JP6015701B2 - Steel plate damping control method and damping control device - Google Patents

Description

  The present invention relates to a steel plate vibration damping control method and a vibration damping control device for suppressing vibration of a steel plate being conveyed.

  In a thin plate process line that performs various processes such as plating, coating, and cleaning on the surface of a strip-shaped steel sheet, various processes are performed on the steel sheet while continuously conveying the steel sheet along the line. . For this reason, when a steel plate vibrates, various problems generate | occur | produce. Specifically, in a line having a hot dip galvanizing bath or a coater, it is difficult to stabilize the amount of hot dip galvanizing. In addition, when there is a facility for blowing a gas such as a nozzle in the line after the coating process, troubles such as nozzle clogging may occur due to the scattered matter.

  From such a background, the thin plate process line is provided with a vibration suppression control device that suppresses vibration in a direction orthogonal to the surface of the steel sheet by applying a magnetic force in a direction orthogonal to the surface of the steel sheet. Specifically, Patent Document 1 includes a plurality of electromagnet pairs that are disposed along the width direction of the steel plate and that face the front and back surfaces of the steel plate, respectively, and a distance meter provided for each electromagnet pair. A damping control device is described. This vibration suppression control device applies a magnetic force in a direction perpendicular to the surface of the steel sheet by energizing the electromagnet pair based on the deviation between the surface position of the steel sheet measured by the distance meter and the reference position. The surface position is controlled to the reference position.

Japanese Patent No. 3014264

  In general, when the steel plate vibrates in the direction perpendicular to the surface of the steel plate, the interaction in the width direction of the steel plate, such as the force acting when the steel plate is bent in the width direction, along with the force in the direction perpendicular to the surface of the steel plate A force having However, in the vibration suppression control device described in Patent Document 1, a control system is formed by one electromagnet pair and one distance meter, and each control system is independent in the width direction of the steel sheet. That is, the vibration suppression control device described in Patent Document 1 does not consider the force having an interaction in the width direction of the steel plate. For this reason, according to the vibration suppression control device described in Patent Document 1, it is not possible to accurately calculate the force necessary to control the surface position of the steel plate to the reference position, and as a result, vibration occurs in the width direction of the steel plate. It may not be possible to effectively suppress the vibration of the steel sheet due to propagation.

  This invention is made | formed in view of the said subject, The objective is to provide the damping control method and damping control apparatus of a steel plate which can suppress the vibration of a steel plate effectively.

  A method for controlling vibration suppression of a steel plate according to the present invention includes a step of measuring a displacement amount from a target position in a direction perpendicular to the surface of the steel plate for each region in the width direction of the steel plate being conveyed, and a steel plate using the displacement amount. In consideration of the calculation step of calculating the displacement speed in the direction perpendicular to the surface of the steel sheet for each region in the width direction, and the force having an interaction in the width direction of the steel sheet, the displacement amount and the displacement speed are used. Using the calculation step for calculating the force acting in the direction perpendicular to the surface of the steel plate for each region in the width direction of the steel plate, and the electromagnet pair provided for each region in the width direction of the steel plate, the width direction of the steel plate And applying a magnetic force that cancels the force calculated in the calculation step for each region.

  A steel plate damping control device according to the present invention uses a distance meter that measures a displacement amount from a target position in a direction perpendicular to the surface of the steel plate for each region in the width direction of the steel plate being conveyed, and the displacement amount. The displacement rate in the direction perpendicular to the surface of the steel sheet for each region in the width direction of the steel sheet is calculated, and the width of the steel sheet is calculated using the displacement amount and the displacement speed in consideration of the force having an interaction in the width direction of the steel sheet. The force acting in the direction perpendicular to the surface of the steel sheet is calculated for each area of the direction, and is calculated for each area in the width direction of the steel sheet using an electromagnet pair provided for each area in the width direction of the steel sheet. And a control unit for applying a magnetic force that counteracts the applied force.

  According to the vibration suppression control method and the vibration suppression control device for a steel sheet according to the present invention, vibration of the steel sheet can be effectively suppressed.

