JPH03110009A - Control device for tension of rolling equipment - Google Patents

Abstract

PURPOSE:To improve the accuracy and responsiveness of the tension control by controlling the tension of the material to be rolled based on the corrected tension reference which is the difference in the tension reference and operated tension variable component. CONSTITUTION:The tension reference set by a tension reference setter 1 is converted into a torque reference by a tension/torque converting means 2. The correction quantity of the torque reference which is the sum of the torque reference compensation quantity of the inertial part operated by an inertial part torque compensation arithmetic means 3, the torque reference correction quantity operated by a tension reference correction arithmetic means 10 and the correction quantity of the torque reference outputted from a gain compensator 11 is then added to the torque reference which is the output of the tension/ torque converting means 2. The output of a motor 20 is controlled so as to become the corrected torque reference by a motor driving control unit 12 based on the corrected torque reference which is this sum. Namely the tension of a material 30 is controlled so as to become the tension reference.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a tension control device for rolling equipment or processing equipment.

(Prior art) In rolling equipment or processing equipment, keeping the tensile tension of the material (also referred to as rolled material or processed material divided by 4) constant is important for product quality, operational stability, and protection of machinery and materials. Therefore, tension control is widely and commonly practiced. FIG. 3 shows a tension control device in a @removal machine used in rolling equipment.

In FIG. 3, the vinyl roll 21 and the deflector 2
The electric motor R20 that drives the winder 25 that winds up the material 30 via the winder 2 is controlled to have a constant torque by the motor drive control device 12. A required target value of the winding tension (also referred to as a tension reference) is set by a tension reference setting device 1, and is given as a torque reference value to the motor drive control device 12 via a tension/torque conversion means 2. Also, the material 30 wound into a coil when the speed of the material 30 is accelerated or decelerated.
In order to compensate for the torque applied to the moment of inertia, the inertia component torque compensation calculation means 3 differentiates the material speed, and performs the inertia compensation calculation based on this differentiated value.

The output of the inertia component torque compensation calculation means 3 is added to the torque reference value which is the output of the tension/torque conversion means 2. Furthermore, in order to obtain better accuracy, the actual tension of the material 30 is detected by the tension detector 4, and the correction amount of the torque reference that makes the deviation between the detected value of the tension detector 4 and the tension reference zero is the tension. It is calculated in the reference correction calculation means 10. This calculated correction amount is then added to the torque reference described above. The electric motor 20 that drives the winding machine 25 based on the corrected torque reference that is the sum of the
2.

(Problems to be Solved by the Invention) Recently, tension control with higher precision and faster response is required from the viewpoint of improving the quality of products and ensuring quality stability in response to multi-product production. For this reason, improvements have been made in the detection accuracy of the tension detector 4 and the responsiveness of the motor drive control device 12. However, even if the detection accuracy of the tension detector 4 is improved, there are transient fluctuations in the tension of the material 30, especially pulsation fluctuations, which limits the improvement of accuracy and responsiveness. This will be explained below.

The detected tension pulsation fluctuations include fluctuations due to noise and fluctuations caused by mechanical conditions and material conditions.

If these fluctuations are smoothed using a primary or secondary filter and control is performed taking these smoothed fluctuations into consideration, there is a problem in that responsiveness cannot be improved.

In addition, the fluctuation components caused by mechanical conditions and material conditions are
Once the equipment is determined, it exhibits almost constant frequency fluctuation, and the amount of fluctuation increases depending on the operating conditions. In other words, a resonance phenomenon occurs. For example, in the tension control device for a winder shown in FIG. 3, the resonance frequency is determined by the mechanical constants of the drive system and the material length, and the tension disturbance is caused by the coil eccentricity of the winding coil of the winder 25. arise. When the frequency of tension disturbance caused by this coil eccentricity matches the resonance frequency determined by the machine and material, a large resonance phenomenon occurs and the tension fluctuates greatly.

In such a case, even if the gain setting of the tension control system is increased, the above-mentioned tension fluctuation will be increased, which will limit the improvement in responsiveness.

