284586 A

  However, in the control device of the conventional looper device shown in Patent Document 1, since the driving helper roll is in charge of the electric tie control in addition to the bending loss compensation, the mechanical loss compensation and the inertia compensation, the driving helper roll is used. There is no room in the capacity of the motor to be rotated. For this reason, at the time of acceleration / deceleration that changes the plate passing speed of the strip material, there is a problem that the driving helper roll is overloaded and the position control may not be stable.

  In addition, when an attempt is made to allow a margin of the motor capacity of the driving helper roll in preparation for the acceleration / deceleration of the strip material, the motor becomes larger, and consequently the size of the looper device and the degree of freedom of the installation form of the looper device are increased. Leading to a decline.

  The present invention has been made to solve the above-described problems, and is a looper that can prevent the motor of the helper roll from being overloaded even during acceleration / deceleration of the strip material without increasing the size of the apparatus. A device control apparatus is obtained.

  In the control device of the looper device according to the present invention, a carriage that is provided so as to be movable up and down and is driven to move up and down by a carriage motor, a movable helper roll that is provided on the carriage and moves up and down with the carriage, and a rotation shaft are fixed. A first looper device and a first looper device each having a plurality of fixed helper rolls that wrap a treatment material between the movable helper rolls and a drive motor that rotationally drives some or all of the plurality of fixed helper rolls. 2, a position detector for detecting the vertical position of the carriage, and a tension reference to the carriage motor of the second looper device output from the host device, thereby correcting the first looper device. A tension reference correction unit that calculates a correction tension reference for the carriage motor. The storage unit stores in advance a bending loss that occurs in the first looper device, and the first looper device and the second looper based on the tension reference and the bending loss stored in the storage unit. An eletie tension setting calculation unit for calculating an eletie tension reference value that serves as a reference for eletie control that synchronizes the vertical positions of the carriages of both of the looper devices, and is detected by at least the eletie tension reference value and the position detector. Further, the correction tension reference is calculated using the deviation between the vertical positions of the two carriages.

  In the control device for the looper device according to the present invention, there is an effect that the motor of the helper roll can be prevented from being overloaded even when the strip material is accelerated / decelerated without increasing the size of the device.

It is a block diagram of the looper apparatus which concerns on Embodiment 1 of this invention. It is a figure which illustrates typically the electric tie control of the looper apparatus which concerns on Embodiment 1 of this invention. It is a block diagram which shows typically the structure of the carriage motor control system of the looper apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows the detailed structure of the tension | tensile_strength reference | standard correction | amendment part which concerns on Embodiment 1 of this invention. It is a figure explaining the control sharing of the carriage and helper roll in the looper device concerning Embodiment 1 of this invention.

  The present invention will be described with reference to the accompanying drawings. Throughout the drawings, the same reference numerals indicate the same or corresponding parts, and redundant description thereof will be simplified or omitted as appropriate.

Embodiment 1 FIG.
FIGS. 1 to 5 relate to Embodiment 1 of the present invention. FIG. 1 is a configuration diagram of a looper device, FIG. 2 is a diagram schematically illustrating eletie control of the looper device, and FIG. 3 is carriage motor control. FIG. 4 is a block diagram schematically showing the configuration of the system, FIG. 4 is a diagram showing a detailed configuration of the tension reference correction unit, and FIG. 5 is a diagram for explaining control sharing of the carriage and helper roll in the looper device.

  In the first embodiment, the looper device is a double looper device including two looper devices, a master and a slave. In FIG. 1, a strip material 1 as a processing material is passed through two looper devices, a slave-side looper device 2a and a master-side looper device 2b. The slave-side looper device 2 a is disposed on the entry side of the strip material 1. The master side looper device 2b is disposed on the exit side (process side: specifically, for example, the furnace side) of the strip material 1.