FIG. 1 is a schematic diagram showing a physical model of a steel plate for explaining the concept of the present invention. FIG. 2 is a schematic diagram showing a configuration of a steel plate vibration damping control apparatus according to an embodiment of the present invention. FIG. 3 is a schematic diagram showing the configuration of the electromagnet pair shown in FIG. FIG. 4 is a flowchart showing the flow of vibration suppression control processing according to an embodiment of the present invention.

[Concept of the present invention]
First, the concept of the present invention will be described with reference to FIG.

  FIG. 1 is a schematic diagram showing a physical model of a steel plate for explaining the concept of the present invention. As shown in FIG. 1, the steel plate S is divided into seven regions R1 to R7 along the width direction of the steel plate S, and a magnetic force is applied to each region using an electromagnet pair assigned to each region. The suppression of vibration in the direction perpendicular to the surface of the steel sheet S is considered.

As shown in FIG. 1, when the steel plate S vibrates in a direction perpendicular to the surface of the steel plate S, the regions R1 to R7 in the width direction of the steel plate S are each of the steel plates S independent in the width direction of the steel plate S. Forces F _{1 to} F _{7 in} a direction perpendicular to the surface act. Symbols k _{1 to} k ₇ and symbols D _{1 to} D ₇ shown in FIG. 1 represent constants of spring elements and damper elements that describe the forces F _{1 to} F ₇ . Further, at this time, the steel sheet S interacts in the width direction of the steel sheet S, such as a force acting when the steel sheet S is bent in the width direction, separately from the forces F _{1 to} F ₇ independent in the width direction of the steel sheet S. A force having

Therefore, in the physical model of the steel sheet S according to the present invention, as shown in FIG. 1, a spring element (spring constant k _{12 to} k ₆₇ ) and a damper element (damper constant D _{12 to} D) are provided between the regions in the width direction of the steel sheet S. ₆₇ ). By defining the spring element and the damper element between the regions in the width direction of the steel sheet S, it is possible to consider the force having an interaction in the width direction of the steel sheet S.

Specifically, according to the physical model of the steel sheet S of the present invention, the equation of motion of the region R1 shown in FIG. 1 is expressed as the following equation (1). Here, in Equation (1), m ₁ represents the mass of the region R1, x ₁ represents the displacement amount of the region R1, and x ₂ represents the displacement amount of the region R2 adjacent to the region R1. In Formula (1), only the interaction from the region R2 adjacent to the region R1 is considered, but the interaction from the regions R3 to R7 may be considered together.

Similarly, according to the physical model of the steel sheet S of the present invention, the equation of motion of the region R2 shown in FIG. 1 is expressed as the following equation (2). Here, in Equation (2), the mass _{m 2} of the area R2, _{x 1} is the displacement amount in the region R1 adjacent to the area R2, the displacement amount of _{x 2} region R2, _{x 3} area adjacent to the area R2 R3 Represents the amount of displacement. In Formula (2), only the interaction from the regions R1 and R3 adjacent to the region R2 is considered, but the interaction from the regions R4 to R7 may also be considered.

Similarly, equations of motion are established for the regions R3 to R7. Thereby, when the force which has interaction in the width direction of the steel plate S is taken into consideration, the force F _n (n = 1 to 7) acting in the direction orthogonal to the regions R1 to R7 is expressed by the following formula (3). Can be expressed by a determinant. Here, A is a 7 × 14 matrix, and the elements of the matrix A are spring constants k _{1 to} k ₇ and damper constants D _{1 to} D ₇ derived from forces F _{1 to} F ₇ that are independent in the width direction of the steel sheet S. And the spring constants k _{12 to} k ₆₇ and the damper constants D _{12 to} D ₆₇ derived from the forces that interact in the width direction of the steel sheet S.

The spring constants k _{1 to} k ₇ and the damper constants D _{1 to} D ₇ derived from the forces F _{1 to} F ₇ that are independent in the width direction of the steel sheet S are respectively determined by the mass of the steel sheet S and the air resistance acting on the steel sheet S. Will change accordingly. Further, the spring constants k _{12 to} k ₆₇ and the damper constants D _{12 to} D ₆₇ derived from the forces having an interaction in the width direction of the steel sheet S respectively correspond to the elastic coefficient of the steel sheet S and the air resistance acting on the steel sheet S. Change.

