JP7103896B2 - Control device and control method - Google Patents

Description

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

The rolling process is carried out using a rolling mill. Due to the eccentricity of the rolls provided in the rolling mill, the thickness of the rolled plate may change.
Patent Document 1 discloses a technique for suppressing a change in the thickness of a rolled plate. The technique disclosed in Patent Document 1 adds and stores the fluctuation component of the rolling load for each rotation position of the roll. Then, the rolling roll gap command value is calculated and output based on the memorized fluctuation component of the rolling load. Further, the roll gap is operated based on the rolling roll gap command value.

WO2006-123394

In the technique described in Patent Document 1, when the rotation position of the roll reaches the rotation position in which the fluctuation component of the rolling load is stored, the rolling roll gap command value is calculated. The rolling roll gap command value becomes the same until the roll further rotates and the rotation position of the roll reaches the next rotation position in which the fluctuation component of the rolling load is stored. When the rotation position of the roll reaches the next rotation position in which the fluctuation component of the rolling load is stored, the rolling roll gap command value is updated. Therefore, in the technique described in Patent Document 1, the rolling roll gap command value changes sharply as the roll rotates. As a result, it was difficult to suppress the amount of change in the plate thickness of the rolled material.

One aspect of the present disclosure is to provide a control device and a control method capable of suppressing a change in the plate thickness of a rolled material.

One aspect of the present disclosure is a control device that controls a roll gap in a rolling mill having a plurality of rolls, and stores a gap operation amount at a plurality of rotation positions A in a controlled target roll included in the plurality of rolls. The storage unit configured to acquire the rotation position, the rotation position acquisition unit configured to acquire the rotation position of the controlled roll, and the gap operation amount at the rotation position acquired by the rotation position acquisition unit are described. A gap operation amount setting unit configured to be set based on the gap operation amount stored in the storage unit, and an operation unit that operates the roll gap based on the gap operation amount set by the gap operation amount setting unit. When the rotation position acquired by the rotation position acquisition unit matches any of the rotation positions A, the gap operation amount setting unit corresponds to the matching rotation position A. When the amount is set and the rotation position acquired by the rotation position acquisition unit does not match any of the rotation positions A, the rotation position acquisition unit is set around the rotation position acquired by the rotation position acquisition unit. Based on the gap operation amount at the two or more positioned rotation positions A, the gap operation amount at the rotation position acquired by the rotation position acquisition unit is calculated, and the calculated gap operation amount is set. It is a controlled device.

The control device, which is one aspect of the present disclosure, can suppress the amount of change in plate thickness in the rolled material after rolling. In particular, the control device, which is one aspect of the present disclosure, can suppress the amount of change in plate thickness in the rolled material after rolling even when the number of rotation positions A is small.

Another aspect of the present disclosure is a control method for controlling a roll gap in a rolling mill having a plurality of rolls, in which a gap operation amount at a plurality of rotation positions A in a controlled target roll included in the plurality of rolls is determined. The gap operation is stored in the storage unit, the rotation position of the controlled roll is acquired, the gap operation amount at the acquired rotation position is set based on the gap operation amount stored in the storage unit, and the set gap operation is set. When the roll gap is operated based on the amount and the gap operation amount is set, if the acquired rotation position matches any of the rotation positions A, the gap corresponding to the matching rotation position A When the operation amount is set and the acquired rotation position does not match any of the rotation positions A, the gap operation amount at two or more rotation positions A located around the acquired rotation position is set. Based on this, it is a control method that calculates the gap operation amount at the acquired rotation position and sets the calculated gap operation amount.

The control method, which is another aspect of the present disclosure, can suppress the amount of change in plate thickness in the rolled material after rolling. In particular, the control method, which is another aspect of the present disclosure, can suppress the amount of change in plate thickness in the rolled material after rolling even when the number of rotation positions A is small.

