JP6221971B2 - Looper device - Google Patents

Description

  The present invention relates to a looper device. In particular, the present invention relates to tension control in a looper device, which is one of devices constituting a process line that continuously performs processing such as annealing, plating, coating, etc. on a metal plate (hereinafter referred to as a strip) such as strip-shaped steel or aluminum.

  The process line is composed of an entry side part, a process part, and an exit side part. At the entry side, the strip wound in a coil shape is discharged and welded. The process section performs annealing, plating, painting, surface treatment, and the like. The exit side performs strip inspection and winding.

  In particular, poor speed and tension control in the process part causes the meandering, loosening, and vibration of the strip, causing shape defects such as heat buckles, ear stretches, medium stretches, and uneven plating film thickness, and plate breakage. Therefore, in the process section, it is desired to transport the strip at a constant speed and a constant tension in terms of improving the shape accuracy of the final product and the uniformity of the material. On the other hand, at the entrance side or exit side, strip stoppage and reverse running often occur due to coil replacement, welding, and inspection.

  For this reason, in the process line, a looper device capable of temporarily storing strips is arranged between the entry side and the process part and between the process part and the exit side, and the process is separated by dividing the line. The strip can be transported at a constant speed and constant tension.

  A configuration of a general looper device will be described. The looper device includes a fixed base and a carriage that is a movable base facing the fixed base. The fixed base includes a plurality of fixed deflector rolls. The carriage includes a plurality of moving deflector rolls. The strip, which is a plate material, is alternately wound between the fixed deflector roll and the movable deflector roll, and is stored in the looper device in a state where a plurality of strands are formed between the fixed base and the carriage. The carriage is suspended by a chain or a wire rope, and is moved in parallel in the vertical direction by a carriage motor. The movable deflector roll moves in the vertical direction together with the carriage, but the fixed deflector roll does not move because its center position is fixed. The fixed deflector roll is a drive roll (helper roll), one of which is driven by a motor, and the other rolls are non-drive rolls. The tension of the strip is measured by tensiometers installed on the entrance side and the exit side of the looper.

  In addition, in order to convey the strip at a constant speed and constant tension in the process unit, carriage control and strip tension control are performed by a carriage motor. On the other hand, the speed of the drive roll is controlled so as to maintain the alignment speed with the strip.

  In the looper device, when the strip speed and tension control are insufficient, a deviation between the speed and tension command value and the actual value or a fluctuation of the actual value occurs. In the looper device, speed and tension deviations and fluctuations propagate to the process part and cause speed and tension deviations and fluctuations in the process part.

  In the looper device, when the strip passes while being wound around the deflector roll, a residual stress is generated along with the plastic deformation of the bending and stretching of the strip. Therefore, in order for the strip to pass through the looper device, in order to cancel out the residual stress, the strip tension on the exit side needs to be larger than the strip tension on the deflector roll entry side (the side where the strip enters the deflector roll). There is. Therefore, since the strip tension in the looper device increases every time the strip passes the deflector roll, the strip tension distribution has a positive tension gradient (hereinafter tension build) relative to the direction of travel of the strip as shown in FIG. Called up).

  In a control system that does not correct the strand tension difference before and after the deflector roll, the tension control in the looper device becomes unstable, the response is deteriorated, and the tension deviation and the fluctuation in the process section are caused. Therefore, the tension control of the looper device is required to have a function of correcting this tension difference.

  Regarding tension control of the looper device, Patent Document 1 discloses a device that controls the carriage motor torque using a strip total tension as a value calculated from the average of actual values of tension meters installed on the entrance side and the exit side of the looper. Yes.

  Patent Document 2 discloses a multiple looper in which a carriage is divided into a plurality of parts. In recent years, due to an increase in line speed for improving productivity, the amount of strip storage in the looper device has increased, and a multiple looper has been adopted in many facilities. In such a multiple looper, poor correction of the difference in strand tension before and after the deflector roll can cause a positional deviation between the two divided carriages. In Patent Document 2, the divided looper device is set as master / slave control, and a torque correction value proportional to the positional deviation between the master and slave is given to the helper roll.

