JP7076328B2 - Transfer device control method and transfer device - Google Patents

Description

The present disclosure relates to a control method of a transport device and a transport device.

In the plate material production line, in order to smoothly convey the plate material while preventing out-of-plane deformation of the plate material, a device is used in which the plate material is sandwiched by a pair of upper and lower pinch rolls and the plate material is conveyed while applying tension (for example). See Patent Document 1).

Japanese Unexamined Patent Publication No. 8-108208

In the device for transporting the plate material as described above, the center position of the plate width of the plate material may deviate (meander) from the center of the transport line when the plate material is transported. In the worst case, an event may occur in which a part of the plate material is squeezed out from the pinch roll body and the plate material is damaged.

The present disclosure has been made in view of the above circumstances, and an object of the present invention is to satisfactorily control the plate width center position of the plate material to the plate width center target position in the transportation of the plate material using a pinch roll.

The present inventors have diligently studied a transport device capable of suppressing meandering of a plate material and a control method thereof. The present inventors first measure the load at both ends of the pinch roll in the axial direction, consider that the plate material is meandering to the side where the load is large, and relatively tighten the reduction position on the side where the load is large. We thought that the configuration of the conventional technique to improve the meandering by letting the plate material escape to the side where the load is small by controlling the reduction position in the direction is effective. However, even when the reduction position control is performed, the plate material cannot be released to the side where the load is small, and the meandering may not be sufficiently improved. Therefore, the present inventors have solved the problems of the prior art and have found a control method for a device for transporting the plate material while satisfactorily controlling the center position of the plate width to the target value.

A method for controlling a transport device according to one aspect of the present disclosure is to use a pair of upper and lower pinch rolls for transporting a plate material, a drive device for driving the pinch rolls, and at least one of the upper and lower pinch rolls at both ends in the axial direction. In a transfer device equipped with a reduction device for reducing the pinch roll and a load measuring device for measuring the load at at least one of the upper and lower pinch rolls in the axial direction, the center of the plate width of the plate material conveyed by the pinch roll. The target is to detect the current position value and bring this current value at the center of the plate width closer to the target value at the center of the plate width. Regarding the distribution of the load acting between them in the plate width direction, the work side and drive side of the pinch roll in the direction in which the load on the plate width center position target value side is relatively larger than the other with respect to the plate width center position current value. When the reduction device is operated and the pinch roll does not give the plate material a driving force in the transport direction, the current value of the plate width center position is used as a reference for the distribution of the load acting between the plate material and the pinch roll in the plate width direction. It is configured to operate the reduction device on the working side and the driving side of the pinch roll in a direction in which the load on the plate width center position target value side is relatively smaller than that on the other side.

Further, the control method of the transport device according to one aspect of the present disclosure is to determine the difference between the current value of the center position of the plate width and the target value of the center position of the plate width when the pinch roll gives a driving force to the plate material in the transport direction. Based on this, the target value of the load action point position of the load distribution acting between the plate material and the pinch roll is set to the plate width center position target value side with reference to the plate width center position current value compared to the current value of the load action point position. Based on the load action point position target value, the load target value on the work side and the drive side of the pinch roll is calculated, and the load target value on the work side and the drive side of the pinch roll is realized. It is configured to operate the rolling device on the working side and the driving side of the roll, and conversely, if the pinch roll does not give the plate material a driving force in the transport direction, the current value at the center position of the plate width and the plate width Based on the difference from the center position target value, the target value of the load action point position of the load distribution acting between the plate material and the pinch roll is compared with the current value of the load action point position, and the plate is based on the current value of the center position of the plate width. Calculated so as to be on the opposite side of the width center position target value, and based on the load action point position target value, calculate the load target values on the working side and the driving side of the pinch roll, and calculate the working side and the driving side of the pinch roll. It is configured to operate the work-side and drive-side reduction devices of the pinch roll to achieve the load target value of.

Further, the control method of the transport device according to one aspect of the present disclosure is a pair of upper and lower pinch rolls for transporting the plate material, a drive device for driving the pinch roll, and at least one of the upper and lower pinch rolls at both ends in the axial direction. In a transfer device equipped with a reduction device for reducing the pinch roll and a load measuring device for measuring the load at at least one of the upper and lower pinch rolls in the axial direction, the plate width of the plate material conveyed by the pinch roll. The current value of the center position is detected, and the goal is to bring the current value of the center position of the plate width closer to the target value of the center position of the plate width. In addition to the plate position error of the current time, the plate position error control amount is calculated in consideration of the history of the plate position error before the current time, and the load action point is calculated as a value proportional to the plate position error control amount. When the position offset amount is calculated and the pinch roll gives the plate material a driving force in the transport direction, the load action point position offset amount is subtracted from the current value of the plate width center position, and the distance between the plate material and the pinch roll is calculated. Calculate the target value of the load action point position of the acting load distribution, calculate the load target value of the work side and drive side of the pinch roll based on the load action point position target value, and calculate the work side and drive of the pinch roll. It is configured to operate the work-side and drive-side reduction devices of the pinch roll to achieve the side load target, and conversely, if the pinch roll does not give the plate a driving force in the transport direction. , The target value of the load action point position of the load distribution acting between the plate material and the pinch roll is calculated by adding the load action point position offset amount to the current value of the plate width center position, and the load action point position target value is calculated. Based on this, the load target values on the work side and the drive side of the pinch roll are calculated, and the reduction device on the work side and the drive side of the pinch roll is operated so as to realize the load target values on the work side and the drive side of the pinch roll. It is configured as.

Further, in one aspect of the control method of the transport device according to the present disclosure, the current value of the plate width center position of the plate material is detected by using the plate edge position measuring device installed in the vicinity of the transport device, and this is set as the plate width center position target. With the goal of approaching the value, the pinch roll is divided into cases where the plate material is given a driving force in the transport direction and cases where it is not, and the pinch roll is based on the above-mentioned method according to each case. Operate the reduction device on the work side and the drive side.

Further, in one aspect of the control method of the transport device according to the present disclosure, the plate of the plate material uses the load measurement values on the work side and the drive side measured by the load measurement devices installed at both ends in the axial direction of the pinch roll. With the goal of detecting the current value of the width center position and bringing it closer to the plate width center position target value, it is divided into cases where the pinch roll gives the plate material a driving force in the transport direction and cases where it is not. , The reduction device on the working side and the driving side of the pinch roll is operated based on the above-mentioned method according to each case.

Further, in one aspect of the control method of the transport device according to the present disclosure, the current value of the electric motor for driving the pinch roll is detected with the aim of detecting the current value of the plate width center position and bringing it closer to the plate width center position target value. The control target value or the actual value of the Operate the reduction device on the work side and drive side of the pinch roll.

Further, in one aspect of the control method of the transport device according to the present disclosure, the drive torque is applied from the drive device to the pinch roll with the aim of detecting the current value of the plate width center position of the plate material and bringing it closer to the plate width center position target value. Based on the measured value, the torque acting on the spindle part that transmits the Accordingly, based on the method described above, the reduction device on the working side and the driving side of the pinch roll is operated.

Further, in one aspect of the control method of the transfer device according to the present disclosure, the tension acting on the plate material is transferred with the aim of detecting the current value of the plate width center position of the plate material and bringing it closer to the plate width center position target value. It is measured on both the entrance side and the exit side, and based on the difference between the input side tension measurement value and the exit side tension measurement value, it is determined whether the pinch roll gives the plate material a driving force in the transport direction or not. Then, the reduction device on the working side and the driving side of the pinch roll is operated based on the above-mentioned method according to each case.

Further, in one aspect of the control method of the transfer device according to the present disclosure, the current value of the plate width center position of the plate material is detected, and the transfer acting on the pinch roll from the plate material is aimed at bringing this closer to the plate width center position target value. The directional force is measured in the transport device, and based on this transport directional force measurement value, it is determined whether or not the pinch roll is applying the driving force toward the transport direction to the plate material, and the cases are classified. According to the above method, the reduction device on the working side and the driving side of the pinch roll is operated.

The plate material transporting device according to one aspect of the present disclosure includes a pair of upper and lower pinch rolls, a driving device for driving the pinch rolls, and at least one of the upper and lower pinch rolls at both ends in the axial direction, and at least. The load measuring device and the current value of the plate width center position of the plate material sandwiched by the pinch roll are detected at both ends of the pinch roll in either the upper or lower direction in the axial direction, and the plate width center position current value is used as the plate width. When the target is to approach the center position target value and the pinch roll gives the plate material a driving force in the transport direction, the load acting between the plate material and the pinch roll is distributed in the plate width direction. The reduction device on the work side and the drive side of the pinch roll is controlled in a direction in which the load on the target value side of the center position position of the plate width is relatively larger than that of the other, based on the current value of the center position of the plate width. When the pinch roll does not give a driving force to the plate material in the transport direction, the plate width is based on the current value of the plate width center position with respect to the plate width direction distribution of the load acting between the plate material and the pinch roll. A control device for controlling the reduction device on the work side and the drive side of the pinch roll in a direction in which the load on the center position target value side is relatively smaller than that on the other side is provided.