It is explanatory drawing which shows the structure of a rolling system 1. It is explanatory drawing which shows the state which the rotation position θ is 0. It is explanatory drawing which shows the state which the rotation position θ is 2π / N. It is a flowchart which shows the gap operation amount storage process which a control device 5 executes. 6 is a flowchart showing a gap operation process executed by the control device 5. 6 is a flowchart showing a gap operation amount setting process for the work roll 9 executed by the control device 5. It is explanatory drawing which shows the method of calculating the gap operation amount ΔUS. 6 is a graph showing the relationship between the total gap manipulated amount output by the control device 5 and the rotation position θ. It is explanatory drawing which shows the structure of the simulation model. 6 is a graph showing a simulation result when the unit 31 performs the same processing as the control device 5 of the present disclosure and N is 60. 6 is a graph showing a simulation result when the unit 31 performs the same processing as the control device 5 of the present disclosure and N is 10. It is a graph which shows the simulation result when the unit 31 performs the process corresponding to Y in FIG. 8 and N is 60. It is a graph which shows the simulation result when the unit 31 performs the process corresponding to Y in FIG. 8 and N is 10.

An exemplary embodiment of the present disclosure will be described with reference to the drawings.
1. 1. Configuration of Rolling System 1 The configuration of the rolling system 1 will be described with reference to FIGS. 1 to 3. As shown in FIG. 1, the rolling system 1 includes a rolling mill 3 and a control device 5. The rolling mill 3 is an apparatus for rolling the rolled material 7. The rolling mill 3 includes work rolls 9 and 11, backup rolls 13 and 15, a load detector 17, and a gap adjusting device 19.

The work rolls 9 and 11 are arranged side by side in the vertical direction. The work rolls 9 and 11 roll the rolled material 7 while rotating. The backup roll 13 is located above the work roll 9. The backup roll 13 supports the work roll 9. The backup roll 13 rotates according to the rotation of the work roll 9. The backup roll 15 is located below the work roll 11. The backup roll 15 supports the work roll 11. The backup roll 15 rotates according to the rotation of the work roll 11.

The work rolls 9 and 11 and the backup rolls 13 and 15 correspond to a plurality of rolls and controlled rolls. The load detector 17 detects the rolling load. The load detector 17 outputs the detected rolling load to the control device 5.

The gap adjusting device 19 receives the total gap manipulated amount described later from the control device 5. The gap adjusting device 19 changes the gap by the total gap manipulation amount. That is, the control device 5 controls the gap in the rolling mill 3. The gap is a roll gap between the work roll 9 and the work roll 11.

The control device 5 includes a rotation position detection unit 21, a gap operation amount storage unit 23, and a gap operation amount calculation unit 25. The rotation position detection unit 21 corresponds to the rotation position acquisition unit. The gap manipulated variable storage unit 23 corresponds to the storage unit. The gap operation amount calculation unit 25 corresponds to the gap operation amount setting unit and the operation unit.

The rotation position detection unit 21 detects the rotation positions θ of the work rolls 9 and 11 and the backup rolls 13 and 15. The rotation position θ will be described with reference to FIGS. 2 and 3. Here, the rotation position θ of the work roll 9 will be described. The same applies to the rotation positions θ of the work roll 11 and the backup rolls 13 and 15.

It is assumed that the scales 0 to N-1 exist on the outer peripheral surface of the work roll 9. N is a natural number of 2 or more. N is preferably 5 or more, and more preferably 10 or more. The scales 0 to N-1 are arranged at equal intervals along the circumferential direction of the work roll 9. The scales 0 to N-1 are fixed to the outer peripheral surface of the work roll 9. If the work roll 9 rotates, the scales 0 to N-1 also rotate by the same angle.

The vertical line passing through the center of the work roll 9 is defined as the fixed reference line 27. The straight line passing through the center of the work roll 9 and the scale 0 is defined as the roll side reference line 29. The angle formed by the fixed reference line 27 and the roll-side reference line 29 is defined as the rotation position θ.

When the rotation position θ coincides with (2π / N) i, the scale i and the fixed reference line 27 overlap. i is an integer of 0 or more and N or less. As shown in FIG. 2, when the rotation position θ is 0, the scale 0 and the fixed reference line 27 overlap. Further, as shown in FIG. 3, when the rotation position θ is 2π / N, the scale 1 and the fixed reference line 27 overlap. The rotation position θ corresponding to (2π / N) i corresponds to a plurality of rotation positions A.