  The slave-side looper device 2a includes a slave-side movable helper roll 3a, a slave-side non-drive helper roll 4a, and a slave-side drive helper roll 5a. The strip material 1 is passed through the slave looper device 2a by being wound around these helper rolls.

  The slave-side non-drive helper roll 4a and the slave-side drive helper roll 5a are fixed so that the positions of the rotation axes do not move. Hereinafter, the slave-side non-driving helper roll 4a and the slave-side driving helper roll 5a are collectively referred to as “slave-side fixed helper roll”.

  Of the slave-side fixed helper rolls, the slave-side non-drive helper roll 4a is a roll that can rotate with respect to the rotation axis but cannot receive a driving force that rotates with respect to the axis itself. Therefore, the slave-side non-drive helper roll 4a rotates passively with the movement of the strip material 1 wound around the slave-side non-drive helper roll 4a.

  On the other hand, among the slave-side fixed helper rolls, the slave-side drive helper roll 5a is actively driven to rotate. For this reason, each slave side drive helper roll 5a is provided with a slave side helper roll drive motor 6a. And each slave side drive helper roll 5a can be rotated by the driving force applied by the slave side helper roll drive motor 6a.

  Here, a part of the slave-side fixed helper roll is the slave-side drive helper roll 5a. However, all of the slave-side fixed helper rolls may be provided with drive motors to serve as the slave-side drive helper roll 5a.

  The slave-side movable helper roll 3a is attached to the slave-side carriage 7a. The slave side carriage 7a is provided so as to be movable in the vertical direction. Therefore, the position of the rotation axis of the slave-side movable helper roll 3a can be moved with the movement of the slave-side carriage 7a.

  The slave-side movable helper roll 3a is arranged on the slave-side carriage 7a along the plate passing direction of the strip material 1. The slave-side fixed helper rolls (slave-side non-driving helper roll 4a, slave-side driving helper roll 5a) are arranged along the plate passing direction of the strip material 1 on the lower side relative to the slave-side movable helper roll 3a. It has been.

  By moving the slave carriage 7a up and down to move the position of the slave movable helper roll 3a, the distance between the slave movable helper roll 3a and the slave fixed helper roll can be changed.

  One end of a slave side wire 8a is connected to the slave side carriage 7a. An intermediate portion of the slave side wire 8a is wound around the slave side drum 9a. A slave counterweight 10a is connected to the other end of the slave wire 8a. Thus, the slave-side carriage 7a and the slave-side counterweight 10a are suspended by the slave-side wire 8a so as to be vertically movable in directions opposite to each other.

  The slave side drum 9a is rotationally driven by a slave side carriage motor 11a. The slave counterweight 10a is provided mainly to compensate the weight of the slave carriage 7a applied to the slave drum 9a at this time. In addition, as the slave side wire 8a, strips, such as other chains of a wire rope, can be used suitably.

  The strip material 1 is alternately wound around the slave-side movable helper roll 3a and the slave-side fixed helper roll, thereby passing through the slave-side looper device 2a in a folded manner.

  The master looper device 2b also has the same configuration as the slave looper device 2a described above. That is, the master side looper device 2b includes a master side movable helper roll 3b and a master side fixed helper roll (master side non-drive helper roll 4b, master side drive helper roll 5b). Each of the master side drive helper rolls 5b is rotationally driven by a master side helper roll drive motor 6b.

  Each master-side movable helper roll 3b is attached to the master-side carriage 7b along the plate passing direction of the strip material 1. The master-side carriage 7b is suspended in a vine shape together with the master-side counterweight 10b by a master-side wire 8b wound around the master-side drum 9b. By rotating the master side drum 9b by the master side carriage motor 11b, the master side carriage 7b and the master side counterweight 10b move up and down in directions opposite to each other.

  The strip material 1 is alternately wound around the master-side movable helper roll 3b and the master-side fixed helper roll, and is passed through the master-side looper device 2b in a folded manner.