The plate material transporting device according to one aspect of the present disclosure includes a pair of upper and lower pinch rolls, a driving device for driving the pinch rolls, and at least one of the upper and lower pinch rolls at both ends in the axial direction, and at least. The pinch roll load measuring device and the current value of the plate width center position of the plate material sandwiched by the pinch roll are detected at both ends of the pinch roll in either the upper or lower direction in the axial direction, and the current value of the plate width center position is calculated. With the goal of approaching the plate width center position target value, the difference between the plate width center position current value and the plate width center position target value is calculated as the plate position error, and in addition to the plate position error at the current time, The plate position error control amount is calculated in consideration of the history of the plate position error before the current time, the load action point position offset amount is calculated as a value proportional to the plate position error control amount, and the pinch roll is the plate material. When a driving force is applied in the transport direction, the load action point position offset amount is subtracted from the current value of the plate width center position to determine the load action point position of the load distribution acting between the plate material and the pinch roll. Calculate the target value, calculate the load target value on the work side and drive side of the pinch roll based on the load action point position target value, and realize the load target value on the work side and drive side of the pinch roll. The subtraction device on the working side and the driving side of the pinch roll is controlled. The position offset amount is added to calculate the target value of the load action point position of the load distribution acting between the plate material and the pinch roll, and the load on the work side and the drive side of the pinch roll is calculated based on the load action point position target value. It is provided with a control device that calculates a target value and controls a subtraction device on the working side and the driving side of the pinch roll so as to realize a load target value on the working side and the driving side of the pinch roll.

According to the present disclosure, in transporting a plate material using a pinch roll, the plate width center position of the plate material can be satisfactorily controlled to a target value.

It is a flowchart which shows the outline of the control method of the plate material transporting apparatus which concerns on this disclosure. It is a figure which shows the schematic structure of the plate material transporting apparatus which concerns on this disclosure. The figure which shows the positional relationship between a pinch roll and a plate material. It is a figure which shows the load distribution between the plate material and the pinch roll, and the target value of the load action point position when the plate material is close to the work side under the condition that the pinch roll gives the plate material a driving force in the transport direction. It is a figure which shows the load distribution between a plate material and a pinch roll, and the target value of a load action point position when the plate material is leaning toward the drive side under the condition that the pinch roll gives the plate material a driving force toward the transport direction. It is a figure which shows the load distribution between the plate material and the pinch roll, and the target value of the load action point position when the plate material is close to the work side under the condition that the pinch roll does not give the driving force to the plate material in the transport direction. It is a figure which shows the load distribution between the plate material and the pinch roll, and the target value of the load action point position when the plate material is close to the drive side under the condition that the pinch roll does not apply the driving force toward the transport direction to the plate material. It is a figure which shows the relationship between the work side and a drive side load measurement value, and a pinch roll position. It is a figure which shows the structure of the transport device which has the tension measuring device on the entry side and the exit side. It is a figure which shows the structure of the transport device which can measure the force in the transport direction acting on a pinch roll from a plate material. It is a figure which shows the other structure of the transporting apparatus which can measure the force in the transporting direction acting on a pinch roll from a plate material. It is a figure which shows typically the force in the transport direction which is applied to the plate material in the vicinity of a pinch roll when the entry side tension is larger than the exit side tension. It is a figure which shows the laterality and moment of the transport direction force applied to the plate material when the tension on the inlet side is larger than the tension on the exit side, and the pinch roll presses the work side of the plate material more strongly than the drive side. It is a figure which shows typically the force in the transport direction which is applied to the plate material in the vicinity of a pinch roll when the entry side tension is smaller than the exit side tension. It is a figure which shows the laterality and moment of the transport direction force applied to the plate material when the tension on the inlet side is smaller than the tension on the exit side, and the pinch roll presses the work side of the plate material more strongly than the drive side. It is a schematic diagram which shows the functional structure of a control device. It is a figure which illustrates the hardware composition of the control device. It is a flowchart which illustrates the control procedure by a control device.

Hereinafter, embodiments will be described in detail with reference to the drawings. In the description, the same elements or elements having the same function are designated by the same reference numerals, and duplicate description will be omitted.

First, with reference to FIG. 2, an outline of the plate material transporting device 100 according to the present disclosure will be described. The transport device 100 is a device that transports the plate material 2 in a predetermined transport direction while sandwiching the plate material 2 between a pair of upper and lower pinch rolls 1a and 1b in the production / processing line of the plate material 2. The plate material conveying device 100 includes pinch rolls 1a and 1b, reduction devices 3a and 3b, and load measuring devices 4a and 4b. Further, the pinch rolls 1a and 1b are configured to be driven by the electric motor 6 via the spindles 7a and 7b and the pinion stand 8. Further, the transport device 100 of FIG. 2 includes a plate end position measuring device 5 for measuring the plate end position on the working side of the plate material as an example of the embodiment of the present disclosure.

The pinch rolls 1a and 1b are rotating bodies that sandwich the plate material 2 from above and below with a predetermined pressure and transport the plate material 2 in a predetermined transport direction. One end side (working side) in the axial direction of the upper pinch roll 1a is connected to the reduction device 3a via a chock, and the other end side (drive side) in the axial direction is connected to the reduction device 3b via a chock. ing. The working side of the lower pinch roll 1b is connected to the load measuring device 4a via the chock, and the drive side is connected to the load measuring device 4b via the chock.

The reduction devices 3a and 3b reduce the pinch roll 1a on the working side and the driving side (both ends in the axial direction) of the pinch roll 1a, respectively. The reduction device 3a reduces the working side of the pinch roll 1a at a set pinch roll reduction position. The reduction device 3b reduces the drive side of the pinch roll 1a at a set pinch roll reduction position.

The load measuring devices 4a and 4b measure the load on the working side and the driving side of the pinch roll 1b, respectively. The load measuring device 4a measures the load on the working side of the pinch roll 1b. The load measuring device 4b measures the load on the drive side of the pinch roll 1b.

The plate end position measuring device 5 of the plate material continuously (always) measures the plate end position of the plate material 2 conveyed by the pinch rolls 1a and 1b. The plate end position measuring device 5 is fixedly arranged at a predetermined position in the vicinity of the transfer device 100, for example, and the plate end position of the plate material 2 being conveyed is determined from the detected plate end position and the known plate width of the plate material 2. Derive the center position of the plate width. Alternatively, when the plate width of the plate material 2 is not known, the plate end position measuring device 5 may derive the plate width center position of the plate material 2 by measuring the positions of both ends of the plate material 2 in the plate material width direction. The position measuring method by the plate edge position measuring device 5 is not limited, and for example, a known sensor such as a photomicro sensor, an area sensor, a photoelectric sensor, a proximity sensor, a fiber sensor, or a laser sensor may be used. can.

なお板幅の値が不確定な場合は駆動側にも板端位置測定装置を配し、駆動側板端位置ｚ_Ｄを実測して、作業側板端位置ｚ_Ｗと駆動側板端位置ｚ_Ｄの平均値として板幅中心位置現在値ｚ_Ｃを算出する。板幅中心位置現在値は厳密にはピンチロール直下の板幅中心位置であることが好ましいが、板端位置測定装置５が搬送装置に十分近ければ上記計算値ｚ_Ｃを板幅中心位置現在値とみなしてよい。さらに正確さを期する場合、搬送装置の入側と出側双方に板端位置測定装置を配備し、それぞれの実測値から計算される板幅中心位置ｚ_Ｃの平均をとって板幅中心位置現在値とすることが好ましい。本開示では以上のように実測値から演算によって板幅中心位置現在値を得ることを“板幅中心位置現在値を検出”と表現している。 Next, an embodiment of the control method of the transport device of the present disclosure will be described in detail with reference to FIG. First, the current value of the center position of the plate width is detected. When a device 5 capable of continuously measuring the plate edge position as shown in FIG. 2 is deployed in the vicinity of the transport device, the current value of the plate width center position is calculated from this measured value and the known plate width. For example, as shown in FIG. 2, the coordinate z with the line center as the origin and the work side as the positive along the pinch roll axis is defined to indicate the position, and the plate end position measuring device 5 deployed on the work side is used. When the measured work-side plate end position is z _W and the known plate width is b, the plate end position on the drive side is estimated by z _W -b, so the plate width center position current value z _C is the average of these. It is calculated as a value by the following formula.

If the plate width value is uncertain, a plate end position measuring device is also placed on the drive side, the drive side plate end position z _D is actually measured, and the average of the work side plate end position z _W and the drive side plate end position z _D. As a value, the current value z _C at the center position of the plate width is calculated. _Strictly speaking, the current value of the plate width center position is preferably the plate width center position directly under the pinch roll. Can be regarded as. For further accuracy, plate edge position measuring devices are installed on both the entrance and exit sides of the transport device, and the plate width center position z _C calculated from the measured values of each is taken as the average of the plate width center position. The current value is preferable. In the present disclosure, obtaining the current value of the center position of the plate width by calculation from the measured value as described above is expressed as "detecting the current value of the center position of the plate width".

Returning to the flowchart of FIG. 1, the description of the control method of the transport device according to the present disclosure will be continued. After detecting the current value of the plate width center position of the plate material 2, it is determined whether or not the pinch rolls 1a and 1b give the plate material 2 a driving force in the transport direction. In one aspect of the control method of the transport device according to the present disclosure, the motor 6 driving the pinch rolls 1a and 1b performs torque control in order to apply a predetermined tension to the plate material 2. Specifically, this controls the current supplied to the motor. Therefore, by extracting the control target value of the current of the electric motor or measuring the actual current value, it is determined whether or not the pinch rolls 1a and 1b give the plate material 2 a driving force in the transport direction.