JP-A-6-31328 JP 2008-284586 A

  The method of calculating the total tension proposed in Patent Document 1 assumes only a situation where the strip is conveyed in one direction. Fig. 2 shows the tension buildup in the looper device when the strip moves backward and the strip travel direction is different between the inlet side and the outlet side of the looper device, such as when entering the reverse dimension, re-welding, and strip re-inspection. There is no unidirectional gradient. Therefore, the strand tension difference before and after the deflector roll cannot be corrected by the same control method. At this time, the tension feedback control based on the actual value measured by the tension meter installed in the process unit is used together, but the transient state time until the actual tension value on the looper device exit side reaches the desired value is used. In such a transient state, the tension in the looper device becomes oscillating, and the fluctuation in tension propagates to the process part, causing an error between the tension command value and the actual value. Will occur.

  In Patent Document 2, a control method for correcting the tension difference and adjusting the tension difference to zero by adjusting the helper roll motor current reference based on the carriage position deviation caused by the correction error of the strand tension difference before and after the deflector roll. Has been proposed. Since the tension difference is corrected by feedback control, tension control in a transient state becomes difficult as described above. Further, since the tension difference is corrected by the helper roll, the load on the helper roll increases. Since the helper roll motor generally has a small capacity, if the correction of the tension difference and the acceleration / deceleration of the strip are performed at the same time, there is a risk of overload.

  It is preferable that the time until the actual tension value in the process part converges to a desired value is shorter. Further, since strip tension control is performed by the carriage roll, it is preferable that correction of the strand tension difference before and after the deflector roll is also performed by the carriage roll. Therefore, there is a need for a method of estimating the strip tension distribution in the looper device in a state in which the strip traveling direction is different between the looper entry side and the exit side in the looper device, and some strips in the looper device run backward. At this time, depending on the speed of the entrance side and the exit side of the looper device, there are cases where a predetermined deflector roll is stopped and when it is rotating. When the deflector roll is stopped, there is no tension difference before and after the stopped deflector roll. Therefore, the tension distribution differs between the case where the predetermined deflector roll is stopped and the case where it is rotating as shown in FIGS.

  The present invention has been made to solve the above-described problems, and provides a looper device capable of estimating a tension distribution in the looper device when a part of the strip reversely moves in the looper device. For the purpose.

In order to achieve the above object, a first invention is a looper device,
A fixed base;
A carriage which is a movable base facing the fixed base;
A deflector roll group consisting of a plurality of fixed deflector rolls arranged in parallel to the fixed base and a plurality of moving deflector rolls arranged in parallel to the carriage;
In the state where strips are alternately wound around the fixed deflector roll and the movable deflector roll of the deflector roll group, and a plurality of strands are formed between the fixed base and the carriage, the carriage and the fixed base A carriage control unit that can change the distance between
When changing the distance between the carriage and the fixed base, it is determined whether or not there is a deflector roll whose rotation is stopped in the deflector roll group based on the roll speed of the deflector roll group. A stop roll determination unit;
A first strand tension estimation unit that estimates the tension of each of the plurality of strands when the stopped deflector roll is present, and
The first strand tension estimation unit includes:
The strands on both sides of the stopped deflector roll are respectively the i-1 and i strands from the looper entry side, the final strand on the looper exit side is the Nth strand, and the tension of the Nth strand is When _TN and the difference in tension between the strands before and after passing through the deflector roll is defined as ΔT,
About the tension calculation of each strand from the (N-1) th to the i-th, the tension difference ΔT is cumulatively subtracted from the tension _TN of the Nth strand as the strand entering the looper, and the tension of each strand is calculated.
For the tension calculation of the (i-1) th strand, the tension is the same as that of the ith strand,
For the tension calculation of each strand from the i-2th to the first, calculating the tension of each strand by cumulatively adding the tension difference ΔT to the tension of the i-1st strand as the strand enters the looper. It is characterized by.

The second invention is the first invention, wherein
When changing the distance between the carriage and the fixed base, based on the roll speed of the deflector roll group, one of the plurality of strands has a strip at one end and a strip at the other end in a looper exit direction. A conveyance state determination means for determining whether or not a strand being conveyed exists;
A second strand tension estimating unit that estimates the tension of each of the plurality of strands when there is a strand in which a strip is conveyed in both the looper entrance direction and the exit direction;
The second strand tension estimation unit is
The strand transported in both directions is the i-th strand, the final strand on the looper exit side is the N-th strand, the tension of the N-th strand is T _N, and the tension difference between the strands before and after passing through the deflector roll Is defined as ΔT,
About the tension calculation of each strand from the (N-1) th to the i-th, the tension difference ΔT is cumulatively subtracted from the tension _TN of the Nth strand as the strand entering the looper, and the tension of each strand is calculated.
About the tension calculation of each strand from the (i-1) th to the first strand, the tension of each strand is calculated by cumulatively adding the tension difference ΔT to the tension of the i-th strand as the strand enters the looper. And

