JP7131235B2 - meandering control system, meandering control method, and program - Google Patents

Description

TECHNICAL FIELD The present invention relates to a meandering control system, a meandering control method, and a program, and is particularly suitable for use in controlling meandering of a rolled strip material that occurs when the rolled strip material is rolled.

During the rolling process of a rolled plate material, a phenomenon may occur in which the rolled plate material deviates from the target width direction center position of the rolling mill and moves toward the end of the roll (hereinafter, this phenomenon is referred to as meandering. called). When meandering occurs, the flatness of the rolled plate material deteriorates, and if the amount of meandering increases further, the rolled plate material contacts the side guides and becomes buckled, resulting in narrowing trouble. As a result, the rolling rolls are damaged, requiring maintenance work or replacement work for the rolling rolls, resulting in a decrease in productivity. In addition, scratches on the rolling rolls can be removed by polishing the roll surfaces, but polishing shortens the life of the rolling rolls and increases the production cost. Therefore, a technique for controlling meandering of a rolled sheet material is indispensable for preventing troubles in drawing, and is an important technique from the viewpoint of improving productivity and suppressing production costs. There is a technique disclosed in Patent Document 1 as a technique for controlling meandering of a rolled plate material.

In Patent Document 1, the meandering amount of the plate rolled material is measured by a meandering meter installed on the entry side of the rolling mill, and the position of the rolling mill (the position where the rolling mill rolls the plate material) is determined from the measured value of the meandering amount by the meandering meter. More specifically, the meandering amount of the rolled strip is estimated at a position where the rolled strip is crossed with a virtual plane passing through the rotation axes of the upper and lower work rolls, and based on the estimated meandering amount, the rolling mill leveling amount (difference in screw down position between work side and drive side). Specifically, in Patent Document 1, a leveling amount is derived that minimizes an evaluation function whose variables are the meandering amount and the leveling amount of the rolled strip at the rolling mill position, and the rolling mill is adjusted to the derived leveling amount. to control the amount of leveling. The leveling operation amount, which is the leveling amount derived in this way, is composed of the measured value of the meandering amount by the meandering meter, the time derivative value of the meandering amount of the rolled strip at the rolling mill position, and the strip rolling at the entry side of the rolling mill. It is represented by the linear sum of the disturbance and the rotational angular velocity generated in the material (within the plate surface).

Japanese Patent No. 4016761

In Patent Document 1, an observer (estimator) is used to measure the time derivative of the amount of meandering of the rolled strip at the position of the rolling mill and the disturbance to the rotational angular velocity of the rolled strip at the entry side of the rolling mill, and meandering is measured by a meandering meter. Estimated from volume measurements and leveling volume.

Therefore, with the technique disclosed in Patent Document 1, it takes time until the estimated value of the observer settles, and it is not easy to speed up the response of meandering control of the rolled strip. Therefore, for example, when a sudden meandering occurs in the rolled strip material, meandering control may not be in time.

SUMMARY OF THE INVENTION The present invention has been made in view of the problems described above, and aims to shorten the time until the estimated value of the observer settles and to improve the response of meandering control of a rolled strip.

A meandering control system of the present invention includes a rolling mill, and a meandering meter installed at a position on the upstream side of the rolling mill for measuring the meandering amount of a rolled strip being passed through the rolling mill. A meandering control system for controlling the meandering amount of a rolled sheet material, wherein a value obtained by pseudo-differentiating the measured value of the meandering amount of the rolled sheet material measured by the meandering meter is used as the value of the meandering amount of the rolled sheet material at the position of the rolling mill. Using the pseudo-differential means for deriving a calculated value of the time differential value of the meandering amount, and the calculated value of the time-differential value of the meandering amount of the rolled strip at the rolling mill position derived by the pseudo-differential means, the rolling deriving means for deriving the leveling operation amount of the machine.

The meandering control method of the present invention uses a rolling mill and a meandering meter installed at a position on the upstream side of the rolling mill to measure the amount of meandering of the rolled strip being passed. A meandering control method for controlling the meandering amount of a rolled sheet material, wherein a value obtained by pseudo-differentiating the measured value of the meandering amount of the rolled sheet material measured by the meandering meter is used as the value of the meandering amount of the rolled sheet material at the position of the rolling mill. The rolling is performed using a pseudo-differential step of deriving a calculated value of the time-differential value of the meandering amount, and the calculated value of the time-differential value of the meandering amount of the strip rolled material at the rolling mill position derived by the pseudo-differential step. and a derivation step of deriving the leveling operation amount of the machine.

A program of the present invention is characterized by causing a computer to function as each means of the meandering control system.

ADVANTAGE OF THE INVENTION According to this invention, the time until the estimated value of an observer stabilizes can be shortened, and meandering control of a strip strip can be made high response.

It is a figure explaining an example of the calculation method of the leveling operation amount. It is a figure which shows the 1st example of a structure of a meandering control system. It is a figure explaining an example of operation|movement of a leveling manipulated variable calculator. 4 is a flowchart illustrating an example of processing in the meandering control system; FIG. 5 is a diagram showing a second example of the configuration of the meandering control system; FIG. 10 is a diagram showing a third example of the configuration of the meandering control system; 4 is a diagram showing the results of Comparative Example 1. FIG. It is a figure which shows the result of the invention example 1. FIG. FIG. 10 is a diagram showing the results of Comparative Example 2; It is a figure which shows the result of the invention example 2. FIG.

Prior to describing embodiments of the present invention, an overview of the technology based on the content disclosed in Patent Document 1 will be described. In the following description, the technology based on the content disclosed in Patent Document 1 is referred to as the underlying technology.

FIG. 1 is a diagram illustrating an example of a method for calculating a leveling manipulated variable. FIG. 1(a) is a diagram illustrating an example of a leveling operation amount calculation method in the base technology, and FIG. 1(b) is an example of a leveling operation amount calculation method in the technology according to the present embodiment. It is a diagram.
In FIGS. 1(a) and 1(b), the leveling manipulated variable _{S r} is represented by ys· _fy +e· _fe + _d ·fd. Here, _ys is the meandering amount measured by the meandering meter, and _fy is the feedback gain for the meandering amount measured by the meandering meter _ys . e is the time-differentiated value of the meandering amount of the rolled strip at the rolling mill position, and f _e is the feedback gain for the time-differentiated value e of the meandering amount of the rolled strip at the rolling mill position. d is the disturbance to the rotational angular velocity generated in the strip material (inside the plate plane) on the entry side of the rolling mill, and f _d is the rotational angular velocity generated in the strip material (in the plate plane) on the entry side of the rolling mill. is the feedforward gain f _d for disturbance d for . Also, "·" represents a product, and "+" represents a sum. Hereinafter, " _ys.fy + _e.fe " is referred to as a feedback control amount, and " _d.fd " is referred to as a feedforward control amount _.

As shown in FIG. 1(a), in the underlying technology, the time differential value e of the meandering amount of the rolled strip at the position of the rolling mill and the rotational angular velocity generated in (inside the plane of) the rolled strip at the entry side of the rolling mill Since the disturbance d to the surface cannot be measured, a two-dimensional observer is used to estimate them from the meandering amount y _s measured by the meandering meter and the leveling amount (actual value) S.
Specifically, in the base technology, the leveling manipulated variable S _r is calculated as follows.
First, the rolling mill position of the downstream rolling mill of the two adjacent rolling mills in the strip threading direction (X-axis direction) is taken as the coordinate origin (x=0) of the position x, and the rolling direction of the strip rolled material is The (downstream direction) is defined as the forward direction (these are assumed to be the same in the explanations other than the underlying technology). ω( t). In the following description, of the two rolling mills that are adjacent to each other in the sheet threading direction (X-axis direction), the rolling mill that is relatively downstream will be referred to as a downstream rolling mill as necessary. Rolling mills on the upstream side are referred to as upstream rolling mills as needed.

A meandering amount y(x, t) of the strip rolled material at a position a distance x away from the downstream rolling mill at time t is expressed by the following equation (1). Here, to simplify the explanation, it is assumed that the meandering amount of the strip rolled material at the position x at time t=0 is zero.

Here, the amount of meandering y (x, t) is from the center position of the strip in the strip width direction at the position x to a virtual straight line drawn in the X-axis direction passing through the center position of the rolling mill in the width direction. is the (shortest) distance of From the formula (1), the measured value y _s of the meandering amount by the meandering meter installed at a position (x = -L) upstream from the rolling mill position of the downstream rolling mill by a distance L, and the rolling mill of the downstream rolling mill The meandering amount y _c of the rolled plate material at the position (x=0) is expressed by the following equations (2) and (3), respectively. In the following description, the meandering amount measured by the meandering meter will be referred to as meandering amount measured value as necessary. Further, the meandering amount of the strip rolled material at the rolling mill position (x=0) of the downstream rolling mill is referred to as the rolling mill position meandering amount as necessary.

Further, the rotational angular velocity ω(t) at time t, which occurs in (within the plate surface of) the rolled strip on the inlet side of the downstream rolling mill, is expressed by the following equation (4).