Further, in the flowchart of FIG. 1, when it is determined that the pinch rolls 1a and 1b give the plate material 2 a driving force in the transport direction, the plate width with respect to the plate width direction distribution of the load acting between the plate material and the pinch roll. Based on the current value of the center position, operate the reduction device on the work side and drive side of the pinch roll in the direction in which the load on the plate width center position target value side of the work side and drive side of the pinch roll becomes relatively large. .. This reduction position operation will be described with reference to FIG. In FIG. 3, the plate width center position current value 10 is closer to the work side with respect to the line center 9 which is the center of the body length of the pinch roll. Here, for the sake of simplicity, it is assumed that the plate width center position target value at this time coincides with the line center 9, but the target value may be at any other position. In this case, the control target is to return the plate material 2 to the drive side. At that time, regarding the distribution of the load acting between the plate material and the pinch roll in the plate width direction, the plate width center position is based on the current value of the plate width center position 10. The reduction device is operated in a direction in which the load on the target value (line center 9) side, that is, the drive side is relatively larger than the load on the work side. Specifically, the reduction position on the working side is operated in the direction of opening the roll gap, and the reduction position on the drive side is operated in the direction of closing the roll gap. In the present disclosure, performing the reduction position operation by the same magnitude in the opposite directions on the work side and the drive side in this way is referred to as a reduction leveling operation, but by the above reduction leveling operation, the total load between the pinch roll and the plate material is increased. The load distribution changes without change, and the plate material 2 in FIG. 3 returns to the drive side as the pinch roll rotates.

On the other hand, when it is determined that the pinch rolls 1a and 1b do not give the plate material 2 a driving force in the transport direction, the current value of the plate width center position is determined with respect to the plate width direction distribution of the load acting between the plate material and the pinch roll. As a reference, the reduction device on the work side and the drive side of the pinch roll is operated in the direction in which the load on the plate width center position target value side is relatively small among the work side and the drive side of the pinch roll. In the example of FIG. 3, with respect to the plate width direction distribution of the load acting between the plate material and the pinch roll, the load on the plate width center position target value (line center 9) side, that is, the drive side is based on the plate width center position current value 10. , Operate the reduction device in a direction that is relatively small compared to the load on the work side. That is, by performing the reduction leveling operation in the direction of closing the roll gap on the working side and opening the roll gap on the driving side, the plate material 2 in FIG. 3 returns to the driving side as the pinch roll rotates. The case where the pinch roll does not give a driving force to the plate material is the case where the pinch roll gives a braking force to the plate material in the transport direction and the case where the pinch roll is rotating in a no-load state, that is, in an idle state. It refers to both cases.

Next, the details of the reduction leveling operation shown in S1 and S2 in the flowchart of FIG. 1 will be described by showing a more specific embodiment.

ここで、δは制御パラメータである。式（２）は板幅中心位置現在値ｚ_Ｃと板幅中心位置目標値ｚ_Ｔとの差で板位置誤差を算出し、これに制御パラメータδを掛けたものを板幅中心位置現在値ｚ_Ｃに加算して荷重作用点位置ｚ_{ｐ＿ｒｅｆ}を演算している。なお荷重作用点位置とは作業側荷重測定装置による荷重測定値Ｐ_Ｗと駆動側荷重測定装置による荷重測定値Ｐ_Ｄの二つの力を、荷重およびモーメントバランスのとれる一つの集中荷重Ｐに置き換えた場合の荷重作用点の位置を示すものである。そして荷重Ｐ_Ｗ，Ｐ_Ｄは板材からピンチロールに作用する荷重の反力であるから、当該荷重作用点位置は、板材とピンチロール間に作用する荷重分布を、荷重およびモーメントバランスの観点から集中荷重に置き換えた場合の荷重作用点位置とも一致する。 The plate width of the plate material 2 is b, and as shown in FIG. 4, the coordinates z with the line center 9 as the origin and the work side as positive along the pinch roll axis are defined, and the coordinates of the plate width center position current value 10 are z. _C , let z _T be the coordinates of the plate width center position target value. In the example of FIG. 4, it is assumed that z _T = 0, that is, the plate width center position target value coincides with the line center 9 for the sake of simplicity. At this time, the load action point position target value z _{p_ref} is derived, for example, by the following equation (2).

Here, δ is a control parameter. In equation (2), the plate position error is calculated from the difference between the plate width center position current value z _C and the plate width center position target value z _T , and this is multiplied by the control parameter δ to obtain the plate width center position current value z. The load action point position z _{p_ref} is calculated by adding to _C. The load action point position is the two forces of the load measurement value P _W by the work side load measurement device and the load measurement value P _D by the drive side load measurement device replaced with one concentrated load P that can balance the load and moment. It shows the position of the load action point in the case. Since the loads P _W and P _D are reaction forces of the load acting on the pinch roll from the plate material, the load action point position concentrates the load distribution acting between the plate material and the pinch roll from the viewpoint of load and moment balance. It also matches the position of the load acting point when replaced with a load.

First, when the pinch roll applies a driving force to the plate material in the transport direction, that is, a specific example of the reduction leveling operation of S1 in FIG. 1 will be described in detail. In this case, the control parameter δ in the equation (2) is set to a negative value. For example, when δ = −0.5, z _{p_ref} = 0.5 z _C can be obtained from the equation (2) in consideration of z _T = 0. In this way, when z _C > 0, that is, the current value of the plate width center position 10 is on the working side of the line center 9 as shown in FIG. 4, the load acting point position target value is larger than the plate width center position current value 10. Since it is located on the drive side, the plate width direction distribution 20 of the load acting between the plate material and the pinch roll is located at the plate width center position with reference to the plate width center position current value as shown in FIG. The load on the target value side, that is, the load on the drive side is relatively large as compared with the work side.

ここで、ζは板幅中心を原点とし作業側を正とする板幅方向座標、ｐ_Ｃは板幅中心位置の線荷重、ｐ_ｄｆは作業側板端の線荷重と駆動側板端の線荷重の差異である。式（３）の荷重分布による板幅中心まわりのモーメントＭを計算すると次のようになる。

したがって、板材～ピンチロール間の荷重分布を力およびモーメントに関して等価な集中荷重で置き換えたときの力の作用点の板幅中心からの距離ζ_Ｐは次式で計算される。

式（５）より、荷重作用点位置が板幅中心より駆動側にある場合、すなわちζ_Ｐ＜０の場合、ｐ_ｄｆ＜０となり、駆動側の板材～ピンチロール間荷重が作業側の板材～ピンチロール間荷重よりも大きくなることが理解できる。 The relationship between the above-mentioned load action point position and the load distribution between the plate material and the pinch roll is shown quantitatively. The load distribution between the plate material and the pinch roll is approximated by a linear distribution, and the load p per unit width at an arbitrary position is expressed by the following equation. Hereinafter, the load per unit width is referred to as a linear load.

Here, ζ is the plate width direction coordinate with the center of the plate width as the origin and the work side as positive, p _C is the line load at the center position of the plate width, and _pdf is the line load of the work side plate end and the line load of the drive side plate end. It is a difference. The moment M around the center of the plate width based on the load distribution in equation (3) is calculated as follows.

Therefore, the distance ζ _P from the center of the plate width of the point of action of the force when the load distribution between the plate material and the pinch roll is replaced with the concentrated load equivalent in terms of force and moment is calculated by the following equation.

From equation (5), when the load action point position is on the drive side from the center of the plate width, that is, when ζ _P <0, p _df <0, and the load between the plate material on the drive side and the pinch roll is the plate material on the work side. It can be understood that the load is larger than the load between pinch rolls.

Ｐ_{Ｗ＿ｒｅｆ}，Ｐ_{Ｄ＿ｒｅｆ}は、式（６）で計算されるＰ_{ｄｆ＿ｒｅｆ}とトータル荷重の目標値Ｐ_＿ｒｅｆ＝Ｐ_{Ｗ＿ｒｅｆ}＋Ｐ_{Ｄ＿ｒｅｆ}とから以下の式（７）および式（８）で計算される。

Now, after the load action point position target value z _{p_ref} is obtained as described above, an example of a specific procedure up to the reduction leveling operation will be continued. First, the load target values P _{W_ref} and P _{D_ref} on the working side and the driving side are derived. Specifically, based on the load action point position target value _{zp_ref} given by the equation (2), the left-right difference (working side-drive side) of the pinch roll load, that is, the target value P _{df_ref} of the differential load is pinched. It is calculated by the following formula derived from the moment balance of the roll.

P _{W_ref} and P _{D_ref} are calculated by the following equations (7) and (8) from P _{df_ref} calculated by the equation (6) and the target value P _{_ref} = P _{W_ref} + P _{D_ref} of the total load.

Next, based on the load target values P _{W_ref} and P _{D_ref} on the working side and the driving side, and the current load values on the working side and the driving side measured by the load measuring devices 4a and 4b, respectively, the working side and the driving side. The target value of the pinch roll reduction position control amount in each is derived. Assuming that the rigidity of the transport device considering the plate thickness, plate width, and elastic constant of the plate material 2 is K on one side, and the current values of the loads measured by the load measuring devices 4a and 4b are P _W and P _D , the pinch roll The working side target value _{Δg W_ref} and the driving side target value Δg _{D_ref} of the reduction position correction amount are given by the following equations (9) and (10).