  In the dual looper device composed of the slave side looper device 2a and the master side looper device 2b configured as described above, the slave side carriage motor 11a and the master side carriage motor 11b are connected to the slave side carriage 7a and the master side carriage 7b. By moving each of them up and down, the distance between the slave-side movable helper roll 3a and the slave-side fixed helper roll and the distance between the master-side movable helper roll 3b and the master-side fixed helper roll are changed. be able to.

  And the quantity of the strip material 1 stored in each looper apparatus can be changed by changing the distance (looper height) between a movable helper roll and a fixed helper roll in this way (FIG. 2). . Therefore, the storage amount of the strip material 1 in the looper device and the feed difference of the strip material 1 sent from the looper device to the process side are adjusted by moving the carriage of the looper device up and down.

  In addition, the force which narrows the distance between a movable helper roll and a fixed helper roll acts by the strip material 1 passed by the movable helper roll and the fixed helper roll alternately. Therefore, even when the carriage is not moved, in order to maintain the position of the carriage, it is necessary to apply a force in the direction of lifting the carriage by the carriage motor so as to balance this force.

  The slave-side looper device 2a includes a slave-side speed detector 12a, a slave-side position detector 13a, and a slave-side tension meter 14a. The slave side speed detector 12a detects the rotational speed of the slave side carriage motor 11a and outputs the result as a detection signal. The slave side position detector 13a detects the vertical position of the slave side carriage 7a and outputs the result as a detection signal. The slave tension meter 14a detects the tension of the strip material 1 entering the slave looper device 2a, and outputs the result as a detection signal.

  Similarly, the master side looper device 2b is provided with a master side speed detector 12b, a master side position detector 13b, and a master side tension meter 14b. The master side speed detector 12b detects the rotational speed of the master side carriage motor 11b and outputs the result as a detection signal. The master side position detector 13b detects the vertical position of the master side carriage 7b and outputs the result as a detection signal. The master side tension meter 14b detects the tension of the strip material 1 coming out of the master side looper device 2b, and outputs the result as a detection signal. The moving direction of the strip material 1 is the direction indicated by the arrow A in FIG.

  Now, in the looper device configured as described above, the slave side carriage motor 11a, the slave side carriage motor 11a, and the slave side helper roll drive are considered in consideration of the following compensation items and control items. Each of the motor 6a and the master side helper roll drive motor 6b is controlled. That is, the items are bending loss (bendross) compensation, inertia (GD2) compensation, mechanical loss (mechanical loss) compensation, tension control, and electric tie control.

  Bending loss (bendross) compensation compensates for a loss caused by bending the strip material 1 in each helper roll. Inertia (GD2) compensation is required to change the operating state against the inertia of each element constituting the looper device, specifically the main ones such as the carriage and each helper roll. Compensates for force. The mechanical loss (mechanical loss) compensation is for compensating energy lost by, for example, friction in each element constituting the looper device.

  Moreover, tension control is control performed in order to make the tension | tensile_strength of the strip material 1 passed by the looper apparatus into a desired thing. The eletie control does not physically connect both the slave side carriage 7a and the master side carriage 7b physically and mechanically, but by electrical control based on a detection signal of a position detector that detects the position of both. The two positions are matched (synchronized) (FIG. 2).

  In the following, a description will be given of a configuration that realizes control of the slave side carriage motor 11a and the master side carriage motor 11b in consideration of each compensation item and each control item in the looper device configured as described above. .

  FIG. 3 schematically shows the configuration of the carriage motor control system of the looper device. In FIG. 3, for example, a higher-level device 20 such as an HMI outputs a tension reference 21 serving as a tension reference in drive control of the slave-side carriage motor 11 a and the master-side carriage motor 11 b.

  The tension reference 21 output from the host device 20 is directly input to the master side carriage motor 11b. On the other hand, the tension reference 21 output from the host device 20 is also input to the tension reference correction unit 30. For the slave carriage motor 11a, a corrected tension reference 22 obtained by correcting the tension reference 21 by the tension reference correction unit 30 is input. Further, the tension reference correction unit 30 outputs the speed reference 23 for each of the master side and the slave side.