Therefore, the value of each element of the determinant A is obtained in advance according to the steel type and dimensions of the steel sheet S, and the displacement amount x _n (n = 1 to 7) and the displacement speed x from the reference position of the surface position of the steel sheet S are obtained. _By substituting _n (t) −x _n (t−1) (n = 1 to 7, t: time) into the above equation (3), a force having an interaction in the width direction of the steel sheet S is taken into consideration. The force F _n (n = 1 to 7) acting in the direction orthogonal to the regions R1 to R7 in the width direction of the steel sheet S can be calculated. As a result, vibration of the steel sheet S can be effectively suppressed by applying a magnetic force to each region of the steel sheet S in a direction to cancel the force F _n (n = 1 to 7) using the electromagnet pair.

  Hereinafter, a steel plate vibration damping control apparatus, which is an embodiment of the present invention, conceived based on the concept of the present invention will be described.

[Configuration of vibration control device]
FIG. 2 is a schematic diagram showing a configuration of a steel plate vibration damping control apparatus according to an embodiment of the present invention. FIG. 3 is a schematic diagram showing the configuration of the electromagnet pair shown in FIG. As shown in FIG. 2, a steel plate vibration damping control apparatus 100 according to an embodiment of the present invention includes a plurality of electromagnet pairs 101 a and 101 b, a matrix parameter storage unit 110, and a control unit 120.

  As shown to Fig.3 (a), the some electromagnet pair 101a, 101b is arrange | positioned so that the steel plate S may be pinched | interposed along the width direction of the steel plate S, and each electromagnet is opposingly arranged by the surface and the back surface of the steel plate S. Yes. In the present embodiment, seven electromagnet pairs are arranged along the width direction of the steel sheet S. However, the number of electromagnet pairs arranged is not limited to seven.

  As shown in FIG. 3B, each electromagnet has a structure in which a winding 103 is wound around an iron core 102, and the opposing steel plates S are energized by energizing the winding 103 using a power source 104. On the other hand, a magnetic force can be applied. Each electromagnet is provided with a distance meter 105 for measuring the distance between the opposing steel plates S.

Returning to FIG. The matrix parameter storage unit 110 is configured by a non-volatile storage device, and an element a _ij (i = 1 to 7, j = 1 to 14) of the matrix A shown in the mathematical formula (3) is a steel type of a typical steel sheet S. And memorize for each dimension.

  The control unit 120 is configured by an arithmetic processing device such as a microcomputer, and suppresses vibrations of the steel sheet S by applying a magnetic force to the steel sheet S by controlling the current value applied to the plurality of electromagnet pairs 101a and 101b. To do.

  In the steel plate vibration suppression control apparatus 100 having such a configuration, the control unit 120 effectively suppresses the vibration of the steel plate S by executing the vibration suppression control process shown below. Hereinafter, the operation of the control unit 120 when executing the vibration suppression control process will be described with reference to the flowchart shown in FIG.

[Vibration control processing]
FIG. 4 is a flowchart showing the flow of vibration suppression control processing according to an embodiment of the present invention. The flowchart shown in FIG. 4 starts when the conveyance of the steel sheet S is started, and the vibration suppression control process proceeds to the process of step S1. The vibration suppression control process is repeatedly executed every predetermined control cycle.

In the process of step S1, the control unit 120 uses the distance meter 105 of the electromagnet pairs 101a and 101b, and the steel sheet S for each of the regions R1 to R7 in the width direction of the steel sheet S on which the electromagnet pairs 101a and 101b act. A displacement amount x _n (n = 1 to 7) from a target position in a direction perpendicular to the surface is measured. Thereby, the process of step S1 is completed and the vibration suppression control process proceeds to the process of step S2.

In the process of step S2, the control unit 120 uses the displacement amount x _n (n = 1 to 7) measured in the process of step S1 on the surface of the steel sheet S for each region R1 to R7 in the width direction of the steel sheet S. A displacement speed x _n (t) −x _n (t−1) (n = 1 to 7, t: time) in a direction perpendicular to the direction is calculated. Thereby, the process of step S2 is completed, and the vibration suppression control process proceeds to the process of step S3.