式（１１）に基づいて導出した作業側ピンチロール圧下位置制御量の目標値Δｇ_Ｗに基づき作業側の圧下装置３ａを制御すると共に、式（１２）に基づいて導出した駆動側ピンチロール圧下位置制御量の目標値Δｇ_Ｄに基づき駆動側の圧下装置３ｂを操作して、作業側および駆動側それぞれのピンチロール圧下位置を制御する。このようにして圧下位置制御を行うことにより、制御の１サイクルが完結し、以後この一連の操作を繰り返すことで圧下レベリング操作による良好な蛇行制御が実現できる。 Here, _{Δg W_ref} and Δg _{D_ref} are defined as the direction in which the upper and lower pinch roll gaps are increased as positive. The target values _{Δg W_ref} and Δg _{D_ref} of these reduction position correction amounts are multiplied by the scale factor α to calculate the pinch roll reduction position control amounts Δg _W and Δg _D by the following equations (11) and (12).

The work-side pinch roll reduction position 3a is controlled based on the target value Δg _W of the work-side pinch roll reduction position control amount derived based on the equation (11), and the drive-side pinch roll reduction position derived based on the equation (12). The reduction device 3b on the drive side is operated based on the target value Δg _D of the control amount to control the pinch roll reduction positions on the working side and the drive side, respectively. By performing the reduction position control in this way, one cycle of control is completed, and by repeating this series of operations thereafter, good meandering control by the reduction leveling operation can be realized.

In the above specific example, the reduction position control may include a simultaneous reduction component in the same direction on the work side and the drive side, but this component controls the pinch roll load which is the sum of the work side load and the drive side load. Will be done. On the other hand, what is essentially important for the control method of the present disclosure is a reduction leveling component that is opposite in the working side and the driving side, and this component controls a differential load that is the difference between the working side load and the driving side load. Therefore, it is also effective to leave the load control by the simultaneous reduction component to other control functions and to specialize in the reduction leveling operation for the meandering control of the plate. Specifically, the differential load control amount ΔP _df is calculated from the difference between the differential load target value P _{df_ref} calculated by the equation (6) and the differential load current value P _df , and the reduction leveling control amount target for achieving this is calculated. The value _{Δg df_ref} is obtained in consideration of the plate thickness, the plate width, the elastic constant, and the deformation characteristics of the transport device, and the reduction leveling control amount Δg _df is obtained in consideration of the scale factor.

Next, with reference to FIG. 5, the procedure of S1 of FIG. 1 when the current value 10 of the plate width center position is on the drive side of the line center 9 will be described. In this case as well, the position of the load acting point is calculated by Eq. (2). Considering δ = −0.5 and z _T = 0, the position of the load acting point is z _{p_ref} = 0.5 z _C as in the case of FIG. However, in the case of FIG. 5, since z _C <0, the position of the load acting point is located on the working side of the current value of the plate width center position 10. Therefore, in the case of FIG. 5, contrary to FIG. 4, the load between the plate material and the pinch roll on the working side is larger than the load between the plate material and the pinch roll on the drive side.

Next, a specific example of the reduction leveling operation of S2 in FIG. 1 will be described with reference to FIG. The procedure of S2 is executed when it is determined that the pinch roll does not give the plate material a driving force in the transport direction. The procedure in this case is the same as the procedure of S1 described above except for one point. The only difference is that the control parameter δ in Eq. (2) is set to a positive value. For example, if δ = 0.5 and z _T = 0 in the equation (2), z _{p_ref} = 1.5 z _C can be obtained. As a result, when z _C > 0, that is, the current value of the plate width center position 10 is on the working side of the line center 9, as shown in FIG. 6, the load acting point position target value is further higher than the plate width center position current value 10. As shown in FIG. 6, the plate width direction distribution 20 of the load acting between the plate material and the pinch roll, which is located on the work side, is on the plate width center position target value side with reference to the plate width center position current value. The load between the plate material and the pinch roll on the drive side, that is, the load between the plate material and the pinch roll on the work side is relatively smaller than the load between the plate material and the pinch roll on the work side. The procedure after the load action point position target value is obtained as described above is exactly the same as the procedure of S1.

Next, with reference to FIG. 7, the procedure of S2 of FIG. 1 when the current value 10 of the plate width center position is on the drive side of the line center 9 will be described. In this case as well, the position of the load acting point is calculated by Eq. (2). As in the embodiment of FIG. 6, if δ = 0.5 and z _T = 0, z _{p_ref} = 1.5 z _C can be obtained. However, in the case of FIG. 7, since z _C <0, the position of the load acting point is located on the drive side of the current value of the plate width center position 10. Therefore, in the case of FIG. 7, contrary to FIG. 6, the load between the plate material and the pinch roll on the working side is smaller than the load between the plate material and the pinch roll on the drive side.

In one aspect of the control method of the transport device of the present disclosure, when calculating the target value of the load action point position of the load distribution acting between the plate material and the pinch roll, the plate width center position current value and the plate width center position target value are used. The difference is calculated as the plate position error, and in addition to the plate position error at the current time, the plate position error control amount is calculated in consideration of the history of the plate position error before the current time, and this plate position error control amount is used. Based on the calculation of the target value of the load action point position, the load target value of the work side and the drive side of the pinch roll is calculated based on the load action point position target value, and the load on the work side and the drive side of the pinch roll. Operate the reduction device on the work side and drive side of the pinch roll to achieve the target value. The reason for using the plate position error history in this way is to improve the control performance, and whether the plate position error is becoming smaller or larger, or a constantly significant plate position error. It is possible to carry out optimum control in consideration of the past tendency of the plate position error, such as whether or not the plate position error has occurred. Specific examples of this embodiment will be described in detail below.

ここでΔｚ_Ｃは現在時刻の板位置誤差（Δｚ_Ｃ＝ｚ_Ｃ－ｚ_Ｔ）、Δｚ_{Ｃ＿ｉｎｔ}（Ｔ_ｉｎｔ）はΔｚ_Ｃの積分値、Ｔ_ｉｎｔは積分時間、Δｚ_{Ｃ＿ｄｉｆ}（Ｔ_ｄｉｆ）はΔｚ_Ｃの微分値、Ｔ_ｄｉｆは微分時間、α_ｉｎｔは積分ゲイン、α_ｄｉｆは微分ゲインである。式（１３）で計算される板位置誤差制御量Δｚ_Ｃ＿ｍは、板位置誤差が大きくなりつつある場合、微分値が正の値となるので板位置誤差現在値に該微分値が加算され誤差を大きく評価する。また正値の定常的板位置誤差がある場合は積分値が正の値となるので板位置誤差現在値に該積分値が加算され誤差を大きく評価する。このような性質を有する板位置誤差制御量Δｚ_Ｃ＿ｍに基づいて荷重作用点位置を決めることで、誤差の履歴を考慮した適正な制御が可能となる。そして、ピンチロールが板材に搬送方向に向かう駆動力を与えている場合、式（２）においてδ＜０としたのと同様の考え方に基づき、例えば、板位置誤差制御量Δｚ_Ｃ＿ｍに正値の制御パラメータを掛けて板位置誤差制御量Δｚ_Ｃ＿ｍに比例する荷重作用点位置オフセット量を演算し、これを板幅中心位置現在値から減算して荷重作用点位置目標値を求める。逆に、ピンチロールが板材に搬送方向に向かう駆動力を与えていない場合は、式（２）においてδ＞０としたのと同様の考え方に基づき、板位置誤差制御量Δｚ_Ｃ＿ｍに正値の制御パラメータを掛けて板位置誤差制御量Δｚ_Ｃ＿ｍに比例する荷重作用点位置オフセット量を演算して、これを板幅中心位置現在値に加算して荷重作用点位置目標値を演算する。荷重作用点位置目標値が求められた後は、これまでの実施態様と同様に、荷重作用点位置目標値に基づき、ピンチロールの作業側および駆動側の荷重目標値を演算し、該ピンチロールの作業側および駆動側の荷重目標値を実現するようにピンチロールの作業側および駆動側の圧下装置を操作する。 After detecting the current value of the center position of the plate width, the plate position error is calculated by taking the difference from the target value of the center position of the plate width. In consideration, the plate position error control amount is calculated. To give a specific example, in order to quantify whether the plate width center position is approaching or moving away from the plate width center position target value together with the velocity information, a differential operation regarding the time of the plate position error history is performed. Consider. Further, the plate width center position has a steady deviation from the plate width center position target value, and if it is desired to correct this, an integral calculation regarding the time of the history of the plate position error is performed and considered. In this case, the plate position error control amount Δz _{C_m} is calculated by the following equation.

Here, Δz _C is the plate position error of the current time (Δz _C = z _C −z _T ), Δz _{C_int} ( _Tint ) is the integrated value of Δz _C , _{Tint is the integrated time, and Δz C_dif (} T _dif ) is Δz _C. , T _def is the differential time, α _int is the integral gain, and α _div is the differential gain. The plate position error control amount Δz _{C_m} calculated by the equation (13) has a positive differential value when the plate position error is increasing, so the differential value is added to the current plate position error value to obtain an error. I highly appreciate it. If there is a constant plate position error of a positive value, the integrated value becomes a positive value, so the integrated value is added to the current plate position error value to greatly evaluate the error. By determining the position of the load acting point based on the plate position error control amount Δz _{C_m} having such a property, appropriate control can be performed in consideration of the error history. Then, when the pinch roll gives a driving force to the plate material in the transport direction, for example, a positive value is set for the plate position error control amount Δz _{C_m} based on the same concept as when δ <0 in the equation (2). The load action point position offset amount proportional to the plate position error control amount Δz _{C_m} is calculated by multiplying the control parameters, and this is subtracted from the current value of the plate width center position to obtain the load action point position target value. On the contrary, when the pinch roll does not give the plate material a driving force in the transport direction, the plate position error control amount Δz _{C_m} has a positive value based on the same concept as in the equation (2) where δ> 0. Multiply the control parameter to calculate the load action point position offset amount proportional to the plate position error control amount Δz _{C_m} , and add this to the plate width center position current value to calculate the load action point position target value. After the load action point position target value is obtained, the load target values on the work side and the drive side of the pinch roll are calculated based on the load action point position target value as in the previous embodiments, and the pinch roll is calculated. Operate the work-side and drive-side reduction devices of the pinch roll to achieve the work-side and drive-side load targets.