2. Gap manipulated variable storage process executed by the control device 5 The gap manipulated variable storage process executed repeatedly by the control device 5 at predetermined time intervals will be described with reference to FIG. The gap manipulated variable storage process is executed during rolling. The control device 5 executes the gap manipulated variable storage process for each of the work rolls 9 and 11 and the backup rolls 13 and 15. Here, the gap manipulated variable storage process for the work roll 9 will be described. The same applies to the gap manipulation amount storage processing for the work roll 11 and the backup rolls 13 and 15.

In step 1 of FIG. 4, when the work roll 9 makes one rotation, the gap manipulated variable storage unit 23 acquires Pi by using the load detector 17. Pi is a rolling load when the rotation position θ coincides with (2π / N) i. The gap manipulated variable storage unit 23 acquires the rolling load Pi for each case where i is 0 to N-1. The gap operation amount storage unit 23 continuously acquires the rotation position θ of the work roll 9 when the work roll 9 makes one rotation, and rolls when the rotation position θ matches any (2π / N) i. Acquire the load Pi.

In step 2, the gap manipulated variable storage unit 23 calculates the average value Pave using the rolling load Pi acquired in step 1. Pave is an average value of P ₀ to P _N-1 .
In step 3, the gap manipulated variable storage unit 23 calculates the rolling load change amount ΔPi by using the rolling load Pi acquired in step 1 and the average value Pave calculated in step 2. The rolling load change amount ΔPi is a value obtained by subtracting the average value Pave from the rolling load Pi. The gap manipulated variable storage unit 23 calculates the rolling load change amount ΔPi for each case where i is 0 to N-1.

In step 4, the gap manipulated variable storage unit 23 calculates the gap variation amount ΔSi by substituting the rolling load change amount ΔPi calculated in step 3 into the following equation (1).

式（１）におけるＭはミル定数である。式（１）におけるＱは圧延材７の塑性係数である。ギャップ操作量記憶部２３は、ｉが０～Ｎ－１のそれぞれの場合について、ギャップ変動量ΔＳｉを算出する。

M in the equation (1) is a mill constant. Q in the formula (1) is a plastic coefficient of the rolled material 7. The gap manipulated variable storage unit 23 calculates the gap fluctuation amount ΔSi for each case where i is 0 to N-1.

In step 5, the gap manipulated variable storage unit 23 calculates the gap manipulated variable ΔUSi by substituting the gap fluctuation amount ΔSi calculated in step 4 into the following equation (2).

式（２）におけるＧは調整係数である。本実施形態ではＧの値を１．０とした。式（２）におけるΔＵＳiOLDは、前回の処理で算出されたギャップ操作量ΔＵＳｉを意味する。ギャップ操作量記憶部２３は、ｉが０～Ｎ－１のそれぞれの場合について、ギャップ操作量ΔＵＳｉを算出する。

G in the equation (2) is an adjustment coefficient. In this embodiment, the value of G is 1.0. ΔUSiOLD in the equation (2) means the gap manipulated variable ΔUSi calculated in the previous process. The gap manipulated variable storage unit 23 calculates the gap manipulated variable ΔUSi for each case where i is 0 to N-1.

In step 6, the gap manipulated variable storage unit 23 stores the gap manipulated variable ΔUSi calculated in step 5 in association with the corresponding rotation position θ. The rotation position θ corresponding to the gap manipulated variable ΔUSi is (2π / N) i. The gap manipulated variable storage unit 23 stores the gap manipulated variable ΔUSi for each case where i is 0 to N-1.

As described above, the gap manipulated variable storage unit 23 stores the gap manipulated variable ΔUSi at the rotation position (2π / N) i for the work roll 9. In the following, the stored contents will be referred to as the stored contents of the work roll 9.

The gap manipulated variable storage unit 23 also stores the gap manipulated variable ΔUSi at the rotation position (2π / N) i for the work roll 11 and the backup rolls 13 and 15. In the following, the stored contents will be referred to as the stored contents of the work roll 11, the stored contents of the backup roll 13, and the stored contents of the backup roll 15, respectively.