However, S(t) is the leveling amount (actual value) of the downstream rolling mill at time t. d(t) is the disturbance at time t with respect to the rotational angular velocity occurring in (inside the surface of) the rolled strip at the entry side of the downstream rolling mill. p is a gain from the leveling amount S of the downstream rolling mill to the rotational angular velocity ω generated in (inside the surface of) the rolled strip at the entry side of the downstream rolling mill. q is the gain from the rolling mill position meandering amount y _c to the rotational angular velocity ω generated in (inside the surface of) the rolled strip at the entry side of the downstream rolling mill. In the following description, the rotational angular velocity generated in (within the plate surface of) the rolled material at the entrance side of the downstream rolling mill is referred to as the sheet material entry-side rotational angular velocity as necessary. Further, a disturbance to the rotational angular velocity occurring in (within the plate surface of) the rolled strip at the entry side of the downstream rolling mill is referred to as a disturbance to the strip entry side rotational angular velocity ω as needed.

Assuming that the time differential value of the rolling mill position meandering amount y _c (t) at time t is e(t), the time differential value of the rolling mill position meandering amount y _c (t) at time t is obtained from equation (3). e(t) is represented by the following equation (5).

Assuming that the disturbance d(t) with respect to the input side rotational angular velocity ω at time t is constant, from the equations (2) to (5), the discrete time equation discretized by the control period T of the meandering phenomenon (the amount of meandering) is is represented by the following formulas (6) to (8).

Here, [k] is a symbol indicating the value at time t=kT (eg, x[k] indicates the value of x at time t=kT). From the equation (6), the rolling mill position meandering amount y _c [k+j] at the time t=(k+j)T is expressed by the following formula (9) using the meandering amount measurement value y _s . In the following description, k will be referred to as a control timing specific variable as required.

Here, if the evaluation function J is given by the following equation (10), the leveling manipulated variable S _r [k] at the time t=kT that minimizes the value of the evaluation function J is given by the following equations (11) to ( 12) is given by Eq.

The first term on the right side of equation (11) is the feedback control amount for the measured meandering amount _ys , and the second term is the feedback control amount for the time differential value e of the rolling mill position meandering amount _yc . The third term is the feedforward control amount of the disturbance d with respect to the input side rotational angular velocity ω. Since feedback control and feedforward control are independent functions, only the feedforward control of the third term on the right side of equation (11) may be performed, or the same feedback control as the first and second terms of the equation (11) may be performed. You may implement both the feedforward control of 3rd item|term. In addition, it is also possible to implement only the feedback control of the first and second terms.

Here, as shown in Patent Document 1, in the underlying technology, the time differential value e of the rolling mill position meandering amount y _c in the equation (11) and the disturbance d with respect to the plate entry side rotation angular velocity ω cannot be measured. Estimated using an observer, from the measured meandering amount y _s and the leveling amount S of the downstream rolling mill, the time differential value e of the rolling mill position meandering amount y _c and the disturbance d with respect to the plate entry side rotational angular velocity ω A two-dimensional observer that estimates is constructed as follows.

First, from the equations (2) to (5), the continuous-time state equations of the meandering phenomenon are expressed by the equations (13) to (15).

Applying the well-known Gopinath method to this continuous-time state equation, a two-dimensional observer that estimates the time differential value e of the rolling mill position meandering amount yc and the disturbance d with respect to the plate entry-side rotational angular velocity ω is _{x o} With (t) as a state variable, it is given by the following continuous-time state equation (16).

However, the matrix in the equation (16) is represented by the following equation (18) when the pole placement matrices V and U are the following equation (17). Note that α is a design parameter of the observer.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First embodiment)
First, the first embodiment will be described.
As described above, in the base technology, when both the feedback control of the first and second terms on the right side of Equation (11) and the feedforward control of the third term on the right side of Equation (11) are performed, the rolling mill position meandering amount y _c and an estimated value of the disturbance d with respect to the input-side rotational angular velocity ω of the plate material, and a two-dimensional observer for estimating them must be used. Thus, when both feedback control and feedforward control are performed, a two-dimensional observer is used to estimate the time differential value e of the rolling mill position meandering amount y _c and the disturbance d with respect to the plate entry side rotational angular velocity ω. There is a need.
In general, the higher the dimensionality of the variables to be estimated, the more likely it is that interference between variables will occur, making it difficult to speed up the response of the observer. Therefore, in the base technology, it takes time until the time differential value e of the rolling mill position meandering amount y _c and the estimated value of the disturbance d with respect to the plate entry side rotational angular velocity ω settle. From the above, it is not easy to speed up the response of the meandering control with the base technology. For example, when the rolled strip material suddenly meanders, there is a possibility that the meandering control will not be in time.

One element of the meandering amount described in Patent Document 1 is represented by the time differential value e of the rolling mill position meandering amount _yc . Since it is difficult to measure the meandering amount of the strip rolled material at the rolling mill position (measuring the rolling mill position meandering amount _yc ), it is of course necessary to measure the rolling mill position meandering amount _yc and measure the rolling The time differential value e of the rolling mill position meandering amount _yc cannot be calculated from the mill position meandering amount _yc . Such directly measurable quantities are commonly estimated using observers (estimators). On the other hand, under the above-mentioned problem, the inventors of the present invention can calculate the measured meandering amount y _s without estimating the time differential value e of the rolling mill position meandering amount y _c using an observer. I found out what I can do. First, this will be explained below.

From the equations (2), (3), and (5), the relationship of the following equation (19) holds between the meandering amount measurement value _ys and the rolling mill position meandering amount _yc .

Here, e is the time differential value of the rolling mill position meandering amount y _c , so if the Laplace operator is s, the time differential value e of the rolling mill position meandering amount y _c is represented by sy _c . Therefore, the transfer function from the meandering amount measured value _ys to the time differential value e of the rolling mill position meandering amount _yc is given by the following equation (20).

The transfer function shown in equation (20) is represented by the product of a differential element and a first-order lag element (low-pass filter). That is, the equation (20) expresses that the time differential value e of the rolling mill position meandering amount _yc can be calculated by pseudo-differential of the meandering amount measured value _ys . The pseudo-differential approximation value discretized at the control period T is calculated by the following equation (21) by rewriting equation (20) into a differential equation and taking backward difference approximation. By using the equation (21), the time differential value e of the rolling mill position meandering amount y _c can be calculated with high accuracy using a digital controller.

As described above, the time differential value e of the rolling mill position meandering amount y _c calculated by equation (21) can be calculated without using an observer. and the feedforward control of the third term on the right side, the time differential value e of the rolling mill position meandering amount y _c calculated by equation (21) and the meandering amount measured value y _s and the leveling amount S of the downstream rolling mill, it is possible to configure a one-dimensional observer ((3 inputs) 1 output observer) for estimating only the disturbance d with respect to the plate entry side rotation angular velocity ω (Fig. 1 ( b)). This one-dimensional observer functions as a disturbance observer and has a smaller dimension than the conventional two-dimensional observer, so it is possible to reduce the settling time of the estimated value. Therefore, when both the feedback control of the first and second terms on the right side of Equation (11) and the feedforward control of the third term on the right side of Equation (11) are performed, the effect of the third term on the right side of Equation (11) appears quickly. Meandering control responds faster. Further, since the time differential value e of the rolling mill position meandering amount _yc is calculated by the equation (21) without using an observer, the effect of the second term on the right side appears quickly.

The observer shown in FIG. 1(b) can be configured as follows. First, from the equation (13), the continuous-time state equation of the meandering phenomenon is expressed by the following equations (22) to (23).

When the well-known Gopinath method is applied to this continuous-time state equation, the one-dimensional observer that estimates the disturbance d with respect to the angular velocity ω on the entry side of the plate can obtain the following equation (24) with x _o −(t) as the state variable: is given by the continuous-time state equation of Note that x _o -(t) corresponds to x _o (t) with - above x _o in equation (24) and the like.

However, the matrix in the equation (24) is expressed by the following equation (26) when the pole placement matrices V- and U- are the following equation (25). Note that α- is a design parameter of the observer. V-, U-, and α- correspond to those with - attached to V, U, and α in formulas (25) and (26), respectively.

The observer represented by the formula (24) is a one-dimensional observer that estimates only the disturbance d with respect to the plate entry side rotational angular velocity ω. Therefore, compared to the two-dimensional observer, it is possible to shorten the time until the estimated value of the disturbance d with respect to the plate entry side rotational angular velocity ω settles, and speed up the response of the meandering control. In addition, in order to perform the calculation of the observer represented by the equation (24) with a digital controller, the following equations (27) to (28) obtained by discretizing the continuous-time state equation of the equation (24) with the control period T can be calculated using the discrete-time state equation of

The meandering control system of the present embodiment uses a one-dimensional observer represented by equations (27) to (28). The meandering control system of this embodiment will be described below.
FIG. 2 is a diagram showing an example of the configuration of the meandering control system of this embodiment.
The meandering control system has N (N is an integer equal to or greater than 2) rolling mills. An application example of N rolling mills is a tandem finishing mill in a hot rolling process. A tandem finishing mill in the hot rolling process has, for example, seven rolling mills. In FIG. 2, for convenience of notation, two rolling mills (upstream Only side rolling mill 1 and downstream rolling mill 2) are shown. A strip material 5 is rolled in the positive direction of the X-axis in FIG. 1 by an upstream rolling mill 1 and a downstream rolling mill 2 . In this embodiment, a case of controlling the meandering of the rolled strip 5 between the upstream rolling mill 1 and the downstream rolling mill 2 will be described as an example.