式（１４）をｚ_Ｃについて解くと板幅中心位置現在値ｚ_Ｃが次式で得られる。

式（１５）によれば作業側および駆動側の荷重測定値より板材の板幅中心位置を求めることができる。ただし、式（１５）は板材～ピンチロール間荷重分布が板幅方向に左右対称となっていることを前提とした計算式であり、左右非対称となっている場合は、その非対称性が荷重測定値の左右差Ｐ_Ｗ－Ｐ_Ｄにおよぼす影響を除外した上で板幅中心位置ｚ_Ｃを計算しなければならない。例えば、板材～ピンチロール間荷重分布が直線分布であり、作業側の線荷重と駆動側の線荷重との差異すなわち荷重分布左右差がｐ_ｄｆとなっている場合、この荷重分布左右差がＰ_Ｗ－Ｐ_Ｄにおよぼす影響は、板幅をｂとするとき、ｐ_ｄｆ・ｂ^２／（６ａ）で与えられるから式（１５）の代わりに次式を用いて板幅中心位置ｚ_Ｃを計算する。

In one aspect of the control method of the transport device of the present disclosure, the center position of the plate width of the plate material is present from the load measurement values on the work side and the drive side measured by the load measurement devices installed at both ends in the axial direction of the pinch roll. The value is detected, and the reduction leveling operation is performed based on the current value at the center position of the plate width. Hereinafter, an example of a method of calculating the current value of the plate width center position from the measured load value will be specifically described with reference to FIG. In FIG. 8, the load P acting on the pinch roll from the plate material is represented by a concentrated load acting on the center of the plate width of the plate material. The center of the plate width of the plate material is located at z _C from the line center 9, and the load measurement value measured by the load measurement device on the work side of both ends in the axial direction of the pinch roll is P _W , and the load measurement device on the drive side. Let _PD be the measured load value. When the distance between the work-side load measuring device and the drive-side load measuring device is a, the following relational expression holds between these loads from the equilibrium condition of the pinch roll moment.

When equation (14) is solved for z _C , the plate width center position current value z _C is obtained by the following equation.

According to the equation (15), the plate width center position of the plate material can be obtained from the load measurement values on the working side and the driving side. However, the formula (15) is a calculation formula on the premise that the load distribution between the plate material and the pinch roll is bilaterally symmetric in the plate width direction, and if it is bilaterally asymmetric, the asymmetry is the load measurement. The plate width center position z _C must be calculated after excluding the influence on the left-right difference _PWD - _PD of the value. For example, when the load distribution between the plate material and the pinch roll is a linear distribution, and the difference between the line load on the work side and the line load on the drive side, that is, the left-right difference in the load distribution is _pdf , this difference between the left and right load distributions is P. Since the influence on _W -PD is given by _pdf · b ² / (6a) when the board width is b, the board width center position z _C is calculated using the following formula instead of the formula (15 ₎ . do.

ここで、ｍは板材を単位厚さだけピンチロール圧下したときの線荷重増分を表す板材の弾性定数であり、Ｄは、第二種平行剛性と呼ばれ、荷重分布左右差が単位量だけ変化したときにピンチロールを含めた搬送装置の弾性変形により生ずる板厚左右差を表わすパラメータであり、何れも設備仕様および板材の寸法と弾性係数が与えられれば公知の方法により予め計算できるものである。 Here, the load distribution laterality _{pdf is calculated by assuming zero at the default reduction position and considering the elastic deformation of the pinch roll and the plate material for the subsequent reduction leveling operation Δg df .} The amount of change in the load distribution between the plate material and the pinch roll, _Δpdf , can be calculated by, for example, the following equation and integrated over time.

Here, m is the elastic constant of the plate material representing the increase in the linear load when the plate material is pinch-rolled by the unit thickness, and D is called the type 2 parallel rigidity, and the laterality of the load distribution changes by the unit amount. It is a parameter showing the difference between the left and right plate thickness caused by the elastic deformation of the transport device including the pinch roll, and both can be calculated in advance by a known method if the equipment specifications, the dimensions of the plate material and the elastic modulus are given. ..

In one aspect of the control method of the transport device of the present disclosure, the torque acting on the spindle portion that transmits the drive torque from the drive device to the pinch roll is measured, and the pinch roll applies a driving force to the plate material based on the measured value. Whether or not it is given is determined, and a reduction leveling operation is performed based on the determination result. In the schematic diagram of the transport device shown in FIG. 2, a drive device including a motor 6 and a pinion stand 8 that distributes the driving force thereof up and down, and pinch rolls 1a and 1b are coupled by spindles 7a and 7b. In this configuration, all the driving force of the motor 6 is transmitted to the pinch rolls 1a and 1b via the spindles 7a and 7b. Therefore, by measuring the torque acting on the spindles 7a and 7b, the transport direction from the pinch roll to the plate material is reached. It is possible to determine whether or not a driving force is applied toward.

In one aspect of the control method of the transport device of the present disclosure, the tension acting on the plate material is measured on both the entrance side and the exit side of the transfer device, and based on the difference between the input side tension measurement value and the exit side tension measurement value. It is determined whether or not the pinch roll applies the driving force to the plate material, and the reduction leveling operation is performed based on the determination result. FIG. 9 schematically shows a plate material transport line in which an inlet side tension measuring device 12 and an outlet side tension measuring device 13 are provided on the entry side and the exit side of the plate material transfer device 100, respectively. As shown in FIG. 9, in the thin plate transport line, a method of calculating the tension of the plate material by measuring the vertical load applied to the tension rolls 14-1 and 14-2 is often adopted, but other methods are used. The control method of the present disclosure can be similarly implemented with any type of tension measuring device. When the input-side tension measurement value measured by these entry-side and exit-side tension measuring devices is larger than the exit-side tension measurement value, it is determined that the pinch roll applies the driving force corresponding to the difference to the plate. can.

Further, in one aspect of the control method of the transport device of the present disclosure, the force in the transport direction acting on the pinch roll from the plate material is measured in the transport device, and the pinch roll exerts a driving force on the plate material based on the measured value of the transport direction force. It is determined whether or not it is given, and the reduction leveling operation is performed based on the determination result. FIG. 10 shows a structure of a transport device as an example of this embodiment. When the pinch rolls 1a and 1b apply a driving force toward the transfer direction 11 to the plate material 2, the pinch rolls 1a and 1b receive a force in the direction opposite to the transfer direction as a reaction. The reaction force (reaction force) applied to the pinch rolls 1a and 1b is received by the pinch roll housing 16 via the pinch roll chock 15a and 15b at both ends in the axial direction of the pinch roll. Therefore, in the embodiment shown in FIG. 10, transport direction force measuring devices 17a and 17b are arranged between the pinch roll chock 15a and the housing 16, and the transport direction force acting between the pinch roll chock 15a and the housing 16 is measured to measure the transport direction force. The transport direction force measuring devices 17c and 17d are arranged between the 15b and the housing 16 to measure the transport direction force acting between the pinch roll chock 15b and the housing 16. By calculating the resultant force of the transport direction forces measured on the working side and the drive side in this way, the transport direction force acting on the pinch rolls 1a and 1b can be detected from the plate material 2, and the pinch roll is based on this. It is determined whether or not the driving force is applied to.

FIG. 11 shows another embodiment for measuring the transport direction force acting on the pinch roll. In this example, the pinch roll housing 16 is rotatably coupled to the frame fixed to the foundation via the pivot 19 in the transport direction, and the housing is connected to the transport direction force measuring device 17a near the pass line of the plate material 2. , 17b is held by the frame so as to suppress rotation about the pivot 19. With such a configuration, the transport direction force acting on the pinch roll from the plate material can be measured by the transport direction force measuring devices 17a and 17b. By calculating the resultant force of the transport direction forces measured on the working side and the drive side in this way, the transport direction force acting on the pinch rolls 1a and 1b can be detected from the plate material 2, and the pinch roll is based on this. It is determined whether or not the driving force is applied to.

[Action and effect of this embodiment]
Conventionally, in a plate material manufacturing / processing line, in order to prevent out-of-plane deformation while applying tension to the plate material and smoothly transport the plate material, a device for sandwiching and transporting the plate material with a pair of upper and lower pinch rolls is used. In such a device, the center of the plate width deviates from the center of the plate manufacturing / processing line, and in the worst case, a part of the plate may be squeezed out from the pinch roll body and the plate may be damaged. .. In order to avoid such an event, for example, in Patent Document 1, in addition to controlling the profile and bending force of the pinch roll, the load on the working side and the driving side is measured, and the reduction position on the side with a large load is relative. Disclosed is a device that performs reduction leveling control in the direction of tightening. The concept of this rolling leveling control is the same as the concept of meandering control of the rolling mill. Since the load on the side where the plate material meanders increases, this is detected and the rolling position on the side where the load increases is relatively tightened. Rolling down leveling control is performed in the direction. Here, as a specific example, consider the case where the plate material is closer to the work side. In the case of rolling, the reduction leveling operation that tightens the work side increases the reduction rate and elongation rate of the work side, and as a result, the reverse rate of the work side increases, the input side plate material is left over, and the upstream side plate material is driven. It will lean to the side. By rolling the plate material inclined in this way, the plate material returns to the drive side. In the case of a transfer device using pinch roll, the plate material does not plastically deform like rolling, but the plate material elastically stretches in the transfer direction due to the pinch roll reduction, so qualitatively the same meandering control effect as rolling is expected. It has been thought that it can be done.