3. 3. Gap operation processing executed by the control device 5 Gap operation processing executed by the control device 5 repeatedly at predetermined time intervals will be described with reference to FIGS. 5 to 7. The gap manipulation process is performed during rolling.

In step 11 of FIG. 5, the control device 5 sets the gap operation amount for the work roll 9. This process will be described with reference to FIG. In step 21, the rotation position detection unit 21 acquires the rotation position θ of the work roll 9.

In step 22, the gap manipulation amount calculation unit 25 determines whether or not the rotation position θ acquired in step 21 matches any of the rotation positions (2π / N) i. i is any of 0 to N-1. If it is determined that the rotation position θ matches any of the rotation positions (2π / N) i, this process proceeds to step 23. If it is determined that the rotation position θ does not match any of the rotation positions (2π / N) i, this process proceeds to step 24.

In step 23, the gap manipulation amount calculation unit 25 reads out the gap manipulation amount ΔUSi associated with the rotation position (2π / N) i that matches the rotation position θ acquired in step 21 from the stored contents of the work roll 9. Next, the gap manipulation amount calculation unit 25 sets the read gap manipulation amount ΔUSi as the gap manipulation amount for the work roll 9.

In step 24, the gap manipulated variable ΔUSj at the rotation position (2π / N) j and the gap manipulated variable ΔUSj + 1 at the rotation position (2π / N) (j + 1) are set by the gap manipulation amount calculation unit 25 on the work roll 9. Read from the stored contents.

The rotation position (2π / N) j is the maximum value among the rotation positions (2π / N) i smaller than the rotation position θ acquired in step 21. The rotation position (2π / N) (j + 1) is the minimum value among the rotation positions (2π / N) i larger than the rotation position θ acquired in step 11. The rotation positions (2π / N) j and (2π / N) (j + 1) correspond to two or more rotation positions A located around the rotation position θ acquired in step 21.

In step 25, the gap manipulated variable calculation unit 25 substitutes the gap manipulated quantities ΔUSj and ΔUSj + 1 read in step 24 into the following equation (3), and the gap manipulated variable ΔUS at the rotation position θ acquired in step 21. Is calculated. As shown in FIG. 7, the gap manipulated variable ΔUS is a value calculated by linear approximation based on the gap manipulated variables ΔUSj and ΔUSj + 1.

In step 26, the gap operation amount calculation unit 25 sets the value calculated in step 25 as the gap operation amount for the work roll 9.
Returning to FIG. 5, in step 12, the control device 5 sets the gap operation amount for the work roll 11. The method of setting the gap operation amount for the work roll 11 is basically the same as that for the work roll 9. However, in the step 21, the rotation position θ of the work roll 11 is acquired. Further, in steps 23 and 24, the stored contents of the work roll 11 are used.

In step 13, the control device 5 sets the gap manipulation amount for the backup roll 13. The method of setting the gap operation amount for the backup roll 13 is basically the same as that for the work roll 9. However, in the step 21, the rotation position θ of the backup roll 13 is acquired. Further, in steps 23 and 24, the stored contents of the backup roll 13 are used.

In step 14, the control device 5 sets the gap manipulation amount for the backup roll 15. The method of setting the gap operation amount for the backup roll 15 is basically the same as that for the work roll 9. However, in the step 21, the rotation position θ of the backup roll 15 is acquired. Further, in steps 23 and 24, the stored contents of the backup roll 15 are used.

In step 15, the gap operation amount calculation unit 25 determines the gap operation amount for the work roll 9, the gap operation amount for the work roll 11, the gap operation amount for the backup roll 13, and the gap operation amount for the backup roll 15. And sum. The total value will be referred to as the total gap manipulation amount below.

In step 16, the gap operation amount calculation unit 25 outputs the total gap operation amount calculated in step 15 to the gap adjustment device 19 and drives the gap adjustment device 19. That is, the gap operation amount calculation unit 25 operates the gap by using the gap adjusting device 19. Gap manipulation is performed based on the total gap manipulation amount.