  The master-side carriage motor 11b is controlled in two degrees of freedom in accordance with the tension reference 21 output from the host device 20 and the master-side speed reference 23 output from the tension reference correction unit 30. On the other hand, the slave side carriage motor 11a has two degrees of freedom of rotational driving in accordance with the corrected tension reference 22 output from the tension reference correction unit 30 and the slave side speed reference 23 output from the tension reference correction unit 30. Be controlled.

  FIG. 4 shows the internal details of the tension reference correction unit 30. The bending loss storage unit 31 included in the tension reference correction unit 30 stores the value of the bending loss that occurs in the slave looper device 2a in advance. If the design specifications of the slave-side looper device 2a and the steel type used as the strip material 1 are determined, the value of the bending loss can be generally determined. Therefore, the value of the bending loss is calculated in advance from the design specifications and stored in the bending loss storage unit 31.

  The eletie tension setting calculation unit 32 calculates the eletie tension reference value 33 based on the input tension reference 21 and the bending loss value stored in the bending loss storage unit 31. The electric tie tension reference value 33 is a tension value that serves as a reference for the electric tie control of the slave carriage 7a. Further, the total tension calculating unit 34 calculates the total tension of the strip material 1 in the slave side looper device 2 a based on the eletie tension reference value 33.

  The carriage position deviation 35 is a deviation between the position of the slave side carriage 7a detected by the slave side position detector 13a and the position of the master side carriage 7b detected by the master side position detector 13b. The tension meter detection value 36 is a detection value by two tension meters, that is, the slave tension meter 14a and the master tension meter 14b.

  The strip material weight 37 is the weight of the strip material 1 passed through the looper device. The strip material weight 37 is calculated from the thickness t of the strip material 1, the structure (steel type) n, and the width w. The difference 38 between the carriage weight and the counterweight weight is a difference between the weight of the slave carriage 7a and the weight of the slave counterweight 10a, and can be calculated in advance based on the design specifications.

  The strip material entry side speed 39 is the speed of the strip material 1 entering the slave side looper device 2a. The strip material delivery speed 40 is the speed of the strip material 1 coming out of the master looper device 2b.

  The carriage speed feedback 41 is the rotation speed of the slave side carriage motor 11a detected by the slave side speed detector 12a and the rotation speed of the master side carriage motor 11b detected by the master side speed detector 12b.

  The mechanical loss compensation 42 is for compensating for a mechanical loss related to the slave-side carriage 7a. The inertia compensation 43 is for compensating a force necessary for changing the operation state of the slave side carriage 7a. Both of the mechanical loss compensation 42 and the inertia compensation 43 can be calculated in advance based on the design specifications of the looper device.

  The carriage speed deviation 44 is a deviation between the rotational speed of the slave side carriage motor 11a detected by the slave side speed detector 12a and the rotational speed of the master side carriage motor 11b detected by the master side speed detector 12b.

  In the tension reference correction unit 30, the eletie tension reference value 33 and the carriage position deviation 35 are added, and the tension meter detection value 36 is subtracted from the added result. Then, the subtracted result and the total tension of the strip material 1 calculated by the total tension calculator 34 are added.

  In the tension reference correction unit 30, the strip material exit side speed 40 is subtracted from the strip material entry side speed 39 to calculate the change in the speed of the strip material 1. Next, the change in the speed of the strip material 1 is subtracted from the carriage speed feedback 41. Subsequently, mechanical loss compensation 42 and inertia compensation 43 are added to the subtraction result. Then, the addition result of the strip material weight 37, the carriage weight, and the counterweight weight difference 38 is further added to the addition result.