Based on the above concept, the present inventors conducted an experiment using the same transfer device and reduction leveling control method as those disclosed in Patent Document 1. As a result, although there were some conditions under which the meandering could be controlled well, there were cases where the meandering became more intense due to the reduction leveling control. Therefore, as a result of investigating the relationship between the meandering characteristics of pinch rolls and the experimental conditions in detail, the following became clear.

(A) If the tension applied to the plate material on the entrance side of the pinch roll and the tension applied to the plate material on the exit side are equal, the plate material is operated by the reduction leveling operation in the direction of tightening the reduction position on the side where the plate material meanders. The meandering of the plate was suppressed, and a stable through plate could be realized.

(B) When the inlet tension of the pinch roll is larger than the outlet tension, the meandering of the plate material tends to diverge due to the reduction leveling operation in the direction of tightening the reduction position on the side where the plate material meanders, and the plate position can be stabilized. could not. On the contrary, the meandering of the plate material was suppressed by the reduction leveling operation in the direction of opening the reduction position on the side where the plate material meandered, and a stable plate passing could be realized.

(C) When the outward tension of the pinch roll is larger than the inlet tension, the meandering of the plate material is suppressed by the reduction leveling operation in the direction of tightening the reduction position on the side where the plate material meanders, and stable plate passage can be realized. ..

As described above, when the inlet tension is larger than the outlet tension, the conventional reduction leveling control, that is, the reduction leveling control that relatively tightens the reduction position on the meandering side of the plate material, does not work, and conversely, the reduction leveling control does not work. It became clear that it promoted meandering. In this case, it has been clarified that the reduction leveling control in the direction opposite to that of the prior art, that is, the reduction leveling control that relatively opens the reduction position on the side where the plate material meanders is effective.

In order to examine whether the experimental results are universal, the mechanism of the above phenomenon was considered.

Conventionally, the elastic elongation of the plate material has been considered as the basic mechanism of meandering control by the reduction leveling operation of the pinch roll. However, this mechanism alone cannot explain the reversal phenomenon of meandering characteristics due to the above-mentioned change in the tension balance between the inlet and outlet sides. Therefore, as a result of diligent studies on the mechanism of this phenomenon, the present inventors have come up with a new pinchroll meandering mechanism through the following thinking process.

In the conventional meandering mechanism by elastic elongation of a plate material, only the pinch force acting on the plate material from the pinch roll, that is, the rolling force in the plate thickness direction has been considered, but this idea alone reverses the meandering characteristics due to the balance of tension on the input / exit side. The phenomenon cannot be explained. Therefore, the effect of the on / out side tension balance on the force acting on the plate material from the pinch roll was considered. FIG. 12 schematically shows the force in the transport direction applied to the plate material in the vicinity of the pinch roll. FIG. 12 shows a case where the entry side tension is larger than the exit side tension. In this case, depending on the equilibrium condition of the transfer direction force acting on the plate material, the transfer from the pinch roll to the plate material as shown by the arrows 23a and 23b is shown. The driving force in the direction must be acting. In other words, since the driving forces 23a and 23b act on the plate material from the pinch roll, the entry side tension becomes larger than the exit side tension.

FIG. 13 shows a plan view of FIG. 12 as viewed from above. In this example, it is assumed that the load distribution 20 between the plate material and the pinch roll is large on the working side. In this case, since the pinch roll presses the work side of the plate material more strongly than the drive side, the driving force acting on the plate material from the pinch roll is such that the working side driving force 23a-1 becomes larger than the driving side driving force 23b-2. Conceivable. As a result, the moment 25 acts on the plate material from the pinch roll, the traveling speed of the plate material becomes slightly faster on the working side than on the drive side, and the plate material tilts as shown in FIG. In this way, the plate material tilted toward the work side upstream of the entry side is sent in the transport direction by the pinch roll, so that the plate material meanders to the work side. That is, it can be explained that the reduction leveling operation increases the reduction and meanders to the side where the load increases. The driving force acting on the plate material from the pinch roll is actually a force distributed over the contact area between the plate material and the pinch roll, but here, for the sake of simplicity, the arrows on the work side and the drive side are representative. I showed it.

Contrary to FIG. 12, FIG. 14 shows the force in the transport direction applied to the plate material when the exit side tension is larger than the entry side tension. In this case, depending on the equilibrium condition of the transport direction force acting on the plate material, the braking force in the direction opposite to the transport direction as shown by the arrows 24a and 24b must be applied from the pinch roll to the plate material. In other words, since the braking forces 24a and 24b act on the plate material from the pinch roll, the outward tension becomes larger than the entry tension.

FIG. 15 shows a plan view of FIG. 14 from above, and in this example, it is assumed that the load distribution 20 between the plate material and the pinch roll is large on the working side. In this case, since the pinch roll presses the work side of the plate material more strongly than the drive side, the braking force acting on the plate material from the pinch roll is such that the work side braking force 24a-1 becomes larger than the drive side braking force 24b-2. Conceivable. As a result, the moment 25 acts on the plate material from the pinch roll, the traveling speed of the plate material is slightly slower on the working side than on the drive side, and the plate material is tilted as shown in FIG. In this way, the plate material tilted toward the drive side upstream of the entry side is sent in the transport direction by the pinch roll, so that the plate material meanders to the drive side. That is, the reduction leveling operation causes the reduction to be strong and meanders to the side opposite to the side where the load is large. This meandering characteristic is qualitatively the same as the mechanism considering the elastic elongation of the plate material.

From the above consideration, it was found that it is crucial for meandering control to grasp whether the transport direction force acting on the plate material from the pinch roll is the driving force or the braking force. Furthermore, the above experimental facts (B) and (C) can be explained by considering the change in the left-right balance of the driving force or the braking force due to the reduction leveling operation, and these phenomena are universal. It could be confirmed.

Furthermore, the reduction leveling operation is effective as a means for changing the left-right balance of the distribution of the load acting between the plate material and the pinch roll in the plate width direction, and the plate width direction of the load acting between the plate material and the pinch roll. Through the change in distribution, the left-right balance of the driving force or braking force acting on the plate material from the pinch roll can be changed, thereby changing the inclination of the plate material on the plan view when it enters the pinch roll. It was found that the meandering control of the plate material was possible.

The present invention has been made through the above-mentioned discoveries and considerations. Using a plate material transporting device that narrowly presses and transports the plate material with a pinch roll, the current value of the plate width center position is brought closer to the plate width center position target value. It discloses the technology that can perform the control aiming at the target in all situations. In particular, a step of determining whether or not the pinch roll is applying a driving force in the transport direction to the plate material is indispensable, and if it is determined that the pinch roll is applying the driving force, the load acting between the plate material and the pinch roll is determined. Regarding the distribution in the plate width direction, operate the reduction device on the work side and drive side of the pinch roll in the direction to make the load on the plate width center position target value side relatively larger than the other with respect to the plate width center position current value. On the contrary, when it is determined that the pinch roll does not give a driving force to the plate material in the transport direction, the current value of the plate width center position is used as a reference for the distribution of the load acting between the plate material and the pinch roll in the plate width direction. The reduction device on the working side and the driving side of the pinch roll is operated in a direction in which the load on the plate width center position target value side is relatively smaller than that on the other side.

By carrying out such control, meandering control of the transport device corresponding to all states can be realized.

[Example of control device]
As shown in FIG. 16, the transport device 100 may further include a control device 200 for automatically executing the above-mentioned control method. The control device 200 has a tension information acquisition unit 211, a rotation control unit 212, a drive state determination unit 213, and a load action point target position setting unit 214 as a functional configuration (hereinafter referred to as “functional module”). It has a reduction position control unit 216 and a position information acquisition unit 217.

The tension information acquisition unit 211 acquires information on the difference in tension of the plate material 2 on the entry side and the exit side of the pinch rolls 1a and 1b as an example of the information on the transport state of the plate material 2.

The rotation control unit 212 controls the rotation drive device 31 so as to adjust the rotation torque of the pinch rolls 1a and 1b according to the transport state of the plate material 2. The rotational torque of the pinch rolls 1a and 1b is the rotational torque applied to the pinch rolls 1a and 1b by the rotational drive device 31. For example, the rotation control unit 212 sets the target value of the rotational torque of the pinch rolls 1a and 1b so that the information of the tension difference on the entry / exit side acquired by the tension information acquisition unit 211 approaches the preset target value, and the target value. The electric motor 6 is controlled so that the rotational torque of the pinch rolls 1a and 1b approaches the value.

The position information acquisition unit 217 acquires the detection result of the edge position of the plate material 2 (the plate end position) from the plate end position measuring device 5, and derives the current position of the plate width center based on the detection result. For example, the position information acquisition unit 217 calculates the current position at the center of the plate width by the above equation (1).