The relationship between the total gap manipulated amount output by the control device 5 and the rotation position θ is shown in the curve X in FIG. In FIG. 8, “A” means (2π / N) i. Note that Y in FIG. 8 sets the total gap manipulation amount in the section where the rotation position θ exceeds (2π / N) j and is less than (2π / N) (j + 1) to the value at (2π / N) j. It is a curve when equalized.

4. Test for confirming the effect of the control device 5 The effect of the control device 5 was confirmed using the simulation model shown in FIG. The simulation model includes units 31, 33, 35, 37. The unit 31 corresponds to the control device 5. Units 33, 35 and 37 correspond to the rolling mill 3.

The unit 31 acquires the rotation position θ and the rolling load change amount ΔPi, and creates the storage contents of the work rolls 9 and 11 and the backup rolls 13 and 15. Further, the unit 31 creates a total gap operation amount based on the rotation position θ and the stored contents of the work rolls 9 and 11 and the backup rolls 13 and 15.

The unit 33 calculates the gap fluctuation amount ΔSi based on the total gap manipulation amount. The unit 35 acquires the gap fluctuation amount ΔSi and the gap fluctuation _ds . The gap fluctuation _ds means a gap fluctuation due to roll eccentricity or the like caused by roll rotation. The unit 35 calculates the plate thickness change amount Δh. The plate thickness change amount Δh is the plate thickness change amount in the rolled material 7 after rolling.

The unit 37 acquires the gap fluctuation amount ΔSi, the gap fluctuation _ds , and the plate thickness change amount Δh. The unit 37 creates a rolling load change amount ΔPi and outputs it to the unit 31.
The rolling mill 3 and rolling conditions were as shown in Tables 1 and 2.

ユニット３１が本開示の制御装置５と同様の処理を行った場合のシミュレーション結果を図１０、図１１に示す。図１０、図１１の横軸は時間を表し、縦軸は板厚変化量Δｈを表す。図１０は、Ｎの値が６０の場合のシミュレーション結果を示し、図１１は、Ｎの値が１０である場合のシミュレーション結果を示す。

The simulation results when the unit 31 performs the same processing as the control device 5 of the present disclosure are shown in FIGS. 10 and 11. The horizontal axis of FIGS. 10 and 11 represents time, and the vertical axis represents the amount of change in plate thickness Δh. FIG. 10 shows the simulation result when the value of N is 60, and FIG. 11 shows the simulation result when the value of N is 10.

The gap was controlled after the time of "control start" shown in FIGS. 10 and 11. The standard deviation of the plate thickness change amount Δh was calculated in the “standard deviation evaluation section” shown in FIGS. 10 and 11. The calculated standard deviation is shown in the row "X" in Table 3. The standard deviation of the plate thickness change amount Δh was small regardless of whether the value of N was 60 or 10.

ユニット３１が出力する合計のギャップ操作量と、回転位置θとの関係が図８のＹに示すものである場合のシミュレーション結果を図１２、図１３に示す。図１２は、Ｎの値が６０の場合のシミュレーション結果を示し、図１３は、Ｎの値が１０である場合のシミュレーション結果を示す。

12 and 13 show simulation results when the relationship between the total gap manipulated amount output by the unit 31 and the rotation position θ is as shown in Y in FIG. FIG. 12 shows the simulation result when the value of N is 60, and FIG. 13 shows the simulation result when the value of N is 10.

The gap was controlled after the time of "control start" shown in FIGS. 12 and 13. The standard deviation of the plate thickness change amount Δh was calculated in the “standard deviation evaluation section” shown in FIGS. 12 and 13. The calculated standard deviation is shown in the "Y" row in Table 3. When the value of N was 10, the standard deviation of the plate thickness change amount Δh was remarkably large.

5. Effect of the control device 5 The control device 5 can suppress the amount of change in the plate thickness of the rolled material 7 after rolling. In particular, the control device 5 can suppress the amount of change in the plate thickness of the rolled material 7 after rolling even when the number of rotation positions A for storing the gap operation amount is small. The reason why the amount of change in the plate thickness of the rolled material 7 after rolling can be suppressed is that, as shown by the curve X in FIG. 8, even if the rotation position θ changes, the total gap operation amount does not change sharply. It is presumed that this is the reason.

6. Other Embodiments Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and can be implemented in various modifications.