  The calculation result obtained by adding or subtracting the calculation result by the total tension calculation unit 34, the carriage position deviation 35, and the tensiometer detection value 36 to the tie strength reference value 33 as described above is obtained as described above. The added value is input to the conversion unit 45 provided in the tension reference correction unit 30. Then, the result of the necessary conversion performed by the conversion unit 45 is output from the tension reference correction unit 30 as the corrected tension reference 22.

  Further, the tension reference correction unit 30 calculates the speed reference 23 for each of the slave side and the master side based on the result of adding the carriage speed deviation 44 to the change in the speed of the strip material 1. These speed references 23 are also output from the tension reference correction unit 30. In calculating the speed reference 23, the mechanical loss compensation 42 may be further taken into consideration.

  As described above, the tension reference correction unit 30 includes the bending loss storage unit 31 that stores the bending loss in advance. The bending loss stored in the bending loss storage unit 31, the carriage position deviation 35, the strip material weight 37, and the like. Based on the strip material entry side speed 39, the strip material exit side speed 40, and the carriage speed feedback 41, a corrected tension reference 22 obtained by correcting the tension reference 21 from the host device 20 is output.

  Then, the slave side carriage motor 11a generates a torque according to the corrected tension reference 22 output from the tension reference correction unit 30, and the tension applied to the slave side carriage 7a is controlled.

  Further, when the tension reference correction unit 30 corrects the tension reference 21 and calculates the corrected tension reference 22, in addition to the above, a mechanical loss compensation 42 related to the slave side carriage 7a and the master side carriage 7b, and the slave side carriage 7a and inertia compensation 43 relating to the master side carriage 7b.

  Next, the control sharing of the carriage and helper roll in the looper device configured as described above will be described with reference to FIG. As described above, when the tension reference correction unit 30 corrects the tension reference 21 and calculates the corrected tension reference 22, first, the bending loss stored in the bending loss storage unit 31 in the eletie tension setting calculation unit 32 is calculated. Is used to calculate the electric tie tension reference value 33 from the tension reference 21. Then, the corrected tension reference 22 is calculated in consideration of the elevator tension reference value 33 and the carriage position deviation 35, thereby realizing the elevator control on the carriage side (not the helper roll side).

  Further, the tension control on the carriage side is realized by adding the total tension of the plate calculated by the total tension calculator 34 to the corrected tension reference 22. Further, by adding mechanical loss compensation 42 and inertia compensation 43 to the corrected tension reference 22, mechanical loss compensation and inertia compensation related to the carriage are performed on the carriage side.

  The items handled by the helper roll side, that is, the drive helper roll driven by the helper roll drive motor, are bending loss compensation, inertia compensation, and mechanical loss compensation for the drive helper roll and the non-drive helper roll.

  The control device of the looper device configured as described above includes a carriage that is movable up and down and driven to move up and down by a carriage motor, a movable helper roll that is provided on the carriage and moves up and down with the carriage, and a rotating shaft. A first looper device that includes a plurality of fixed helper rolls that are fixed and wound with a processing material between the movable helper rolls, and a drive motor that rotationally drives some or all of the plurality of fixed helper rolls. (Slave side looper device) and second looper device (master side looper device) are controlled.

  And a tension reference correction unit that corrects the tension reference to the carriage motor of the second looper device output from the host device and calculates the corrected tension reference to the carriage motor of the first looper device. In addition, based on the tension reference and the bending loss stored in the storage unit, the tension reference correction unit stores the bending loss generated in the first looper device in advance. And an eletie tension setting calculation unit for calculating an eletie tension reference value serving as a reference for eletie control for synchronizing the vertical positions of the carriages of the two looper devices.

  The tension reference correction unit calculates the correction tension reference using at least the eletie tension reference value calculated by the eletie tension setting calculation unit and the deviation of the vertical positions of the two carriages detected by the position detector. To do.

  By correcting the tension reference to the carriage motor of the slave looper device in this way, it is possible to carry out the eletie control by moving the carriage of the first looper device (slave side looper device) up and down by the carriage motor. . For this reason, it is not necessary to carry out the electric tie control with the driving helper roll, and a capacity of the motor of the driving helper roll can be provided without increasing the size of the apparatus.