The drive state determination unit 213 determines whether or not the pinch rolls 1a and 1b give the plate material 2 a driving force in the transport direction.

When the load action point target position setting unit 214 and the reduction position control unit 216 determine that the pinch rolls 1a and 1b are applying a driving force toward the plate material 2 in the transport direction, between the plate material 2 and the pinch rolls 1a and 1b. With respect to the distribution of the load acting on the plate width in the plate width direction, the load on the plate width center target position 10A (for example, line center 9) side of the work side and the drive side of the pinch rolls 1a and 1b with respect to the plate width center current position 10 as a reference. The reduction devices 3a and 3b on the working side and the driving side of the pinch rolls 1a and 1b are operated in the direction in which the amount becomes relatively large. On the other hand, when it is determined that the pinch rolls 1a and 1b do not give the plate material 2 a driving force in the transport direction, the plate width center current position 10 is set with respect to the plate width direction distribution of the load acting between the plate material and the pinch roll. As a reference, of the work side and the drive side of the pinch rolls 1a and 1b, the reduction device 3a on the work side and the drive side of the pinch rolls 1a and 1b in the direction in which the load on the plate width center target position 10A side becomes relatively small. Operate 3b.

The load action point target position setting unit 214 sets the target position of the load action point position controlled by the reduction devices 3a and 3b (hereinafter, referred to as “load action point target position”). The load action point position is the action point position of the distributed load acting on the plate 2 from the pinch rolls 1a and 1b and the concentrated load equivalent from the viewpoint of load and moment balance. When the pinch rolls 1a and 1b apply a driving force to the plate material 2, the load acting point target position setting unit 214 corresponds to the magnitude of the error of the plate width center current position 10 with respect to the plate width center target position 10A. The position offset from the current position of the center of the plate width 10 to the target position of the center of the plate width 10A by the amount of offset is set as the target position of the load acting point, and when the pinch rolls 1a and 1b do not apply the driving force to the plate material 2, the above The position offset to the opposite side of the plate width center target position 10A from the plate width center current position 10 by the offset amount is set as the load action point target position. For example, the load acting point target position setting unit 214 uses the above equation (2), and when the pinch rolls 1a and 1b apply the driving force to the plate material 2, the control parameter δ of the equation (2) is set to a negative value. When the pinch rolls 1a and 1b do not apply the driving force to the plate material 2, the control parameter δ in the equation (2) is set to a positive value to calculate the target position of the load acting point.

The load acting point target position setting unit 214 calculates the difference between the plate width center current position 10 and the plate width center target position 10A as a plate position error, and in addition to the plate position error at the current time, before the current time. The plate position error control amount may be calculated in consideration of the history of the plate position error, and the load action point target position may be calculated based on this plate position error control amount. For example, the load acting point target position setting unit 214 calculates the plate position error control amount Δz _{C_m} by the above equation (13). Then, when the pinch rolls 1a and 1b give the plate material 2 a driving force in the transport direction, the load acting point target position setting unit 214 is based on the same idea as in the equation (2) where δ <0. For example, the plate position error control amount Δz _{C_m} is multiplied by a positive control parameter to calculate an offset amount proportional to the plate position error control amount Δz _{C_m} , and this is subtracted from the plate width center current position 10 to load the load action point. Find the target position. On the contrary, when the pinch rolls 1a and 1b do not give the plate material 2 the driving force in the transport direction, the load acting point target position setting unit 214 has the same idea as that in the equation (2), δ> 0. Based on, the plate position error control amount Δz _{C_m} is multiplied by a positive control parameter to calculate an offset amount proportional to the plate position error control amount Δz _{C_m} , and this is added to the plate width center current position 10 to act as a load. Calculate the point target position.

The reduction position control unit 216 controls the reduction devices 3a and 3b so that the load action point position is brought closer to the load action point target position. For example, the reduction position control unit 216 first derives the load target values P _{W_ref} and P _{D_ref} on the working side and the driving side, respectively, based on the above equations (6) to (8). Next, the reduction position control unit 216 sets the load target values P _{W_ref} and P _{D_ref} on the working side and the driving side, respectively, and the current load values on the working side and the driving side measured by the load measuring devices 4a and 4b, respectively. Based on this, the target value of the pinch roll reduction position control amount on the working side and the driving side is derived. For example, the reduction position control unit 216 calculates the pinch roll reduction position control amounts Δg _W and Δg _D using the above equations (9) to (12). The reduction position control unit 216 controls the reduction device 3a on the work side based on the target value Δg _W of the work side pinch roll reduction position control amount, and the drive side based on the target value Δg _D of the drive side pinch roll reduction position control amount. By operating the reduction device 3b of the above, the pinch roll reduction positions of the work side and the drive side are controlled.

The configuration of the control device 200 has been illustrated above, but this configuration is merely an example and can be changed as appropriate. For example, the position information acquisition unit 217 is the current position at the center of the plate width 10 from the load measurement values on the work side and the drive side measured by the load measuring devices 4a and 4b provided at both ends of the pinch rolls 1a and 1b in the axial direction. May be detected. For example, the position information acquisition unit 217 may obtain the coordinates _zC of the current position 10 at the center of the plate width using the above equations (14) and (15). When the load distribution between the plate material and the pinch roll is asymmetrical, the coordinates z _C may be calculated using the above equation (16).

The drive state determination unit 213 may acquire the detection result by the torque measuring device for detecting the torque acting on the rotation transmission shaft from the rotation drive device 31 to the pinch rolls 1a and 1b as information on the rotation torque. For example, the transport device 100 may include a torque measuring device 32 for detecting the torque acting on the spindles 7a and 7b, and the drive state determination unit 213 acquires the detection result of the torque measuring device 32 as information on the rotational torque. You may. The spindles 7a and 7b connect the pinion stand 8 that distributes the driving force of the electric motor 6 up and down and the pinch rolls 1a and 1b. In this configuration, all the driving force of the motor 6 is transmitted to the pinch rolls 1a and 1b via the spindles 7a and 7b. Therefore, by measuring the torque acting on the spindles 7a and 7b, the plate material is transmitted from the pinch rolls 1a and 1b. It is possible to determine whether or not a driving force in the transport direction is applied to 2.

The drive state determination unit 213 acquires information on the force in the transport direction acting between the pinch rolls 1a and 1b and the plate material 2, and based on the information, the pinch rolls 1a and 1b give or do not give the drive force. May be determined. For example, the drive state determination unit 213 acquires the detection results of the entry side tension measuring device 12 and the exit side tension measuring device 13 of FIG. 9 as information regarding the force acting in the transport direction between the pinch rolls 1a and 1b and the plate material 2. Then, it may be determined whether or not the pinch rolls 1a and 1b are applying the driving force based on the difference between the detection result by the entry side tension measuring device 12 and the detection result by the exit side tension measuring device 13.

The drive state determination unit 213 measures the force in the transport direction that acts on the pinch rolls 1a, 1b from the plate material 2 in the transport device 100, as in the transport direction force measuring devices 17a, 17b, 17c, 17d and the like. The detection result by the apparatus 17 may be acquired.

FIG. 17 is a schematic diagram illustrating the hardware configuration of the control device 200. As shown in FIG. 12, the control device 200 includes a circuit 220. The circuit 220 includes at least one processor 221, a memory 222, a storage 223, and an input / output port 224. The storage 223 is a non-volatile storage medium (eg, hard disk or flash memory) that can be read by a computer. The storage 223 stores a program for configuring each functional module of the control device 200. The memory 222 temporarily stores the program loaded from the storage 223, the calculation result by the processor 221 and the like. The processor 221 constitutes each functional module of the control device 200 by executing the above program in cooperation with the memory 222. The input / output port 224 inputs / outputs an electric signal between the rotation drive device 31, the load measuring device 4a, 4b, the plate end position measuring device 5, and the reduction device 3a, 3b in response to a command from the processor 221. conduct.

[Example of control procedure by control device]
Subsequently, as an example of the control method of the plate material transport device, the control procedure executed by the control device 200 will be illustrated. As shown in FIG. 18, the control device 200 first executes steps S11 and S12. In step S11, the position information acquisition unit 217 detects the plate width center current position 10 at the width direction center of the plate material 2. In step S12, the drive state determination unit 213 confirms whether or not the pinch rolls 1a and 1b apply the driving force toward the plate material 2 in the transport direction.

When it is determined in step S12 that the pinch rolls 1a and 1b are applying the driving force to the plate material 2, the control device 200 executes step S13. In step S13, the load acting point target position setting unit 214 increases the offset amount according to the magnitude of the error of the plate width center current position 10 with respect to the plate width center target position 10A from the plate width center current position 10 to the plate width center target. The position offset to the position 10A side is set as the target position of the load acting point.

If it is determined in step S12 that the pinch rolls 1a and 1b do not apply the driving force to the plate material 2, the control device 200 executes step S14. In step S14, the load acting point target position setting unit 214 increases the offset amount according to the magnitude of the error of the plate width center current position 10 with respect to the plate width center target position 10A from the plate width center current position 10 to the plate width center target. The position offset to the opposite side of the position 10A is set as the target position of the load acting point.