The third invention is the second invention, wherein
The carriage control unit
Means for acquiring a reference value according to an operating state for a torque command value for controlling the carriage;
Means for calculating a distance from a position where the transport speed on the strand is 0 to one end of the strand when there is a strand transported in both the looper entrance side direction and the exit side direction;
The plurality of strands calculated by the total tension of the plurality of strands and the plurality of second strand tension estimating units calculated by the same calculation as the first strand tension estimating unit on the assumption that the deflector roll at one end of the strand is stopped. A weight corresponding to the calculated distance is set for the total tension of the strand of the strand, a correction value based on the total tension for which the weight is set is calculated, and correction is performed based on the reference value and the correction value. Means for calculating a subsequent torque command value.

  According to the first invention, in the looper device, when some strips run backward, the tension distribution in the looper device can be estimated. According to the first invention, in particular, in the looper device, when some strips run backward and there is a deflector roll that is stopped, the tension of each strand of the strip can be estimated. it can.

  According to the second invention, particularly in the looper device, when some strips run backward and there is no deflector roll that is stopped, both the looper entry side direction and the exit side direction are provided. In the presence of the strands on which the strip is being conveyed, the tension of each strand of the strip can be estimated.

  According to the third aspect of the present invention, the torque command value for controlling the carriage using the estimated tension distribution in the looper device based on the speed command value can be set in the looper device regardless of the feedback of the actual value. It can correct | amend based on the estimation result of tension distribution. Thereby, by making the looper tension control system highly responsive, even in a state where some strips run backward in the looper device, the tension distribution in the looper device is quickly converged to a suitable state, Tension fluctuations in the process part can be suppressed.

It is a figure for demonstrating the looper apparatus 10 which concerns on Embodiment 1 of this invention. It is a figure which shows the tension distribution of each strand in case the whole strip in a looper apparatus is conveyed in the exit side direction. It is a figure which shows the relationship between each deflector roll and the deflector roll speed in the state in which the strip conveyance direction of the entrance / exit side of a looper apparatus differs, and there is no deflector roll stopped. It is a figure which shows the relationship between each strand of the strip 20, and the strip tension | tensile_strength in the state in which the strip conveyance direction of the entrance / exit side of a looper apparatus differs and there is no deflector roll stopped. It is a figure which shows the relationship between each deflector roll and its deflector roll speed in the state which the strip conveyance direction of the entrance / exit side of a looper apparatus differs, and the predetermined | prescribed deflector roll has stopped. It is a figure which shows the relationship between each strand of the strip 20, and the strip tension | tensile_strength in the state from which the strip conveyance direction of the entrance / exit side of a looper apparatus differs, and the predetermined | prescribed deflector roll has stopped. It is a flowchart of the strip tension estimation routine of each strand which the controller 30 which concerns on Embodiment 1 of this invention performs. It is a block diagram for explaining a process for calculating the torque command value TRQ _ref controller 30 according to the second embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, the same code | symbol is attached | subjected to the element which is common in each figure, and the overlapping description is abbreviate | omitted.

Embodiment 1 FIG.
[System Configuration of Embodiment 1]
FIG. 1 is a diagram for explaining a looper device 10 according to Embodiment 1 of the present invention. A looper device 10 shown in FIG. 1 is provided between an entry side portion and a process portion of a process line or between a process portion and an exit side portion, and temporarily stores a strip. By storing the strip temporarily, it is possible to convey the strip at a constant speed and constant tension in the process section.

  A looper device 10 shown in FIG. 1 includes a fixed base 12. A plurality of fixed deflector rolls 14 are arranged in parallel on the fixed base 12 from the entrance side to the exit side of the looper device 10. In the example shown in FIG. 1, fixed deflector rolls 14 a, 14 b, 14 c,..., 14 g are arranged in order from the entrance side of the looper device 10. The number of fixed deflector rolls is not limited to this. In the following description, when the fixed deflector rolls 14a, 14b, 14c,..., 14g are not distinguished, they are simply referred to as the fixed deflector roll 14.