Note that, for example, if the meandering control system has seven rolling mills, the first and second rolling mills, the second and third rolling mills, the third and fourth rolling mills, The 4th and 5th rolling mills, the 5th and 6th rolling mills, and the 6th and 7th rolling mills can be the upstream rolling mill 1 and the downstream rolling mill 2, respectively. . However, it is not necessary to apply the technique of the present embodiment to all of the two rolling mills arranged at positions adjacent to each other in the sheet-threading direction of the rolled sheet material 5. The method of the present embodiment may be applied to at least one set of two sets of rolling mills arranged adjacent to each other.

In FIG. 2 , the meandering control system has an upstream rolling mill 1 , a downstream rolling mill 2 , a meandering meter 20 , a setup computer 100 , and a leveling operation amount calculator 200 .
The upstream rolling mill 1 is provided with a load cell 3a. The load meter 3a measures the load applied to (rolling rolls of) the upstream rolling mill 1 . A load P measured by the load meter 3 a is output to the leveling operation amount calculator 200 .

The downstream rolling mill 2 is provided with a load meter 3 b and a leveling device 4 .
The load meter 3b measures the load P applied to (rolling rolls of) the downstream rolling mill 2 . The load P measured by the load meter 3b is used by the leveling device 4 to determine the end of control of the meandering amount of the rolled strip 5 at the rolling mill position of the downstream rolling mill 2 . Note that this determination may be performed by the leveling manipulated variable calculator 200 .
The leveling device 4 adjusts the leveling amount of the downstream rolling mill 2 so that the leveling amount of the downstream rolling mill 2 matches the leveling operation amount S _r output from the leveling operation amount calculator 200. The meandering amount of the rolled strip material 5 at the rolling mill position of the downstream rolling mill 2 is controlled. The leveling amount (actual value) S of the downstream rolling mill 2 adjusted by the leveling device 4 is output to the leveling manipulated variable calculator 200 .

The upstream rolling mill 1 and the downstream rolling mill 2 have the same configuration. The upstream rolling mill 1 is also provided with a leveling device like the downstream rolling mill 2 . When the upstream rolling mill 1 is used as the downstream rolling mill (when controlling meandering of the rolled strip 5 at the rolling mill position of the upstream rolling mill 1), the leveling device of the upstream rolling mill 1 is used.

Further, when the downstream rolling mill 2 is used as the upstream rolling mill (when controlling the meandering of the strip rolled material 5 at the rolling mill position of the rolling mill arranged one downstream from the downstream rolling mill 2), the load The total 3b has the same function as the load cell 3a provided in the upstream rolling mill 1. Further, when the upstream rolling mill 1 is used as the downstream rolling mill, the load cell 3a has the same function as the load cell 3b provided in the downstream rolling mill 2.

Also, the upstream rolling mill 1 and the downstream rolling mill 2 have a structure such as a housing, which a known rolling mill has. Further, the rolling rolls of the upstream rolling mill 1 and the downstream rolling mill 2 are not limited to those consisting of work rolls and backup rolls as shown in FIG. You may use what was equipped as a rolling roll.

The meandering meter 20 is located between the upstream rolling mill 1 and the downstream rolling mill 2, and is located in the direction of the rolling strip 5 (X axis) by a distance L from the rolling mill position of the downstream rolling mill 2 direction) and upstream (positive direction of the Z-axis). The meandering meter 20 measures the meandering amount of the rolled plate material 5 at the relevant position. The meandering amount measured by the meandering meter 20 in this manner is output to the leveling manipulated variable calculator 200 as a meandering amount measurement value _ys . In addition to the meandering meter 20, the rolling line is equipped with other well-known equipment such as loopers and transport rolls.

An example of the meandering control system of this embodiment will be described below. Moreover, in this embodiment, the case where the setup computer 100 and the leveling operation amount calculator 200 are independent devices is exemplified. However, this need not necessarily be the case. For example, the setup computer 100 and the leveling manipulated variable calculator 200 may be realized by the same hardware.

An example of the functional configuration of the setup computer 100 and the leveling manipulated variable calculator 200 will be described below.
<Setup computer 100>
The setup computer 100 calculates parameters necessary for calculating the leveling manipulated variable S _r in the leveling manipulated variable calculator 200 and outputs the parameters to the leveling manipulated variable calculator 200 . The hardware of the setup computer 100 is realized by using, for example, a CPU, ROM, RAM, HDD, and an information processing device having various interfaces, or dedicated hardware.

[First gain derivation unit 101]
The first gain deriving section 101 derives the gains p and q shown in the equation (4) before the rolling of the strip material 5 is started. As described above, the gain p is the gain from the leveling amount S of the downstream rolling mill 2 to the plate material entry side rotational angular velocity ω. The gain q is a gain from the rolling mill position meandering amount y _c (the meandering amount of the rolled strip 5 at the rolling mill position (x=0) of the downstream rolling mill 2) to the strip entry side rotational angular velocity ω. The first gain derivation unit 101 may calculate the gains p and q using a known split model, or obtain the relevant rolling Gains p and q corresponding to the conditions may be retrieved.

[Roll speed deriving unit 102]
The roll speed derivation unit 102 is the work roll of the downstream rolling mill 2 at the time when the rolling of the plate rolled material 5 in the upstream rolling mill 1 is completed (when the trailing end of the plate rolled material 5 leaves the upstream rolling mill 1). Calculate the rotation speed (roll speed) v _R of . The roll speed derivation unit 102 calculates the rotation speed (roll speed) v _R of the work rolls of the downstream rolling mill 2 at the time when the rolling of the strip material 5 in the upstream rolling mill 1 is completed, and the backward movement of the downstream rolling mill 2 . Based on the rate b, the speed v of the strip material 5 running between the upstream rolling mill 1 and the downstream rolling mill 2 is calculated by the following equation (29).

The rotation speed (roll speed) v _R of the work rolls of the downstream rolling mill 2 at the time when the rolling of the strip material 5 in the upstream rolling mill 1 is completed is the strip threading speed set for the rolling line. is calculated by a known method (not actually measured) before the rolling of the strip material 5 is started. Further, the retreat rate b of the downstream rolling mill 2 can be calculated using a known rolling theory. In the following description, the speed v of the rolled strip 5 traveling between the upstream rolling mill 1 and the downstream rolling mill 2 is referred to as strip speed v as required.

[Second gain derivation unit 103]
The second gain derivation unit 103 calculates a feedback gain f _y for the meandering amount measured value y _s , a feedback gain _fe for the time differential value e of the rolling mill position meandering amount y _c , and a disturbance d and the feedforward gain f _d for is calculated by equations (8) and (12). In the following description, the feedback gain for the measured meandering amount _ys and the feedback gain for the time differential value e of the rolling mill position meandering amount _yc will be abbreviated as feedback gains as necessary, The feedforward gain with respect to d is abbreviated as feedforward gain if necessary.

[Coefficient Derivation Unit 104]
The coefficient derivation unit 104 calculates the coefficients A- _od , K- _od , B- _od , C- _o , and D- _o in the equation (27) using the equations (26) and (28). Incidentally, A- _od , K- _od , B- _od , _{C- o} , and _{D- o} are _{respectively the A} , K , B, C, and D with - above.

[Output unit 105]
The output unit 105 outputs the plate material speed v calculated by the roll speed derivation unit 102, the feedback gains f _y and _fe and the feedforward gain f _d calculated by the second gain derivation unit 103, and the coefficient derivation unit 104, The calculated coefficients A- _od , K- _od , B- _od , C- 0 and _{D- 0} are output to the leveling manipulated _variable calculator 200 . The form of communication between the setup computer 100 and the leveling manipulated variable calculator 200 may be wired communication or wireless communication.

<Leveling manipulated variable calculator 200>
The leveling operation amount calculator 200 calculates the leveling amount (actual value) S of the downstream rolling mill 2 output from the leveling device 4 and the meandering amount measurement value y _s output from the meandering meter 20. A leveling operation amount S _r of the side rolling mill 2 is calculated and output to the leveling device 4 . The hardware of the leveling operation amount computing unit 200 is realized by using, for example, an information processing device having a CPU, ROM, RAM, HDD, and various interfaces, or dedicated hardware.

[Input unit 201]
The input unit 201 inputs the coefficients A- _od , K- _od , B- _od , C- _o , and D- _o output from the setup computer 100 (output unit 105), and outputs them to the disturbance estimation unit 203 (equation (27) ). Further, input section 201 inputs feedback gains f _y and _fe and feedforward gain f _d output from setup computer 100 (output section 105), and outputs to set. The input unit 201 also receives the plate material velocity v output from the setup computer 100 (output unit 105) and sets it to the pseudo-differential unit 202 (equation (21)).