(1) The method of calculating the gap manipulated variable ΔUS at the rotation position θ in the step 25 may be a method other than linear approximation. The gap manipulation amount ΔUS can be calculated by a method appropriately selected from known approximation operations.

(2) The rolls for setting the gap manipulation amount in steps 11 to 14 may be a part of the work rolls 9 and 11 and the backup rolls 13 and 15 instead of all of them. The number of rolls for setting the gap manipulation amount can be, for example, one, two, or three. Further, the total gap manipulation amount may be the total of the gap manipulation amounts in 1 to 3 rolls selected from the work rolls 9 and 11 and the backup rolls 13 and 15.

(3) The function of one component in each of the above embodiments may be shared by a plurality of components, or the function of the plurality of components may be exerted by one component. Further, a part of the configuration of each of the above embodiments may be omitted. In addition, at least a part of the configuration of each of the above embodiments may be added or replaced with respect to the other configurations of the above embodiment. It should be noted that all aspects included in the technical idea specified from the wording described in the claims are embodiments of the present disclosure.

(4) In addition to the above-mentioned control device, a system having the control device as a component, a program for operating a computer as the control device, a non-transitional actual recording medium such as a semiconductor memory in which this program is recorded, and rolling. The present disclosure can also be realized in various forms such as a method and a method for producing a rolled material.

1 ... Rolling system, 3 ... Rolling machine, 5 ... Control device, 7 ... Rolled material, 9, 11 ... Work roll, 13, 15 ... Backup roll, 17 ... Load detector, 19 ... Gap adjusting device, 21 ... Rotation position Detection unit, 23 ... Gap operation amount storage unit, 25 ... Gap operation amount calculation unit, 27 ... Fixed reference line, 29 ... Roll side reference line

Claims (2)

A control device that controls a roll gap in a rolling mill equipped with a plurality of rolls.
For each of the two or more controlled target rolls included in the plurality of rolls, a storage unit configured to store the gap operation amount at the plurality of rotation positions A in the controlled target roll, and a storage unit.
For each of the two or more controlled target rolls, a rotation position acquisition unit configured to acquire the rotation position of the controlled target roll, and a rotation position acquisition unit.
For each of the two or more controlled rolls, the gap operation amount at the rotation position acquired by the rotation position acquisition unit is set based on the gap operation amount stored in the storage unit, and the two or more controls are performed. A gap manipulation amount setting unit configured to set the total gap manipulation amount by summing the gap manipulation amounts set for each of the target rolls, and
An operation unit that operates the roll gap and an operation unit that operates the roll gap based on the total gap operation amount set by the gap operation amount setting unit.
With
When the rotation position acquired by the rotation position acquisition unit matches any of the rotation positions A, the gap operation amount setting unit sets the gap operation amount corresponding to the matching rotation position A. If the rotation position acquired by the rotation position acquisition unit does not match any of the rotation positions A, two or more located around the rotation position acquired by the rotation position acquisition unit. A control device configured to calculate the gap operation amount at the rotation position acquired by the rotation position acquisition unit based on the gap operation amount at the rotation position A and set the calculated gap operation amount. A control method for controlling a roll gap in a rolling mill having a plurality of rolls.
For each of the two or more controlled target rolls included in the plurality of rolls, the gap operation amount at the plurality of rotation positions A in the controlled target roll is stored in the storage unit.
For each of the two or more controlled target rolls, the rotation position of the controlled target roll is acquired.
For each of the two or more controlled rolls, the acquired gap manipulation amount at the rotation position is set based on the gap manipulation amount stored in the storage unit.
By summing the gap manipulation amounts set for each of the two or more controlled rolls, the total gap manipulation amount is set.
The roll gap is operated based on the set total gap operation amount, and the roll gap is operated.
When setting the gap operation amount, if the acquired rotation position matches any of the rotation positions A, the gap operation amount corresponding to the matching rotation position A is set, and the acquired rotation is performed. If the position does not match any of the rotation positions A, the gap operation at the acquired rotation position is based on the acquired gap operation amount at the two or more rotation positions A located around the rotation position. A control method for calculating an amount and setting the calculated gap operation amount.

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