  The looper device 10 includes a carriage 16 that is a movable base that faces the fixed base 12. A plurality of moving deflector rolls 18 are arranged in parallel on the carriage 16 from the entrance side to the exit side of the looper device 10. In the example shown in FIG. 1, moving deflector rolls 18 a, 18 b, 18 c,..., 18 f are shown in order from the entry side of the looper device 10. The number of moving deflector rolls is not limited to this. In the following description, when the moving deflector rolls 18a, 18b, 18c,..., 18f are not distinguished, they are simply referred to as the moving deflector roll 18.

  In the following description, a set of fixed deflector rolls 14a, 14b, 14c, ..., 14g and moving deflector rolls 18a, 18b, 18c, ..., 18f is referred to as a deflector roll group. In addition, when the fixed deflector roll 14 and the moving deflector roll 18 are not distinguished, they are simply referred to as a deflector roll.

  Strips 20 that are plate members are alternately wound around the fixed deflector roll 14 and the movable deflector roll 18 of the deflector roll group. Specifically, the strip 20 includes, from the entrance side of the looper device 10, a fixed deflector roll 14a, a moving deflector roll 18a, a fixed deflector roll 14b, a moving deflector roll 18b, a fixed deflector roll 14c, a moving deflector roll 18c,. The movable deflector roll 18f and the fixed deflector roll 14g are wound in this order.

  Each band portion defined between the fixed deflector roll 14 and the moving deflector roll 18 on which the strip 20 is passed is called a strand. The strip 20 is usually conveyed in the exit direction indicated by arrow A in FIG.

  The carriage 16 is suspended from the drum 22 by a chain or wire rope 21. The drum 22 is driven by a carriage motor 24. When the drum 22 is driven, the moving deflector roll 18 fixed to the carriage 16 moves in the vertical direction of FIG. On the other hand, the fixed deflector roll 14 fixed to the fixed base 12 does not move in the vertical direction.

  Further, one of the fixed deflector rolls 14 is a drive roll (helper roll). Specifically, the fixed deflector roll 14a is driven by a helper roll motor 26a. The fixed deflector roll 14d is driven by a helper roll motor 26d. The fixed deflector roll 14g is driven by a helper roll motor 26g. The fixed deflector roll 14 that does not have the helper roll motors 26a, 26d, and 26g is referred to as a non-driving roll. In the following description, when the helper roll motors 26a, 26d, and 26g are not distinguished, they are simply referred to as the helper roll motor 26.

  In the example shown in FIG. 1, the looper device 10 stores N strands, and one of the three fixed deflector rolls 14 is driven by a helper roll motor 26.

  Angular velocity sensors 27a, 27d, and 27g that output signals corresponding to the rotational speeds of the respective rolls are provided in the vicinity of the helper roll motors 26a, 26d, and 26g, which are driving rolls, or the fixed deflector rolls 14a, 14d, and 14g, respectively. Yes. In the following description, when the angular velocity sensors 27a, 27d, and 27g are not distinguished, they are simply referred to as the angular velocity sensor 27.

  A tension meter 28a that outputs a signal corresponding to the tension of the strip 20 upstream of the fixed deflector roll 14a is disposed upstream of the fixed deflector roll 14a on the looper entry side. A tension meter 28g for outputting a signal corresponding to the tension of the strip 20 downstream of the fixed deflector roll 14g is disposed downstream of the fixed deflector roll 14g on the looper exit side. In the following description, when the tension meters 28a and 28g are not distinguished from each other, they are simply referred to as a tension meter 28.

  The looper device 10 includes a controller 30 that controls various actuators of the looper device 10. The controller 30 includes a processing unit, a storage unit, and an input / output interface. The processing unit, the storage unit, and the input / output interface are connected to each other and can exchange signals with each other.

  Various sensors such as angular velocity sensors 27a, 27d, 27g, and tension meters 28a, 28g are connected to the input / output interface of the controller 30. Various actuators such as a carriage motor 24 and helper roll motors 26a, 26d, and 26g are connected to the input / output interface of the controller 30. Furthermore, the controller 30 is connected to a host control device via an input / output interface.

  The storage unit of the controller 30 includes a hard disk device, a nonvolatile memory such as a flash memory, a volatile memory such as a RAM (Random Access Memory), or a combination thereof. The storage unit stores a computer program for controlling the looper device 10.