  By providing a margin for the capacity of the driving helper roll motor, it is possible to avoid overloading of the driving helper roll motor even when the strip material is accelerated or decelerated. In addition, by avoiding overloading of the driving helper roll motor, it is possible to reduce the tension fluctuation in the looper device, and to reduce the influence of the tension fluctuation outside the looper device. As a result, stable looper position (carriage position) control is possible, which contributes to stable operation and improves product quality.

  In addition, by performing the eletie control by the carriage motor control using the corrected tension reference not by the master side looper device close to the process unit but by the slave side looper device far from the process unit, the looper device can be used when performing the eletie control. It is possible to prevent the tension fluctuation generated in the inside from propagating to the process part and contribute to a more stable operation.

DESCRIPTION OF SYMBOLS 1 Strip material 2a Slave side looper apparatus 3a Slave side movable helper roll 4a Slave side non-drive helper roll 5a Slave side drive helper roll 6a Slave side helper roll drive motor 7a Slave side carriage 8a Slave side wire 9a Slave side drum 10a Slave side counter Weight 11a Slave side carriage motor 12a Slave side speed detector 13a Slave side position detector 14a Slave side tension meter 2b Master side looper device 3b Master side movable helper roll 4b Master side non-drive helper roll 5b Master side drive helper roll 6b Master side Helper roll drive motor 7b Master side carriage 8b Master side wire 9b Master side drum 10b Master side counterweight 11b Master-side carriage motor 12b Master-side speed detector 13b Master-side position detector 14b Master-side tension meter 20 Host device 21 Tension reference 22 Correction tension reference 23 Speed reference 30 Tension reference correction section 31 Bending loss storage section 32 Eleet tension setting calculation Section 33 Eletie tension reference value 34 Total tension calculation section 35 Carriage position deviation 36 Tension meter detection value 37 Strip material weight 38 Difference between carriage weight and counterweight weight 39 Strip material entry side speed 40 Strip material exit side speed 41 Carriage speed feedback 42 Mechanical loss compensation 43 Inertia compensation 44 Carriage speed deviation 45 Conversion unit

Claims (4)

A processing material is wound between a carriage that is movable up and down and driven to move up and down by a carriage motor, a movable helper roll that is provided on the carriage and moves up and down together with the carriage, and a rotary shaft that is fixed. A first looper device and a second looper device each having a plurality of fixed helper rolls to be hung and a drive motor that rotationally drives part or all of the plurality of fixed helper rolls;
A position detector for detecting the vertical position of the carriage;
A tension reference correction unit that corrects a tension reference to the carriage motor of the second looper device output from a host device, and calculates a corrected tension reference to the carriage motor of the first looper device; Prepared,
The tension reference correction unit is
A storage unit for previously storing a bending loss generated in the first looper device;
Based on the tension reference and the bending loss stored in the storage unit, the electric tension that serves as a reference for electric control that synchronizes the vertical positions of the carriages of both the first looper device and the second looper device. An electric tie tension setting calculation unit for calculating a reference value,
A control device for a looper device, wherein the correction tension reference is calculated using at least the eletie tension reference value and a deviation between the vertical positions of the carriages detected by the position detector. The tension reference correction part, based on the Eretai tension reference value, with a total tension calculator for calculating the total tension of the processing materials in the first looper apparatus, the calculated by the total tension calculator controller of the looper device according to claim 1, characterized by calculating the correction tension criteria further using the total tension of the treatment materials. The tension reference correction section to claim 1 or claim 2, characterized in that computing the correct tension reference in consideration of mechanical loss compensation and inertia compensation according to the carriage of the first looper equipment further The control device of the looper device described.   4. The control device for a looper device according to claim 1, wherein the second looper device is disposed closer to the process unit than the first looper device. 5.

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