Next, the control device 200 executes steps S15, S16, and S17. In step S15, the reduction position control unit 216 derives the target value of the load measured by the load measuring devices 4a and 4b according to the load action point target position set in step S13 or step S14. In step S16, the reduction position control unit 216 derives the target value of the reduction position correction amount of the reduction devices 3a and 3b according to the load target value derived in step S15. In step S17, the reduction position control unit 216 controls the reduction devices 3a and 3b according to the target value of the reduction position correction amount derived in step S16. This completes the load control procedure for one cycle. After that, the control device 200 repeats this series of operations in a predetermined control cycle. As a result, good meandering control by the reduction leveling operation is continuously executed.

1a, 1b ... pinch roll, 2 ... plate material, 3a, 3b ... reduction device, 4a, 4b ... load measuring device, 5 ... plate end position measuring device, 6 ... electric motor, 7a, 7b ... spindle, 8 ... pinion stand , 9 ... Line center, 10 ... Plate width center position current value, 11 ... Plate material transport direction, 12 ... Enter side tension measuring device, 13 ... Outer side tension measuring device, 14a, 14b ... Tension roll, 15a, 15b ... Pinch Roll chock (bearing box), 16 ... pinch roll housing, 17a, 17b, 17c, 17d ... transport direction force measuring device, 18 ... frame, 19 ... pivot, 20 ... plate material-pinch roll load distribution, 21 ... entry side tension, 22 ... Outward tension, 23a, 23b, 23a-1, 23a-2 ... Driving force acting on the plate material from the pinch roll, 24a, 24b, 24a-1, 24a-2 ... Braking force acting on the plate material from the pinch roll, 25 ... Moment acting on the plate material from the pinch roll, 100 ... Plate material transfer device.

Claims (11)

A pair of upper and lower pinch rolls, a drive device for driving the pinch roll, a reduction device for each of at least one of the upper and lower pinch rolls in the axial direction, and at least one of the upper and lower pinch rolls in the axial direction. It is a control method of a plate material transporting device that has a load measuring device and narrowly presses and transports the plate material with the pair of upper and lower pinch rolls.
The pinch roll is conveyed to the plate material with the goal of detecting the plate width center position current value of the plate material pinched by the pinch roll and bringing the plate width center position current value closer to the plate width center position target value. When a driving force in the direction is applied, the load on the plate width center position target value side with respect to the plate width direction distribution of the load acting between the plate material and the pinch roll with respect to the plate width center position current value. The reduction device on the working side and the driving side of the pinch roll is operated in a direction in which the pinch roll is relatively larger than the other. Regarding the distribution of the load acting between the plate material and the pinch roll in the plate width direction, the load on the plate width center position target value side is relatively smaller than the other with respect to the plate width center position current value. A method for controlling a plate material conveying device, which comprises operating and operating a reduction device on a working side and a driving side of the pinch roll. When the pinch roll gives the plate material a driving force in the transport direction, the load distribution acting between the plate material and the pinch roll is based on the difference between the current value of the plate width center position and the plate width center position target value. The target value of the load action point position is calculated so as to be on the side of the plate width center position target value with the plate width center position current value as a reference, as compared with the load action point position current value, and the load action point position target. Based on the value, the load target values on the work side and the drive side of the pinch roll are calculated, and the reduction device on the work side and the drive side of the pinch roll so as to realize the load target values on the work side and the drive side of the pinch roll. On the contrary, when the pinch roll does not give a driving force to the plate material in the transport direction, the plate material and the pinch are based on the difference between the current value of the plate width center position and the plate width center position target value. The target value of the load action point position of the load distribution acting between the rolls should be on the opposite side of the plate width center position target value with respect to the plate width center position current value as compared with the load action point position current value. Based on the load action point position target value, the load target value on the work side and the drive side of the pinch roll is calculated, and the pinch is realized so as to realize the load target value on the work side and the drive side of the pinch roll. The method for controlling a plate material transporting device according to claim 1, wherein the rolling device is operated on the working side and the driving side of the roll. A pair of upper and lower pinch rolls, a drive device for driving the pinch roll, a reduction device for each of at least one of the upper and lower pinch rolls in the axial direction, and at least one of the upper and lower pinch rolls in the axial direction. It is a control method of a plate material transporting device that has a pinch roll load measuring device and narrowly presses and transports the plate material with the pair of upper and lower pinch rolls. The value is detected, the target is to bring the current value of the center position of the plate width closer to the target value of the center position of the plate width, and the difference between the current value of the center position of the plate width and the target value of the center position of the plate width is calculated as the plate position error. Then, in addition to the plate position error at the current time, the plate position error control amount is calculated in consideration of the history of the plate position error before the current time, and the load action point is set as a value proportional to the plate position error control amount. When the position offset amount is calculated and the pinch roll gives the plate material a driving force in the transport direction, the load action point position offset amount is subtracted from the current value of the plate width center position to pinch the plate material. The target value of the load action point position of the load distribution acting between the rolls is calculated, and the load target values of the work side and the drive side of the pinch roll are calculated based on the load action point position target value, and the work of the pinch roll is performed. The reduction device on the working side and the driving side of the pinch roll is operated so as to realize the load target values on the side and the driving side, and conversely, when the pinch roll does not give the driving force to the plate material in the transport direction. , The load action point position offset amount is added to the current value of the plate width center position, the target value of the load action point position of the load distribution acting between the plate material and the pinch roll is calculated, and the load action point position target value is calculated. Based on, the load target values on the work side and the drive side of the pinch roll are calculated, and the reduction device on the work side and the drive side of the pinch roll is set so as to realize the load target values on the work side and the drive side of the pinch roll. A control method for a plate material transfer device, which is characterized by operation and operation. A measuring device for measuring the plate end position of the plate material is provided in the vicinity of the transport device, and the current value of the plate width center position of the plate material is detected based on the plate end position measurement value measured by the plate end position measuring device. The method for controlling a transport device according to patent claims 1, 2 or 3. Claim 1 characterized by detecting the current value of the plate width center position of the plate material from the load measurement values on the work side and the drive side measured by the load measuring devices installed at both ends of the pinch roll in the axial direction. 2 or 3 transfer device control method. A patent characterized by extracting a control target value of a current of an electric motor for driving a pinch roll or measuring an actual value thereof, and determining whether or not the pinch roll gives a driving force to a plate material. The method for controlling the transport device according to claim 1, 2 or 3. The torque acting on the spindle portion that transmits the drive torque from the drive device to the pinch roll is measured, and based on the measured value, it is determined whether or not the pinch roll applies the driving force to the plate material. The method for controlling a transport device according to claim 1, 2 or 3, wherein the transfer device is characterized in that. The tension acting on the plate material is measured on both the entrance side and the exit side of the transport device, and based on the difference between the input side tension measurement value and the exit side tension measurement value, is the pinch roll giving a driving force to the plate material? The method for controlling the transport device according to claim 1, 2 or 3, wherein it is determined whether or not the transfer device is given. The force in the transport direction acting on the pinch roll from the plate material is measured in the transport device, and it is determined whether or not the pinch roll exerts a driving force on the plate material based on the measured value of the transport direction force. The method for controlling a transfer device according to claim 1, 2 or 3, characterized in that. A pair of upper and lower pinch rolls,
The drive device that drives the pinch roll and
At least one of the upper and lower pinch rolls has a reduction device at both ends in the axial direction.
At least one of the upper and lower pinch rolls has a load measuring device at both ends in the axial direction,
The pinch roll is conveyed to the plate material with the goal of detecting the plate width center position current value of the plate material pinched by the pinch roll and bringing the plate width center position current value closer to the plate width center position target value. When a driving force in the direction is applied, the load on the plate width center position target value side with respect to the plate width direction distribution of the load acting between the plate material and the pinch roll with respect to the plate width center position current value. Controls the reduction device on the working side and the driving side of the pinch roll in a direction that makes the pinch roll relatively larger than the other. Regarding the distribution of the load acting between the plate material and the pinch roll in the plate width direction, the load on the plate width center position target value side is relatively smaller than the other with respect to the plate width center position current value. A plate material transporting device including a control device for controlling a reduction device on a working side and a driving side of the pinch roll. A pair of upper and lower pinch rolls,
The drive device that drives the pinch roll and
At least one of the upper and lower pinch rolls has a reduction device at both ends in the axial direction.
A pinch roll load measuring device and a pinch roll load measuring device at both ends in the axial direction of at least one of the upper and lower pinch rolls.
The current value of the plate width center position of the plate material sandwiched by the pinch roll is detected, and the target is to bring the plate width center position current value closer to the plate width center position target value. The difference from the plate width center position target value is calculated as the plate position error, and the plate position error control amount is calculated in consideration of the history of the plate position error before the current time in addition to the plate position error at the current time. Then, the load action point position offset amount is calculated as a value proportional to the plate position error control amount, and when the pinch roll gives the plate material a driving force in the transport direction, the plate width center position current value. By subtracting the load action point position offset amount from, the target value of the load action point position of the load distribution acting between the plate material and the pinch roll is calculated, and the work side of the pinch roll is calculated based on the load action point position target value. And the load target value on the drive side is calculated, and the subtraction device on the work side and the drive side of the pinch roll is controlled so as to realize the load target values on the work side and the drive side of the pinch roll, and conversely, the pinch roll. If no driving force is applied to the plate material in the transport direction, the load action of the load distribution acting between the plate material and the pinch roll is added by adding the load action point position offset amount to the current value of the plate width center position. Calculate the target value of the point position, calculate the load target value of the work side and the drive side of the pinch roll based on the load action point position target value, and realize the load target value of the work side and the drive side of the pinch roll. A plate material transporting device comprising a control device for controlling the subtraction device on the working side and the driving side of the pinch roll.

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