  The processing unit of the controller 30 includes a memory and a CPU (Central Processing Unit). The processing unit reads a computer program from the storage unit, and functions as a carriage control unit 32, a conveyance state determination unit 34, a stop roll determination unit 36, a first strand tension estimation unit 38, and a second strand tension estimation unit 40.

  The input / output interface of the controller 30 inputs control information (for example, material information, rolling schedule information, product information, etc.) transmitted from a host control device. In addition, signals output from various sensors are input. The processing unit of the controller 30 executes a computer program based on the input control information and signals, and calculates command values for various actuators. The input / output interface outputs a drive signal corresponding to the command value to various actuators.

  The controller 30 performs stationary control of the carriage 16 and tension control of the strip 20 in order to convey the strip at a constant speed and constant tension in the process unit. Further, the speed of the drive roll is controlled so as to maintain the uniform speed of the strip 20.

  For example, the carriage control unit 32 calculates a torque command value of the carriage motor 24 corresponding to the current operation state based on the control information and signals, and outputs a signal corresponding to the torque command value to the carriage motor 24. The carriage motor 24 rotates according to the drive signal, the drum 22 is driven, and the carriage 16 moves up and down. As the carriage 16 moves up and down, the distance between the carriage 16 and the fixed base 12 is changed. As the carriage 16 moves away from the fixed base 12, the strip 20 is stored in the looper device 10. As the carriage 16 approaches the fixed base 12, the stored strip 20 is conveyed in the looper exit direction.

[Estimation of Tension Distribution in Embodiment 1]
When the carriage 16 approaches the fixed base 12, one end of the strip 20 may be transported in the looper exit direction and the other end may run backward in the looper entry direction. At this time, the tension distribution in the looper device has a V-shape that takes a minimum value in the strands before and after the stopped deflector roll, or in the strands in which the rotation directions of the deflector rolls at both ends are different. It becomes U-shaped. Thus, the tension distribution in the looper device 10 varies depending on the operating state of the deflector roll.

  In the first embodiment, a method for estimating the tension distribution of a strip in a state where a part of the strip is running backward in the looper device will be described.

  3 and 5 are diagrams showing the relationship between each deflector roll and its deflector roll speed in a state where a part of the strip is running backward in the looper device. In order from the entrance side of the looper device 10, the first deflector roll is a fixed deflector roll 14a, the second deflector roll is a moving deflector roll 18a, and the third deflector roll is a fixed deflector roll 14b. In the deflector roll speed, the direction in which the strip 20 is conveyed to the looper exit side is positive, and the direction in which the strip 20 runs backward to the looper entrance side is negative.

  4 and 6 are diagrams showing the relationship between each strand of the strip 20 and its strip tension in a state where a part of the strip is running backward in the looper device. The i-th strand from the looper entry side is a strand between the i-th deflector roll and the i + 1-th deflector roll from the looper entry side. As an example, the third strand is a strand between the third deflector roll (fixed deflector roll 14b) and the fourth deflector roll (moving deflector roll 18b).

  Corresponding to FIGS. 3 and 4, the speed of each strand of the strip 20 in the operating state in which some strips are running backwards and all the deflector rolls are rotating in the looper device. It is a figure for demonstrating tension | tensile_strength.

  Corresponding to FIG. 5 and FIG. 6, some strips are running backward in the looper device, and a certain deflector roll (i + 2nd deflector roll in FIGS. 5 and 6) is stopped. It is a figure for demonstrating the speed and tension | tensile_strength of each strand of the strip 20 in an operation state.

the speed of the n-th strand v _n, the speed of the n-th of the deflector roll and ω _n. The section of the helper roll in which the rotation direction is opposite is detected by the output signal of the angular velocity sensor 27 connected to the rotation shaft of the helper roll motor 26 or the sensorless speed estimation function built in the driving device of the helper roll motor. When it is detected that the rotation direction is reversed between the i-th and i + M-th helper rolls, the speed of the deflector roll is as shown in FIG. When the relationship of Expression (1A), Expression (2), and Expression (3) holds for the variable α calculated from ω _i , ω _{i + M} , the strip 20 is placed between the i + j-th deflector roll and the i + j + 1-th deflector roll. The transport direction is reversed. That is, one end of the i + j-th strand is conveyed in the looper entry side direction, and the other end is conveyed in the looper exit side direction. On the other hand, when the relationship of Formula (1B), Formula (2), and Formula (3) is satisfied, the i + j-th deflector roll is stopped.