When the above setting (preparation) is completed, the rolling of the plate rolled material 5 is started. The input unit 201 inputs the load P applied to (rolling rolls of) the upstream rolling mill 1 measured by the load meter 3a after the rolling of the strip material 5 is started.
The leveling operation amount calculator 200 determines when the rolling of the plate rolled material 5 in the upstream rolling mill 1 is completed (plate It is determined whether or not the trailing end of the rolled material 5 has passed through the upstream rolling mill 1). In the present embodiment, the leveling operation amount calculator 200 detects that the load P applied to (rolling rolls of) the upstream rolling mill 1 measured by the load meter 3a becomes 0 or a value that can be regarded as 0. It is determined that the rolling of the rolled plate material 5 has ended in the rolling mill 1 (the rear end of the rolled plate material 5 has passed through the upstream rolling mill 1).

Then, when the leveling operation amount calculator 200 determines that the rolling of the plate rolled material 5 has ended in the upstream rolling mill 1, the determined time t is set as the control start time, and the control timing specifying variable k is changed from 0 to 1. and start processing for calculating the leveling manipulated variable S _r [k] at k=1. After that, the leveling manipulated variable calculator 200 adds 1 to the control timing specific variable k each time the control period T elapses, and calculates the leveling manipulated variable S _r [k] at the control timing specific variable k after the addition. be.

[Pseudo Differential Section 202]
The pseudo differentiating section 202 calculates the time differential value e[k] of the rolling mill position meandering amount y _c at time t (=kT) corresponding to the current value of the control timing specifying variable k, using equation (21).
[Disturbance estimation unit 203 (one-dimensional observer)]
The disturbance estimating unit 203 calculates the time differential value e[k] of the rolling mill position meandering amount _yc calculated by the pseudo-differentiating unit 202, the meandering amount measured value _ys [k], and the leveling amount of the downstream rolling mill 2. Based on (actual value of) S[k], the disturbance d[k ] is calculated (estimated).

[Leveling manipulated variable deriving unit 204]
The leveling operation amount derivation unit 204 calculates the time differential value e[k] of the rolling mill position meandering amount _yc derived by the pseudo differentiating unit 202, the meandering amount measured value _ys [k], and the disturbance estimating unit 203. leveling operation amount S _r [ k] is calculated by equation (11).

FIG. 3 is a diagram for explaining an example of the operation of the leveling manipulated variable calculator 200 of this embodiment. Referring to FIG. 3, in the leveling operation amount calculator 200 of the present embodiment, the meandering amount measurement value y _s and the time differential value e of the rolling mill position meandering amount y _c are fed back, and the plate material entry side rotational angular velocity ω and feeding forward the disturbance d to . For convenience of description and notation, FIG. 3 omits some of the functional blocks in the leveling manipulated variable calculator 200 shown in FIG.

As described above, in this embodiment, the leveling operation amount S _r [k] of the downstream rolling mill 2 is calculated by the equation (11). Therefore, as shown in FIG. 3, the leveling manipulated variable derivation unit 204 can execute the calculation of the equation (11) by using multipliers 204a to 204c and an adder 204d.

A multiplier 204a multiplies the meandering amount measurement value y _s [k] by the feedback gain f _y . A multiplier 204b multiplies the time differential value e[k] of the rolling mill position meandering amount _yc by the feedback gain _fe . The multiplier 204c multiplies the disturbance _d [k] with respect to the plate entry side rotational angular velocity ω by the feedforward gain fd. The adder 204d calculates the product of the measured meandering amount _ys [k] and the feedback gain _fy , the product of the time differential value e[k] of the rolling mill position meandering amount _yc and the feedback gain _fe , and the plate material The product of the disturbance _d [k] with respect to the input-side rotational angular velocity ω and the feedforward gain fd is added. The added value obtained by the adder 204 d in this manner becomes the leveling operation amount S _r [k] of the downstream rolling mill 2 .

Here, the product of the meandering amount measurement value y _s [k] and the feedback gain f _y is reflected in the leveling amount adjusted by the leveling device 4 . Therefore, the meandering amount measurement value y _s [k] is fed back (in FIG. 3, the leveling device 4 is assumed to be included in the rolling phenomenon).
Further, the product of the time differential value e[k] of the rolling mill position meandering amount _yc obtained by pseudo-differentiating the meandering amount measured value _ys [k] and the feedback gain f _e is adjusted by the leveling device 4. reflected in quantity. Therefore, the time differential value e[k] of the rolling mill position meandering amount _yc is also fed back.

Thus, the product of the measured meandering amount y _s [k] and the feedback gain f _y is the feedback control amount S _rFB1 for the measured meandering amount y _s [k]. The product of the time differential value e[k] of the rolling mill position meandering amount y _c and the feedback gain f _e is the time differential value e feedback control amount S _rFB2 of the rolling mill position meandering amount y _c . The sum of these feedback control amounts S _rFB1 and S _rFB2 is the total feedback control amount S _rFB .

On the other hand, the product of the disturbance d[k] with respect to the plate entry side rotational angular velocity ω and the feedforward gain f _d is the feedforward control amount S _rFF of the disturbance d with respect to the plate entry side rotational angular velocity ω.
The sum of the feedback control amount S _rFB and the feedforward control amount S _rFF is output to the leveling device 4 as the leveling operation amount S _r [k] of the downstream rolling mill 2 .

[Output unit 205]
The output unit 205 outputs the leveling operation amount S _r [k] of the downstream rolling mill 2 calculated by the leveling operation amount derivation unit 204 to the leveling device 4 . As described above, the leveling device 4 controls the downstream rolling mill 2 so that the leveling amount of the downstream rolling mill 2 matches the leveling operation amount S _r [k] of the downstream rolling mill 2 output by the output unit 205. Adjust the leveling amount of 2.

The pseudo differentiating section 202, the disturbance estimating section 203, the leveling manipulated variable deriving section 204, the output section 205, and the leveling device 4 perform the above processing every time the control cycle T elapses until the meandering amount measured value _ys is no longer obtained. run to When the meandering amount measured value y _s is no longer obtained, the leveling manipulated variable calculator 200 holds the leveling manipulated variable S _r [k] of the downstream rolling mill 2 last output by the output unit 205, and converts that value to Output to the output unit 205 .

After that, the leveling device 4 determines that the downstream rolling mill 2 has finished rolling the plate rolled material 5 at the time (=kT) corresponding to the current value of the control timing specific variable k (the rear end of the plate rolled material 5 It is determined whether or not the roll has passed through the side rolling mill 2). In this embodiment, when the load P applied to (rolling rolls of) the downstream rolling mill 2 measured by the load meter 3b becomes 0 or a value that can be regarded as 0, the leveling device 4 in the downstream rolling mill 2 It is determined that the rolling of the rolled plate material 5 has ended (the trailing end of the rolled plate material 5 has passed through the downstream rolling mill 2).

When the rolling of the strip material 5 is not completed in the downstream rolling mill 2, the leveling device 4 controls the downstream level held as described above at the time (=kT) corresponding to the current value of the control timing specific variable k. Adjusting the leveling amount of the downstream rolling mill 2 so as to match the leveling operation amount S _r [k] of the side rolling mill 2 until the rolling of the plate rolled material 5 in the downstream rolling mill 2 is completed. This is repeated each time the control cycle T elapses.

As described above, in this embodiment, the feedback control amount for the measured meandering amount y _s and the feedback control amount for the time differential value e of the rolling mill position meandering amount y _c are derived, and Derive the feedforward control amount S _rFF of the disturbance d (feed back the meandering amount measurement value y _s and the time differential value e of the rolling mill position meandering amount y _c , and feed forward the disturbance d with respect to the plate entry side rotational angular velocity ω) .

The disturbance estimating unit 203 inputs the leveling amount (actual value) S[k] of the downstream rolling mill 2, but estimates the disturbance to the plate material entry side rotation angular velocity ω, The configuration is such that the disturbance to the angular velocity ω is compensated for (previously canceled). Therefore, the control of the meandering amount of the rolled strip 5 at the rolling mill position of the downstream rolling mill 2 using the disturbance estimating section 203 is feedforward control.

<Operation flow chart>
Next, an example of processing in the meandering control system of this embodiment will be described with reference to the flowchart of FIG.
First, in step S401, the first gain derivation unit 101 derives gains p and q shown in equation (4).
Next, in step S402, the roll speed deriving unit 102 calculates the speed v of the strip material 5 traveling between the upstream rolling mill 1 and the downstream rolling mill 2 by using the equation (29).

Next, in step S403, the second gain derivation unit 103 calculates feedback gains f _y and _fe and feedforward gain f _d using equations (8) and (12).
Next, in step S404, the coefficient deriving unit 104 converts the coefficients A- _od , K- _od , B- _od , C- _o , and D- _o in the equation (27) into calculate.
Next, in step S405, the output unit 105 outputs the feedback gains f _y , _fe and feedforward gain f _d calculated in step S403 and the coefficients A- _od , K- _od , B- _od , C _o , D _o and the plate material speed v calculated in step S 402 are output to the leveling operation amount calculator 200 . Input unit 201 inputs coefficients A- _od , K- _od , B- _od , C- ₀ , and D- ₀ , and sets them to disturbance estimating unit 203 (equation (27)). Further, the input unit 201 inputs the feedforward gain f _d and sets it to the leveling operation amount deriving unit 204 (equation (11) (equation (30))). Also, the input unit 201 inputs the plate material velocity v and sets it to the pseudo-differential unit 202 (equation (21)). After the process of step S405 is completed, the rolling of the plate rolled material 5 is started.