In the process of step S _< b _{> 3} , the control unit 120 reads the data of the element a _ij of the matrix A corresponding to the steel type and dimensions of the steel sheet S from the matrix parameter storage unit 110. Then, the control unit 120 _reads the data of the element a _ij of the matrix A, the displacement amount x _n (n = 1 to 7) and the displacement speed x _n (t) obtained in the processing of step S1 and step S2. By substituting −x _n (t−1) (n = 1 to 7, t: time) into the above formula (3), the area R1 to R7 in the width direction of the steel sheet S is perpendicular to the surface of the steel sheet S. A force F _n (n = 1 to 7) acting in the direction is calculated. Thereby, the process of step S3 is completed, and the vibration suppression control process proceeds to the process of step S4.

In the process of step S4, each region in the width direction of the steel sheet S in the direction in which the control unit 120 cancels the force F _n (n = 1 to 7) calculated in the process of step S3 using the electromagnet pairs 101a and 101b. A magnetic force is applied to R1 to R7. Thereby, the process of step S4 is completed and a series of vibration suppression control processes are complete | finished.

As is clear from the above description, in the vibration suppression control process according to an embodiment of the present invention, the control unit 120 uses the distance meter 105 to each of the regions R1 to R7 in the width direction of the steel sheet S being conveyed. The displacement amount x _n (n = 1-7) from the target position in the direction perpendicular to the surface of the steel sheet S is measured, and the width direction of the steel sheet S is measured using the measured displacement amount x _n (n = 1-7). Displacement speed x _n (t) −x _n (t−1) (n = 1 to 7, t: time) in the direction perpendicular to the surface of the steel sheet S for each region is calculated, The calculated displacement amount x _n (n = 1 to 7) and displacement speed x _n (t) −x _n (t−1) (n = 1 to 7, t: time) in consideration of the acting force For each region R1 to R7 in the width direction of the steel sheet S, the force F _n (n = 1 to 7) acting in the direction perpendicular to the surface of the steel sheet S is calculated, and the region in the width direction of the steel sheet S is calculated. Using the electromagnet pairs 101a and 101b provided for each of the regions R1 to R7, a magnetic force that cancels the force F _n (n = 1 to 7) calculated for each of the regions R1 to R7 in the width direction of the steel sheet S is applied. . Thereby, the vibration of the steel sheet S can be effectively suppressed.

  Although the embodiment to which the invention made by the present inventor is applied has been described above, the present invention is not limited by the description and the drawings that form a part of the disclosure of the present invention according to this embodiment. 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 100 Vibration suppression control apparatus 101a, 101b Electromagnet pair 110 Matrix parameter memory | storage part 120 Control part

Claims (3)

Measuring a displacement amount from a target position in a direction perpendicular to the surface of the steel sheet for each region in the width direction of the steel sheet being conveyed;
A calculation step of calculating a displacement speed in a direction perpendicular to the surface of the steel sheet for each region in the width direction of the steel sheet using the displacement amount;
In consideration of the force having an interaction in the width direction of the steel plate, the force acting in the direction perpendicular to the surface of the steel plate is calculated for each region in the width direction of the steel plate using the displacement amount and the displacement speed. A calculation step;
Using an electromagnet pair provided for each region in the width direction of the steel plate, applying a magnetic force that cancels the force calculated in the calculation step for each region in the width direction of the steel plate;
A method for damping control of a steel sheet, comprising:   The calculating step includes a step of considering a force having an interaction in the width direction of the steel sheet using a physical model of the steel sheet in which a spring element and a damper element are defined between regions in the width direction of the steel sheet. The method for controlling vibration suppression of a steel sheet according to claim 1. A distance meter that measures a displacement amount from a target position in a direction perpendicular to the surface of the steel sheet for each region in the width direction of the steel sheet being conveyed;
The displacement amount in the direction perpendicular to the surface of the steel sheet is calculated for each region in the width direction of the steel sheet using the displacement amount, and the displacement amount and the displacement speed are calculated in consideration of a force having an interaction in the width direction of the steel sheet. The force acting in the direction perpendicular to the surface of the steel sheet is calculated for each area in the width direction of the steel sheet using the electromagnet pair provided for each area in the width direction of the steel sheet, and the width direction of the steel sheet A control unit for applying a magnetic force that cancels the force calculated for each of the regions;
A steel plate vibration damping control device comprising:

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