The strand tension difference ΔT when passing through one deflector roll is a function of the width w, thickness t, deflector roll diameter d, strip winding angle θ, Young's modulus E of the strip 20, and yield stress σ _y . Become. As shown in Equation (4), the tension difference ΔT is a function that is uniquely determined by the type of material of the strip 20, and can be calculated by inputting information on the conveyed strip 20 in advance.

  Therefore, when the strip 20 moves from the k-th strand to the k + 1-th strand through the k + 1-th deflector roll, the strip tension at the k + 1-th strand is expressed by Equation (5).

  On the other hand, when the k + 1-th deflector roll is in a stopped state, the strip tensions of the k-th strand and the (k + 1) -th strand are equal to each other as shown in Expression (6).

  Therefore, the tension distribution in the looper device 10 is as shown in FIG. 4 or FIG. However, FIG. 4 shows a state where the rotation direction is reversed between the i + 1th and i + 2nd deflector rolls, and FIG. 6 shows a state where the speed of the i + 2nd deflector roll is zero.

_Assuming that the tension command value in the N-th strand is T _Nref , the strip tension estimated value T _EST (m) in the m-th strand is represented by the formula (7), from the formulas (4), (5), and (6). It can represent with Formula (8), Formula (9), and Formula (10).

  FIG. 7 is a flowchart of a strip tension estimation routine for each strand executed by the controller 30 in order to realize the above-described operation. This routine is repeatedly executed at a predetermined sampling interval during carriage control.

  In the routine shown in FIG. 7, first, in step S <b> 100, the carriage control unit 32 described above calculates a torque command value based on control information and the like, and outputs a drive signal corresponding to the torque command value to the carriage motor 24. The carriage motor 24 rotates according to the drive signal, the drum 22 is driven, and the carriage 16 moves up and down. As the carriage 16 moves up and down, the distance between the carriage 16 and the fixed base 12 is changed.

  In step S110, the stopped roll determination unit 36 determines whether there is a stopped deflector roll. Specifically, if α is a natural number (α = j) in the above-described equations (1), (2), and (3), it can be determined that there is a deflector roll that is stopped.

  When it is determined in step S110 that there is a deflector roll stopped, in step S120, the first strand tension estimation unit 38 estimates the tension of each strand of the strip 20. Specifically, the tension of each strand is calculated based on the above-described formulas (4), (7), (9), and (10). Thereafter, the processing of this routine is terminated.

  If it is not determined in step S110 that there is a deflector roll that is stopped, in step S130, the transport state determination unit 34 determines whether there are strands transported in both the looper entry direction and the exit direction. Determine whether or not. Specifically, if α is a decimal number (j <α <j + 1) in the above-described formulas (1), (2), and (3), it is transported in both the looper entry direction and the exit direction. It can be determined that there is a strand.

  If it is determined in step S130 that there are strands being conveyed in both the looper entry direction and the exit direction, the second strand tension estimation unit 40 estimates the tension of each strand of the strip 20 in step S140. To do. Specifically, the tension of each strand is calculated based on the above-described formula (4), formula (7), formula (8), and formula (10). Thereafter, the processing of this routine is terminated.

  As described above, according to the routine shown in FIG. 7, in the strip reverse running state, the tension distribution in the looper device is calculated based on the speed of the helper roll, the material property value of the strip, and the tension value of the Nth strand. Can be estimated.

Embodiment 2. FIG.
[System Configuration of Embodiment 2]
Next, a second embodiment of the present invention will be described with reference to FIG. In the second embodiment, the torque command value for controlling the carriage 16 is corrected using the tension distribution in the looper device 10 estimated in the first embodiment. Thereby, even in the state where some strips in the looper device run backward, the tension distribution in the looper device is quickly converged to a suitable value, and the tension fluctuation in the process section is suppressed.

[Carriage motor control in the second embodiment]
FIG. 8 is a block diagram for explaining a process of calculating the torque command value TRQ _ref executed by the controller 30. The torque command value TRQ _ref is a value corresponding to a drive signal output to the carriage motor 24. As shown in FIG. 8, torque command value TRQ _ref is calculated using first control unit 80, first total tension calculation unit 81, second total tension calculation unit 82, and second control unit 83.