Next, in step S406, the leveling manipulated variable calculator 200 sets the control timing identification variable k to zero.
Next, in step S407, the leveling manipulated variable calculator 200 waits until the rolling of the plate rolled material 5 in the upstream rolling mill 1 is completed. When the rolling of the plate material 5 is completed in the upstream rolling mill 1 (if determined as YES in step S407), the process proceeds to step S408. When the process proceeds to step S408, the leveling manipulated variable calculator 200 adds 1 to the control timing identification variable k to update the control timing identification variable k. When the control timing identification variable k is changed from 0 to 1, the time t corresponding to the control timing identification variable k (=1) is set as the current time.

Note that when the control timing identification variable k is updated by adding 1 to the control timing identification variable k, the time obtained by adding the control period T to the previous control timing identification variable k is added to the updated control timing identification variable k. At the corresponding time t (=kT), the following steps S409 to S416 are executed.
In step S409, the pseudo differentiating section 202 determines whether or not the meandering amount measurement value y _s [k] is obtained at the time t (=kT) corresponding to the current value of the control timing specifying variable k. If the meandering amount measurement value y _s [k] is not obtained as a result of this determination (NO in step S409), the process proceeds to step S413, which will be described later.

On the other hand, if the meandering amount measurement value y _s [k] is obtained (YES in step S409), the process proceeds to step S410. When the process proceeds to step S410, the pseudo differentiating section 202 obtains the meandering amount measurement value y _s [k], and calculates the rolling mill position at time t (=kT) corresponding to the current value of the control timing identification variable k. A time differential value e[k] of the amount of meandering y _c is calculated by equation (21).
Next, in step S411, the disturbance estimation unit 203 calculates the time differential value e[k] of the rolling mill position meandering amount _yc calculated in step S410 and the meandering amount measurement value _ys [k obtained in step S409. ] and the (actual value of) leveling amount S[k] of the downstream rolling mill 2 output from the leveling device 4, the time corresponding to the current value of the control timing identification variable k is calculated by the expression (27). Calculate (estimate) the disturbance d[k] with respect to the input-side rotation angular velocity ω at t (=kT).

Next, in step S412, the leveling operation amount deriving unit 204 calculates the meandering amount measurement value y _s [k] acquired in step _S409 and the time differential value e of the rolling mill position meandering amount yc calculated in step S410. Based on [k] and the disturbance d[k] for the plate entry side rotational angular velocity ω calculated in step S411, downstream rolling at time t (=kT) corresponding to the current value of the control timing specific variable k A leveling operation amount S _r [k] of the machine 2 is calculated by the equation (11).
Next, in step S<b>414 , the output unit 205 outputs the leveling operation amount S _r [k] of the downstream rolling mill 2 calculated by the leveling operation amount deriving unit 204 to the leveling device 4 .

As described above, if the meandering amount measurement value y _s [k] is not obtained in step S409 (NO in step S409), the process proceeds to step S413. When the process proceeds to step S413, the leveling manipulated variable calculator 200 holds the leveling manipulated variable S _r [k] at the value last output in step S414, and proceeds to step S414. The processing of step S414 is as described above.

Next, in step S415, the leveling device 4 determines whether or not the rolling of the plate rolled material 5 in the downstream rolling mill 2 has been completed. As a result of this determination, if the rolling of the plate material 5 has ended in the downstream rolling mill 2 (YES in step S415), the processing according to the flowchart of FIG. 4 ends.
On the other hand, if the rolling of the strip material 5 has not been completed in the downstream rolling mill 2 (NO in step S415), the process proceeds to step S416. When the process proceeds to step S416, the leveling device 4 adjusts the leveling operation amount S _r [k ], the leveling amount of the downstream rolling mill 2 is adjusted. Then, the process returns to step S408, the control timing specifying variable k is updated, and the processes of steps S409 to S416 are executed at the time (=kT) corresponding to the updated control timing specifying variable k.

<Summary>
As described above, in the present embodiment, the leveling manipulated variable calculator ₂₀₀ derives the time differential value e[k] of the rolling mill position meandering amount _yc , and the derived time differential value e of the rolling mill position meandering amount yc [k], the meandering amount measured value y _s [k], and the leveling amount (actual value) S [k] of the downstream rolling mill 2 are given to a one-dimensional observer, and the one-dimensional observer Estimate the disturbance d[k] with respect to the side rotation angular velocity ω. Therefore, by calculating the time differential value e[k] of the rolling mill position meandering amount _yc using the equation (21) without estimating it using an observer, the leveling operation amount _Sr [ k] can be derived. At this time, what is estimated by the observer is only the disturbance d[k] with respect to the input side rotational angular velocity ω. Therefore, it is possible to shorten the time required for the estimated value of the disturbance d[k] to settle with respect to the input-side rotational angular velocity ω of the plate material. As a result, the effect of the feedforward control amount S _rFF of the disturbance d[k] with respect to the input-side rotation angular velocity ω of the third term on the right side of the equation (11) appears quickly. In addition, the leveling operation amount calculator 200 calculates the feedforward control amount S _rFF of the disturbance d[k] with respect to the plate entry side rotational angular velocity ω, the meandering amount measured value y _s [k], and the time of the rolling mill position meandering amount y _c By deriving the sum of the differential value e[k] and the feedback control amount _SrFB as the leveling operation amount _Sr [k] of the downstream rolling mill 2, the feedforward control of the third term on the right side of the equation (11) The effects of feedback control of the first and second terms on the right side are also added to the effect of . Of these, the time differential value e of the rolling mill position meandering amount y _c used in the second term on the right side is calculated by equation (21) without using an observer, so the effect of feedback control in the second term on the right side appears quickly. As described above, according to the present embodiment, it is possible to speed up the response of meandering control.

In the present embodiment, the control start time is set to the time when the rolling of the plate material 5 in the upstream rolling mill 1 is finished. However, this need not necessarily be the case. For example, the control start time may be the time when the rolling of the strip material 5 in the rolling mill arranged one upstream side of the upstream rolling mill 1 is completed.

(Second embodiment)
Next, a second embodiment will be described. In the first embodiment, both feeding back the time differential value e of the meandering amount measurement value _ys and the rolling mill position meandering amount yc and feeding forward the disturbance _d with respect to the plate entry side rotational angular velocity ω are performed. I explained how to do it. Here, when only the feedforward control of the third term on the right side of Equation (11) is performed, the only estimated value that is actually required is the disturbance d for the plate entry side rotational angular velocity ω. It is necessary to use a two-dimensional observer for estimating the time differential value e of the machine position meandering amount y _c and the disturbance d with respect to the input-side rotational angular velocity ω. As described above, in the base technology, even when only feedforward control is performed, a two-dimensional observer is provided to estimate the time differential value e of the rolling mill position meandering amount yc and the disturbance _d with respect to the plate entry side rotational angular velocity ω. need to use.

Therefore, in the present embodiment, when only the feedforward control of the third term on the right side of Equation (11) is performed, the time differential value e of the rolling mill position meandering amount _yc calculated by Equation (21) and meandering An example of constructing a one-dimensional observer ((3-input, 1-output observer) for estimating only the disturbance d with respect to the entry-side rotational angular velocity ω of the plate material from the measured amount y _s and the leveling amount S of the downstream rolling mill will be described. (see FIG. 1(b)). This one-dimensional observer functions as a disturbance observer and has a smaller dimension than the conventional two-dimensional observer, so it is possible to reduce the settling time of the estimated value. That is, when only the feedforward control of the third term on the right side of the equation (11) is performed, the effect of the third term on the right side of the equation (11) appears quickly, and the response of the meandering control becomes faster. As described above, in the present embodiment, the case where the disturbance d with respect to the input-side rotational angular velocity ω of the plate material is fed forward without feeding back the meandering amount measurement value y _s and the time differential value e of the rolling mill position meandering amount y _c will be described. do. Thus, the present embodiment omits the configuration and processing for feeding back the meandering amount measured value _ys and the time differential value e of the rolling mill position meandering amount _yc in the first embodiment. Therefore, in the description of the present embodiment, the same parts as in the first embodiment are denoted by the same reference numerals as those in FIGS. 2 to 4, and detailed description thereof is omitted.

FIG. 5 is a diagram showing an example of the configuration of the meandering control system of this embodiment. The meandering control system of this embodiment differs from the meandering control system of the first embodiment shown in FIG. Among the functions of the setup computer 100 and the leveling manipulated variable calculator 200 of the present embodiment, the functions different from those of the meandering control system of the first embodiment will be described below.

<Setup computer 100>
[Second gain derivation unit 503]
The second gain deriving section 103 of the first embodiment calculates the feedback gains f _y and _fe and the feedforward gain f _d by the formulas (8) and (12). On the other hand, the second gain derivation unit 503 of the present embodiment sets the feedback gains f _y and _fe to 0, and the feedforward gain f _d with respect to the disturbance d with respect to the input-side rotational angular velocity ω of the plate material is obtained by formula (8), (12) Calculate by the formula.