  The first control unit 80 and the second control unit 83 in FIG. 8 are realized by the carriage control unit 32 in FIG. The first total tension calculation unit 81 in FIG. 8 is realized by the carriage control unit 32, the conveyance state determination unit 34, the stop roll determination unit 36, and the first strand tension estimation unit 38 in FIG. The second total tension calculation unit 82 in FIG. 8 is realized by the carriage control unit 32, the conveyance state determination unit 34, the stop roll determination unit 36, and the second strand tension estimation unit 40 in FIG.

The first controller 80 inputs the next outlet strip tension command value T _Nref . The exit strip tension command value T _Nref corresponds to a reference value for the torque command value of the carriage motor 24 calculated by the carriage control unit 32 of FIG. 1 according to the current control information and the like. The reference value is predetermined by a map or a calculation formula. The first control unit 80 adjusts the actual _output strip tension command value T _Nref and the _{actual output} strip tension measured by the tension meter 28g so that the _actual value of the _output strip tension of the looper device 10 matches the command value. calculating the tension command value _{T Nref} 'from the deviation value _{T N.}

The first total tension calculator 81 and the second total tension calculator 82 input the tension command value T _Nref ′, the strand tension difference ΔT, and the like, and calculate the total strip tension in the looper device 10.

Specifically, the first total tension calculation unit 81 and the second total tension calculation unit 82 include the _output side strip tension command value T _Nref , the output side strip tension actual value _TN, and the tension command derived from the first control unit 80. the value _{T Nref} 'equation (7), equation (8), equation (9), by substituting the _{T Nref} of formula (10), and calculates the strip tension distribution of the looper device 10.

Further, the first total tension calculating unit 81 calculates the tension of each strand using Equation (7), Equation (9), and Equation (10) when ω _{i + j} ≠ 0, and according to Equation (11), The total strip tension Tsum (i, j) is calculated. On the other hand, when ω _{i + j} = 0, the second total tension calculating unit 82 calculates the tension of each strand using Expression (7), Expression (8), and Expression (10), and strips according to Expression (12). The total tension Tsum_s (i, j) is calculated.

  When the sum of strip tensions calculated by equation (11) or equation (12) is used as the torque command value, equation (11) indicates that there is no deflector roll stopped, and there is a deflector roll stopped. Since the state uses Expression (12), the torque command value changes discontinuously when the deflector roll stops and rotates.

  Therefore, in order to smoothly change the torque command value, the torque command value is calculated using Equation (13), Equation (14), and Equation (15) using an arbitrary coefficient β.

K ₁ : Carriage motor torque / strip total tension conversion gain Tsum (i, j): Strip total tension Tsum_s (i, j) when the deflector roll speed is reversed at the i + jth strip as a boundary: i + jth deflector roll Strip total tension at zero speed

In Expression (13), Expression (14), and Expression (15), weighting is set for Tsum (i, j) and Tsum_s (i, j) according to the value of α−j. A corrected torque command value TRQ _ref is calculated by multiplying the carriage motor torque K ₁ by a correction value based on Tsum (i, j) and Tsum_s (i, j) for which weighting is set.

An example of calculating the torque command value TRQ _ref will be shown. Here, the j-th deflector roll is rotated in a direction in which the strip 20 is conveyed to the looper entry side, and the (j + 1) -th deflector roll is rotated in a direction to convey the strip 20 to the looper exit side. α is a variable indicating a stop position on the j-th strand (a position where the conveyance speed to the looper entry side and the exit side is 0). β is a variable for suppressing fluctuations in tension and is set in advance. As an example, when j = 2, α = 2.01, and β = 0.1, the distance α-j from the j-th deflector roll to the stop position is 0.01, and the vicinity of the j-th deflector roll There is a stop position, and the tension is likely to fluctuate. In this example, since 0 ≦ α−j ≦ β holds, TRQ _ref is calculated using Equation (13).

  As described above, according to the system of the second embodiment, the carriage motor 24 can be determined based on the estimated value of the tension distribution in the looper device 10 even in a state where some strips run backward in the looper device. The torque command value can be adjusted. Thereby, it is possible to increase the response of the looper tension control system, quickly converge the tension distribution in the looper device to a suitable state, and suppress the tension fluctuation in the process unit. Therefore, the meandering, slackening, and vibration of the strip due to the propagation of the tension fluctuation to the process part can be quickly suppressed regardless of the strip speed at the entry side and the exit side, and the product quality can be further improved.

DESCRIPTION OF SYMBOLS 10 Looper apparatus 12 Fixed base part 14a, 14b, 14c, 14d, 14e, 14f, 14g Fixed deflector roll 16 Carriage 18a, 18b, 18c, 18d, 18e, 18f Moving deflector roll 20 Strip 21 Wire rope 22 Drum 24 Carriage motor 26a, 26d, 26g Helper roll motors 27a, 27d, 27g Angular velocity sensors 28a, 28g Tension meter 30 Controller 32 Carriage control unit 34 Transport state determination unit 36 Stop roll determination unit 38 First strand tension estimation unit 40 Second strand tension estimation unit 80 First 1 control part 81 1st total tension calculating part 82 2nd total tension calculating part 83 2nd control part

Claims (3)

A fixed base;
A carriage which is a movable base facing the fixed base;
A deflector roll group consisting of a plurality of fixed deflector rolls arranged in parallel to the fixed base and a plurality of moving deflector rolls arranged in parallel to the carriage;
In the state where strips are alternately wound around the fixed deflector roll and the movable deflector roll of the deflector roll group, and a plurality of strands are formed between the fixed base and the carriage, the carriage and the fixed base A carriage control unit that can change the distance between
When changing the distance between the carriage and the fixed base, it is determined whether or not there is a deflector roll whose rotation is stopped in the deflector roll group based on the roll speed of the deflector roll group. A stop roll determination unit;
A first strand tension estimation unit that estimates the tension of each of the plurality of strands when the stopped deflector roll is present, and
The first strand tension estimation unit includes:
The strands on both sides of the stopped deflector roll are respectively the i-1 and i strands from the looper entry side, the final strand on the looper exit side is the Nth strand, and the tension of the Nth strand is When TN and the tension difference between the strands before and after passing through the deflector roll are set as ΔT,
About the tension calculation of each strand from the (N-1) th to the i-th, the tension difference ΔT is cumulatively subtracted from the tension TN of the N-th strand as the strand enters the looper to calculate the tension of each strand.
For the tension calculation of the (i-1) th strand, the tension is the same as that of the ith strand,
For the tension calculation of each strand from the i-2th to the first, calculating the tension of each strand by cumulatively adding the tension difference ΔT to the tension of the i-1st strand as the strand enters the looper.
Looper device characterized by. When changing the distance between the carriage and the fixed base, based on the roll speed of the deflector roll group, one of the plurality of strands has a strip at one end and a strip at the other end in a looper exit direction. A conveyance state determination means for determining whether or not a strand being conveyed exists;
A second strand tension estimating unit that estimates the tension of each of the plurality of strands when there is a strand in which a strip is conveyed in both the looper entrance direction and the exit direction;
The second strand tension estimation unit is
The strand conveyed in both directions is the i-th strand, the final strand on the looper exit side is the N-th strand, the tension of the N-th strand is TN, and the tension difference between the strands before and after passing through the deflector roll is If we define ΔT,
About the tension calculation of each strand from the (N-1) th to the i-th, the tension difference ΔT is cumulatively subtracted from the tension TN of the N-th strand as the strand enters the looper to calculate the tension of each strand.
i-1 For calculating the tension of each strand from the first to the first, calculating the tension of each strand by cumulatively adding the tension difference ΔT to the tension of the i-th strand as the strand enters the looper.
The looper device according to claim 1. The carriage control unit
Means for acquiring a reference value according to an operating state for a torque command value for controlling the carriage;
Means for calculating a distance from a position where the transport speed on the strand is 0 to one end of the strand when there is a strand transported in both the looper entrance side direction and the exit side direction;
The plurality of strands calculated by the total tension of the plurality of strands and the plurality of second strand tension estimating units calculated by the same calculation as the first strand tension estimating unit on the assumption that the deflector roll at one end of the strand is stopped. A weight corresponding to the calculated distance is set for the total tension of the strand of the strand, a correction value based on the total tension for which the weight is set is calculated, and correction is performed based on the reference value and the correction value. Means for calculating a subsequent torque command value;
The looper device according to claim 2, further comprising:

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