[Output unit 505]
In the output unit 105 of the first embodiment, the plate material velocity v, feedback gains f _y , _fe and feedforward gain f _d , coefficients A- _od , K- _od , B- _od , C- _o , D- _o is output to the leveling manipulated variable calculator 200 . On the other hand, the output unit 505 of the present embodiment converts the plate material speed v, the feedforward gain _fd , the coefficients A- _od , K- _od , B- _od , C- _o , and D- _o into the leveling operation amount Output to the calculator 200 .

<Leveling manipulated variable calculator 200>
[Input unit 501]
The input unit 201 of the first embodiment includes the plate material velocity v, coefficients A- _od , K- _od , B- _od , C- _o , D- _o , feedback gains _fy , _fe , and feedforward gain f Enter _d . On the other hand, the input unit 501 of this embodiment inputs the plate material speed v, the coefficients A- _od , K- _od , B- _od , C- _o , D- _o , and the feedforward gain _fd .
Specifically, the input unit 501 inputs the coefficients A- _od , K- _od , B- _od , C- _o , and D- _o output from the setup computer 100 (output unit 505), and outputs them to the disturbance estimation unit 203 (( 27) Set for formula). Further, the input unit 501 inputs the feedforward gain f _d output from the setup computer 100 (output unit 505), and sets it to the leveling manipulated variable derivation unit 504 (equation (11)). In this embodiment, since the feedback gains f _y and f _e are set to 0, the first term (f _y y _s [k]) on the right side and the second term (f _e e [k]) on the right side of equation (11) ) becomes 0. Also, the input unit 501 inputs the plate material speed v output from the setup computer 100 (output unit 505), and sets it to the pseudo-differential unit 202 (equation (21)).

[Leveling manipulated variable deriving unit 504]
The leveling operation amount derivation unit 204 of the first embodiment does not set the feedback gains f _y and _fe to 0, and the time differential value e[k] of the rolling mill position meandering amount y _c derived by the pseudo-differentiation unit 202 , and based on the meandering amount measurement value y _s [k] and the disturbance d [k] with respect to the input-side rotational angular velocity ω of the plate material derived by the disturbance estimator 203, the time corresponding to the current value of the control timing specific variable k A leveling operation amount S _r [k] of the downstream rolling mill 2 at t (=kT) is calculated by the equation (11). On the other hand, the leveling manipulated variable deriving unit 504 of the present embodiment uses the following equation (30) with the feedback gains f _y and _fe set to 0 in equation (11) to obtain the current value of the control timing identification variable k. A leveling operation amount S _r [k] of the downstream rolling mill 2 at the corresponding time t (=kT) is calculated.

As described above, in the present embodiment, the feedback control amount for the measured meandering amount y _s and the feedback control amount for the time differential value e of the rolling mill position meandering amount y _c are not calculated (the measured meandering amount y _s and Without feeding back the time differential value e of the rolling mill position meandering amount y _c ), only the feedforward control amount S _rFF of the disturbance d with respect to the plate material entry side rotation angular velocity ω is calculated (the disturbance d with respect to the plate material entry side rotation angular velocity ω is feed forward).

<Operation flow chart>
The processing in the meandering control system of this embodiment can be realized by the flowchart of FIG.
However, in step S403, the second gain derivation unit 503 sets the feedback gains f _y and _fe to 0, and calculates the feedforward gain f _d by the formulas (8) and (12).

In step S405, the output unit 505 outputs the plate material speed v calculated in step S402, the feedforward gain f _d calculated in step S403, and the coefficients A- _od , K- _od , calculated in step S404. B- _od , C- _o , and D- _o are output to the leveling manipulated variable calculator 200 .
Further, in step S412, the leveling operation amount deriving unit 504 calculates the time t ( = kT), the leveling operation amount S _r [k] of the downstream rolling mill 2 is calculated by the equation (30).

<Summary>
As described above, in the present embodiment, the leveling manipulated variable calculator ₂₀₀ derives the time differential value e[k] of the rolling mill position meandering amount _yc , and the derived time differential value e of the rolling mill position meandering amount yc [k], the meandering amount measured value y _s [k], and the leveling amount (actual value) S [k] of the downstream rolling mill 2 are given to a one-dimensional observer, and the one-dimensional observer Estimate the disturbance d[k] for the side rotation angular velocity ω, and derive the feedforward control amount _SrFF of the disturbance _d [k] for the strip entry side rotation angular velocity ω as the leveling operation amount Sr[k] of the downstream rolling mill 2. By doing so, the effect of the feedforward control of the third term on the right side of the equation (11) appears quickly, and the response of the meandering control can be sped up.
Also in this embodiment, various modifications described in the first embodiment can be employed.

(Third embodiment)
Next, a third embodiment will be described. In the first embodiment, both feeding back the time differential value e of the meandering amount measurement value _ys and the rolling mill position meandering amount yc and feeding forward the disturbance _d with respect to the plate entry side rotational angular velocity ω are performed. I explained how to do it. Here, when only the feedback control of the first and second terms on the right side of equation (11) is performed, the only estimated value that is actually required is the time differential value e of the rolling mill position meandering amount _yc . In the base technology, it is necessary to use a two-dimensional observer that estimates the time differential value e of the rolling mill position meandering amount yc and the disturbance _d with respect to the plate entry side rotational angular velocity ω. As described above, the base technology uses a two-dimensional observer that estimates the time differential value e of the rolling mill position meandering amount y _c and the disturbance d with respect to the plate entry side rotational angular velocity ω even when only feedback control is performed. There is a need.

Therefore, in the present embodiment, when performing only the feedback control of the first and second terms on the right side of Equation (11), the observer is not required, and the calculated value of Equation (21) is used instead of the observer's estimated value. As a result, the effect of the second term on the right side appears quickly, and the meandering control responds quickly. In this way, in the present embodiment, a case will be described in which the measured meandering amount value y _s and the time differential value e of the rolling mill position meandering amount y _c are fed back without feeding forward the disturbance d with respect to the plate entry side rotational angular velocity ω. do. As described above, the present embodiment omits the configuration and processing for feeding forward the disturbance d with respect to the plate entry side rotational angular velocity ω in the first embodiment. Therefore, in the description of the present embodiment, the same parts as in the first embodiment are denoted by the same reference numerals as those in FIGS. 2 to 4, and detailed description thereof is omitted.

FIG. 6 is a diagram showing an example of the configuration of the meandering control system of this embodiment. The meandering control system of this embodiment differs from the meandering control system of the first embodiment shown in FIG. Among the functions of the setup computer 100 and the leveling manipulated variable calculator 200 of the present embodiment, the functions different from those of the meandering control system of the first embodiment will be described below.

<Setup computer 100>
[Second gain derivation unit 603]
The second gain deriving section 103 of the first embodiment calculates the feedback gains f _y and _fe and the feedforward gain f _d by the formulas (8) and (12). On the other hand, the second gain derivation unit 603 of the present embodiment sets the feedforward gain f _d to 0, the feedback gain f _y for the meandering amount measured value y _s and the time differential value of the rolling mill position meandering amount y _c A feedback gain f _e for e is calculated by equations (8) and (12).

[Output unit 605]
In the output unit 105 of the first embodiment, the plate material velocity v, feedback gains f _y , _fe and feedforward gain f _d , coefficients A- _od , K- _od , B- _od , C- _o , D- _o is output to the leveling manipulated variable calculator 200 . On the other hand, the output unit 605 of this embodiment outputs the plate material speed v and the feedback gains f _y and f _e to the leveling manipulated variable calculator 200 . In this embodiment, since no observer is used, the coefficient derivation unit 104 for deriving the coefficients A- _od , K- _od , B- _od , C- _o , and D- _o is unnecessary.

<Leveling manipulated variable calculator 200>
[Input unit 601]
The input unit 201 of the first embodiment includes the plate material velocity v, coefficients A- _od , K- _od , B- _od , C- _o , D- _o , feedback gains _fy , _fe , and feedforward gain f Enter _d . On the other hand, the input unit 601 of this embodiment inputs the plate material speed v and the feedback gains f _y and _fe .
Specifically, the input unit 601 inputs the feedback gains f _y and f _e output from the setup computer 100 (output unit 505), and sets them to the leveling manipulated variable deriving unit 604 (equation (11)). In this embodiment, since the feedforward gain f _d is 0, the third term (f _d d[k]) on the right side of equation (11) is 0. Also, the input unit 601 inputs the plate material velocity v output from the setup computer 100 (output unit 605), and sets it to the pseudo-differential unit 202 (equation (21)).

[Leveling manipulated variable deriving unit 604]
The leveling operation amount deriving unit 204 of the first embodiment does not set the feedforward gain f _d to 0, and the time differential value e[k] of the rolling mill position meandering amount _yc derived by the pseudo differentiating unit 202, Time _t ( = kT), the leveling operation amount S _r [k] of the downstream rolling mill 2 is calculated by the equation (11). On the other hand, the leveling manipulated variable deriving unit 604 of the present embodiment uses the following equation (31) with the feedforward gain f _d set to 0 in equation (11) to obtain the current value of the control timing identification variable k. A leveling operation amount S _r [k] of the downstream rolling mill 2 at time t (=kT) is calculated. Incidentally, as described above, the disturbance estimator 203 is not used in this embodiment.

As described above, in the present embodiment, the measured meandering amount y Only the feedback control amount of _s and the time differential value e of the rolling mill position meandering amount y _c are calculated as the feedback control amount S _rFB (the measured meandering amount y _s and the time of the rolling mill position meandering amount y _c feed back the differential value e).

<Operation flow chart>
The processing in the meandering control system of this embodiment can be realized by the flowchart of FIG.
However, in step S403, the second gain derivation unit 603 sets the feedforward gain _fd to 0, and calculates the feedback gains _fy and _fe using equations (8) and (12). Also, the processing of step S404 (calculation of coefficients A- _od , K- _od , B- _od , C- _o , and D- _o ) is not performed.

Also, in step S405, the output unit 605 outputs the plate material velocity v calculated in step S402 and the feedback gains _fy and _fe calculated in step S403 to the leveling operation amount calculator 200. FIG.
In addition, the processing of step S411 (calculation of disturbance d[k] with respect to plate entry side rotational angular velocity ω) is not performed. Then, in step S412, the leveling operation amount deriving unit 604 converts the meandering amount measurement value y _s [k] acquired in step _S409 and the time differential value e[ k], the leveling manipulated variable S _r [k] of the downstream rolling mill 2 at time t (=kT) corresponding to the current value of the control timing specific variable k is calculated by equation (31).

<Summary>
As described above, in the present embodiment, the leveling manipulated variable calculator ₂₀₀ derives the time differential value e[k] of the rolling mill position meandering amount _yc , and the derived time differential value e of the rolling mill position meandering amount yc The sum (feedback control amount S _rFB ) of the feedback control amount f _e [k] of [k] and the feedback control amount f _{y s} [k] of the measured meandering amount y _s [k] is By _deriving the leveling operation amount S _r [k] of the mill 2, (11) The effect of the feedback control of the second term on the right side of the equation appears quickly, and the response of meandering control can be sped up.
Also in this embodiment, various modifications described in the first embodiment can be employed.

As described above, in any one of the first to third embodiments, the leveling amount calculator 200 pseudo-differentiates the measured value of the meandering amount of the rolled strip 5 measured by the meandering meter 20. A pseudo-differential unit 202 for deriving a calculated value of the time-differentiated value of the meandering amount of the strip 5 at the rolling mill position (the time-differentiated value e[k] of the meandering amount _yc at the rolling mill position), and derivation by the pseudo-differential unit 202 _Leveling operation amount _Sr Leveling manipulated variable deriving units 204, 504, and 604 for deriving [k] are provided.

(calculation example)
Next, the results of computer simulation of the meandering control system of this embodiment will be described.
Here, a case where a tandem rolling mill consisting of seven rolling mills performs a simulation of rolling a 25 mm thick, 1000 mm wide sheet material to a 1.6 mm thick sheet will be described as an example. A simulation was performed to control meandering of the rolled strip 5 at the downstream rolling mill 2 position, with the fifth rolling mill being the upstream rolling mill 1 and the sixth rolling mill being the downstream rolling mill 2 . The distance between the upstream rolling mill 1 and the downstream rolling mill 2 in the direction (X-axis direction) in which the rolled material 5 passes is 5.5 m. The distance L in the strip-passing direction (X-axis direction) from the measurement position of the strip material 5 measured by the meandering meter 20 to the rolling mill position of the downstream rolling mill 2 is 2.75 m. The strip material speed (velocity of the strip material 5 running between the downstream rolling mill 2 and the meandering meter 20) v is 9.49 m/s. A control period T is 0.01 s. Further, the disturbance d with respect to the input-side rotational angular velocity ω of the plate material was set to 5×10 ⁻⁶ rad/s.

<First calculation example>
First, a calculation example for the second embodiment will be described.
Here, when calculating the leveling operation amount S _r of the downstream rolling mill 2, the case where only the feedforward control of the disturbance d with respect to the plate entry side rotational angular velocity ω, which is the third term on the right side of the equation (11), is applied ( f _y =f _e =0) was simulated.

The contents of the simulation in Comparative Example 1 are as follows.
In Comparative Example 1, by the method described in Patent Document 1, the rolling mill position meandering was calculated from the measured meandering amount y _s [k] and the leveling amount (actual value) S [k] of the downstream rolling mill 2. The time differential value e[k] of the quantity y _c and the disturbance d[k] with respect to the input-side rotation angular velocity ω are estimated by a two-dimensional observer that discretizes the equation (16) with the control period T. Then, the estimated value of the disturbance _d [k] with respect to the strip entry side rotational angular velocity ω estimated by the two-dimensional observer is substituted into the equation (30) to calculate the leveling operation amount Sr[k] of the downstream rolling mill 2. . Then, a simulation is performed to operate the leveling device 4 so that the leveling operation amount of the downstream rolling mill 2 becomes equal to the leveling operation amount S _r [k] of the downstream rolling mill 2 . In Comparative Example 1, these are repeated each time the control cycle T elapses.

The details of the simulation in Invention Example 1 are as follows.
In Example 1, as in the second embodiment, the time differential value e[k] of the rolling mill position meandering amount y _c is calculated from the meandering amount measured value y _s [k] using equation (21). . Then, the calculated value of the time differential value e [k] of the rolling mill position meandering amount y _c calculated in this way, the meandering amount measured value y _s [k], and the leveling amount of the downstream rolling mill 2 (actual results value) S[k], the disturbance d[k] with respect to the input-side rotational angular velocity ω of the plate material is estimated by the one-dimensional observer of the equation (27). Then, the estimated value of the disturbance _d [k] with respect to the strip entry side rotational angular velocity ω estimated by the one-dimensional observer is substituted into the equation (30) to calculate the leveling operation amount Sr[k] of the downstream rolling mill 2. . Then, a simulation is performed to operate the leveling device 4 so that the leveling operation amount of the downstream rolling mill 2 becomes equal to the leveling operation amount S _r [k] of the downstream rolling mill 2 . In Comparative Example 1, these are repeated each time the control cycle T elapses.
Except for the above points, the simulation was performed under the same conditions for Invention Example 1 and Comparative Example 1.

The results of Comparative Example 1 are shown in FIG. 7, and the results of Invention Example 1 are shown in FIG.
7(a) and 8(a) show the relationship between the meandering amount of the rolled strip 5 and the elapsed time from the end of rolling by the upstream rolling mill 1. FIG. 7(a) and 8(a), the solid line indicates the rolling mill position meandering amount _yc , and the broken line indicates the meandering amount measured value _ys .
7(b) and 8(b) show the relationship between the leveling amount (actual value) S of the downstream rolling mill 2 and the elapsed time from the end of rolling of the upstream rolling mill 1. FIG.

7(c) and 8( _c ) show the relationship between the time differential value e of the rolling mill position meandering amount yc and the elapsed time from the end of rolling of the upstream rolling mill 1. FIG. The dashed lines in FIGS. 7(c) and 8(c) indicate the true values, the solid line in FIG. 7(c) indicates the estimated values (by the observer), and the solid line in FIG. 8(c) indicates the calculated values (pseudo-differential values ).
FIGS. 7(d) and 8(d) show the relationship between the disturbance d with respect to the plate entry side rotational angular velocity ω and the elapsed time from the end of rolling of the upstream rolling mill 1. FIG. Broken lines in FIGS. 7(d) and 8(d) indicate true values, and solid lines indicate estimated values.

In Comparative Example 1, the response of the estimated value of the disturbance d to the time differential value e of the rolling mill position meandering amount y _c indicated by the solid lines in FIGS. , the leveling amount (actual value) S of the downstream rolling mill 2 shown in FIG. 7(b) also changes only slowly. Therefore, the maximum value of the rolling mill position meandering amount y _c indicated by the solid line in FIG. be.

On the other hand, in Example 1, the time differential value e (calculated value) of the rolling mill position meandering amount y _c indicated by the solid line in FIG. In 8(d), the response of the disturbance d (estimated value) to the angular velocity ω on the entry side of the strip material shown by the solid line is fast, and the leveling amount (actual value) S of the downstream rolling mill 2 shown in FIG. 8(b) is also quick. Change. Therefore, the maximum value of the rolling mill position meandering amount y _c indicated by the solid line in FIG. Become.

<Second calculation example>
Next, a calculation example for the first embodiment will be described.
Here, when deriving the leveling operation amount S _r of the downstream rolling mill 2, in addition to the feedforward of the disturbance d with respect to the strip entry side rotational angular velocity ω, which is the third term on the right side of Equation (11), A simulation was performed in which the feedback control of the meandering amount measurement value _ys , which is the term, and the feedback control of the time differential value e of the rolling mill position meandering amount _yc , which is the second term on the right side, are also used.

The contents of the simulation in Comparative Example 2 are as follows.
In Comparative Example 2, by the method described in Patent Document 1, the rolling mill position meandering was calculated from the meandering amount measurement value y _s [k] and the leveling amount (actual value) S [k] of the downstream rolling mill 2. The time differential value e[k] of the quantity y _c and the disturbance d[k] with respect to the input-side rotation angular velocity ω are estimated by a two-dimensional observer that discretizes the equation (16) with the control period T. Then, the measured meandering amount y _s [k] is the first term on the right side of equation (11), and the estimated value of the time differential value e[k] of the rolling mill position meandering amount y _c estimated by the two-dimensional observer is the second term on the right side. In the second term, the estimated value of the disturbance d[k] with respect to the strip entry-side rotational angular velocity ω estimated by the two-dimensional observer is substituted into the third term on the right side, and the leveling operation amount S _r [k] of the downstream rolling mill 2 is obtained. to calculate Then, a simulation is performed to operate the leveling device 4 so that the leveling operation amount of the downstream rolling mill 2 becomes equal to the leveling operation amount S _r [k] of the downstream rolling mill 2 . In Comparative Example 2, these are repeated each time the control cycle T elapses.

The details of the simulation in Invention Example 2 are as follows.
In Invention Example 2, similarly to the first embodiment, the time differential value e[k] of the rolling mill position meandering amount _yc is calculated from the meandering amount measured value _ys [k] using equation (21). . Then, the calculated value of the time differential value e [k] of the rolling mill position meandering amount y _c calculated in this way, the meandering amount measured value y _s [k], and the leveling amount of the downstream rolling mill 2 (actual results value) S[k], the disturbance d[k] with respect to the input-side rotational angular velocity ω of the plate material is estimated by the one-dimensional observer of the equation (27). Then, the measured meandering amount y _s [k] is the first term on the right side of equation (11), and the calculated value of the time differential value e [k] of the rolling mill position meandering amount y _c is the second term on the right side. The leveling operation amount Sr[k] of the downstream rolling mill 2 is calculated by substituting the estimated value of the disturbance _d [k] with respect to the strip entry side rotational angular velocity ω estimated by the observer into the third term on the right side. Then, a simulation is performed to operate the leveling device 4 so that the leveling operation amount of the downstream rolling mill 2 becomes equal to the leveling operation amount S _r [k] of the downstream rolling mill 2 . In Example 2, these operations are repeated each time the control cycle T elapses.
Except for the above points, the simulation was performed under the same conditions for Invention Example 2 and Comparative Example 2.

The results of Comparative Example 2 are shown in FIG. 9, and the results of Invention Example 2 are shown in FIG. The vertical axis, horizontal axis, solid line, and broken line in FIGS. 9(a) and 10(a) are the same as those in FIGS. 7(a) and 8(a). 10(b) are the same as those in FIGS. 7(b) and 8(b), and the vertical axis and horizontal axis in FIGS. The axes, solid lines, and dashed lines are the same as those in FIGS. 7(c) and 8(c), and the vertical axes, horizontal axes, and solid lines in FIGS. 9(d) and 10(d). are the same as in FIGS. 7(d) and 8(d).

In Comparative Example 2, the response of the estimated value of the disturbance d to the time differential value e of the rolling mill position meandering amount y _c indicated by the solid lines in FIGS. , the leveling amount (actual value) S of the downstream rolling mill 2 shown in FIG. 9(b) also changes only slowly. Therefore, the maximum value of the rolling mill position meandering amount y _c indicated by the solid line in FIG. be.

In contrast, in Example 2, the time differential value e (calculated value) of the rolling mill position meandering amount y _c indicated by the solid line in FIG. 10(d), the response of the disturbance d (estimated value) to the angular velocity ω on the entry side of the strip material shown by the solid line is fast, and the leveling amount (actual value) S of the downstream rolling mill 2 shown in FIG. 10(b) is also agile. Change. Therefore, the maximum value of the rolling mill position meandering amount y _c indicated by the solid line in FIG. Become.

As described above, the time differential value e of the rolling mill position meandering amount y _c is calculated from the meandering amount measured value y _s using equation (21), and the meandering amount measured value y _s and the rolling mill position meandering amount y _c From the calculated value of the time differential value e of and the leveling amount (actual value) S of the downstream rolling mill 2, the disturbance d with respect to the plate entry side rotational angular velocity ω is obtained by a one-dimensional observer represented by the equation (27) By estimating, the time required for the estimated value of the disturbance d with respect to the plate entry side rotational angular velocity ω to settle is shortened. Further, in addition to the feedforward of the disturbance _d with respect to the plate entry side rotational angular velocity ω, the feedback control of the meandering amount measurement value _ys and the feedback control of the time differential value e of the rolling mill position meandering amount yc are also used together. The rolling mill position meandering amount y _c can be further reduced.

(Other embodiments)
The embodiments of the present invention described above can be implemented by a computer executing a program. A computer-readable recording medium recording the program and a computer program product such as the program can also be applied as embodiments of the present invention. Examples of recording media that can be used include flexible disks, hard disks, optical disks, magneto-optical disks, CD-ROMs, magnetic tapes, nonvolatile memory cards, and ROMs.
In addition, the embodiments of the present invention described above are merely examples of specific implementations of the present invention, and the technical scope of the present invention should not be construed to be limited by these. It is. That is, the present invention can be embodied in various forms without departing from its technical concept or main features.

1: Upstream rolling mill, 2: Downstream rolling mill, 3a, 3b: Load cell, 4: Leveling device, 5: Plate rolled material, 100: Setup computer, 200: Leveling device, 101: First gain deriving unit , 102: roll speed derivation unit, 103/503/603: second gain derivation unit, 104: coefficient derivation unit, 105/505/605: output unit, 201/501/601: input unit, 202: pseudo differentiation unit , 203: disturbance estimation unit, 204/504/604: leveling operation amount derivation unit, 205: output unit

Claims (6)

a rolling mill;
a meandering meter installed at a position on the upstream side of the rolling mill for measuring the meandering amount of the rolled strip being threaded;
A meandering control system that controls the meandering amount of the rolled plate material at the rolling mill position,
pseudo-differentiation means for deriving a value obtained by pseudo-differentiating the measured value of the meandering amount of the rolled sheet material measured by the meandering meter as a calculated value of the time-differentiated value of the meandering amount of the rolled sheet material at the position of the rolling mill; ,
derivation means for deriving the leveling operation amount of the rolling mill using the calculated value of the time differential value of the meandering amount of the rolled strip at the rolling mill position derived by the pseudo-differentiation means. Characterized meandering control system. 2. The method according to claim 1, wherein the pseudo-differential means derives a calculated value e[k] of the time differential value of the meandering amount of the rolled strip at the position of the rolling mill using the following equation (A): A meander control system as described.

However, L is the distance between the rolling mill and the meandering meter in the strip-passing direction of the rolled sheet material, and v is the rolled sheet material traveling between the rolling mill and the meandering meter. y _s is the meandering amount of the strip rolled material measured by the meandering meter, [k] is a symbol indicating the value at time t = kT, and T is the above This is the control cycle of the amount of meandering. Using a one-dimensional observer, the calculated value of the time differential value of the meandering amount of the rolled strip at the rolling mill position derived by the pseudo differentiating means, and the meandering amount of the rolled strip measured by the meandering meter and an actual value of the leveling amount of the rolling mill, an estimating means for deriving an estimated value of disturbance to the rotational angular velocity occurring in the rolled plate material on the entry side of the rolling mill,
3. The deriving means feeds forward the estimated value of the disturbance estimated by the estimating means to derive the leveling operation amount of the rolling mill based on the estimated value of the disturbance. 3. A meandering control system according to 1 or 2. Using a one-dimensional observer, the calculated value of the time differential value of the meandering amount of the rolled strip at the rolling mill position derived by the pseudo differentiating means, and the meandering amount of the rolled strip measured by the meandering meter and an actual value of the leveling amount of the rolling mill, an estimating means for deriving an estimated value of disturbance to the rotational angular velocity occurring in the rolled plate material on the entry side of the rolling mill,
The deriving means feeds forward the estimated value of the disturbance estimated by the estimating means, and the measured value of the meandering amount of the rolled strip material measured by the meandering meter and the meandering amount derived by the pseudo-differential means By feeding back the calculated value of the time derivative of the meandering amount of the strip rolled material at the rolling mill position, the estimated value of the disturbance, the measured value of the meandering amount of the rolled strip, and the 3. The meandering control system according to claim 1, wherein the leveling operation amount of the rolling mill is derived based on a calculated value of a time derivative value of the meandering amount of the rolled strip. a rolling mill;
a meandering meter installed at a position on the upstream side of the rolling mill for measuring the meandering amount of the rolled strip being threaded;
A meandering control method for controlling the meandering amount of the rolled plate material at the rolling mill position using
a pseudo-differentiation step of deriving a value obtained by pseudo-differentiating the measured value of the meandering amount of the rolled sheet material measured by the meandering meter as a calculated value of the time-differentiated value of the meandering amount of the rolled sheet material at the position of the rolling mill; ,
and a derivation step of deriving the leveling operation amount of the rolling mill using the calculated value of the time differential value of the meandering amount of the strip rolled material at the rolling mill position derived by the pseudo differentiation step. Meandering control method characterized by: A program that causes a computer to function as each means of the meandering control system according to any one of claims 1 to 4.

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