The present invention has been made in consideration of the above circumstances, and an object of the present invention is to provide a tension control device for a rolling facility that can obtain products of as high quality as possible.

[Structure of the invention]

(Means for Solving the Problems) A first invention provides a tension control device for a rolling facility that is equipped with a control means for controlling the tension of a material to be rolled in the rolling facility so that the tension of the material to be rolled serves as a tension reference. A tension fluctuation calculation means is provided which calculates a tension fluctuation component having a frequency determined by the mechanical conditions, material conditions and operating conditions of the rolling equipment based on the detected tension value, and the control means calculates the tension fluctuation component between the tension reference and the calculated tension fluctuation component. The method is characterized in that the tension of the rolled material is controlled based on a modified tension criterion that is a difference.

Further, in the second invention, in the first invention, tension calculation means is provided for calculating the tension of the material to be rolled based on the output of the control means, and the tension fluctuation calculation means is configured to calculate the tension of the material to be rolled instead of the detected value of the tension of the material to be rolled. The method is characterized in that the calculation is performed using the tension calculation value calculated by the tension calculation means.

(Function) According to the tension control device of the first invention configured as described above, the frequency determined by the mechanical conditions, material conditions, and operating conditions of the rolling equipment is determined based on the detected value of the tension of the material to be rolled. A tension fluctuation component having the following is calculated by the tension fluctuation calculation means. Then, the tension of the material to be rolled is controlled by the control means based on the corrected tension reference which is the difference between the tension reference and the calculated tension fluctuation component. As described above, according to the first invention, it is possible to remove the tension fluctuation component having a frequency determined by the mechanical conditions, material conditions, and operating conditions of the rolling equipment, thereby improving accuracy and responsiveness. Can be improved. You can get the highest quality product possible.

Moreover, according to the second aspect of the invention, which is configured as a double series, the tension of the material to be rolled is calculated by the tension calculation means based on the output of the control means. (2) Based on the calculated value of the tension of the material to be rolled calculated by this tension calculation means, a tension fluctuation component having a frequency determined by the mechanical conditions, material conditions, and operating conditions of the rolling equipment is calculated by tension fluctuation calculation. Then, the tension of the material to be rolled is controlled by the control means based on the corrected tension standard, which is the difference between the tension standard and the calculated tension fluctuation component. According to the second invention, it is possible to remove the tension fluctuation component having a frequency determined by the mechanical conditions, material conditions, and operating conditions of the rolling equipment, thereby improving accuracy and responsiveness. This allows you to obtain the highest quality products possible.

(Embodiment) An embodiment of the tension control device according to the first invention will be described with reference to FIG. The tension control device of this embodiment uses a thread taker 251 for winding a material to be rolled (also referred to as material) 30 via a pinch roll 21 and a differential roller 22, and a tension reference setting device 1-5 for tension control.・Torque conversion means 2S inertia torque compensation calculation means 3, resonance tension fluctuation calculation means 8
, a smoothing calculation means 9, a tension reference correction calculation means 10, a gain compensator 11, and an electric iI1 machine drive control device 1-2. The tension reference setting device 1, the tension/torque conversion means 2, and the inertia component torque extraction calculation means 3 are the same as those described in the section of the prior art, and therefore their explanation will be omitted.

The resonance tension variation calculating means 8 calculates the resonance frequency variation component Δ of the tension of the material 30 based on the detected value of the rotation speed detector 5 that detects the rotation speed of the electric motor 20 that drives the winding machine 25.
For example, ΔT=a cos(ωt+φ) +a2eos(2
Assume that ω, t→−φ2) l 1 1 . Here, ω1 is the rotational speed of the take-up reel of the winder 25, and a, a φ, and φ2 are 1 2
' 1 represents an unknown parameter. Based on the actual tension of the material 30 detected by the tension detector 4, the parameter a1. a2. φl and φ2 are sequentially obtained using the least squares method, and the resonant frequency component ΔT of the tension is calculated.

The smoothing calculation means 9 subtracts 17 the resonance frequency component ΔT of the tension calculated by the resonance tension variation calculation means 8 from the actual tension of the material 30 detected by the tension detector 4.
, and sends a smoothed tension value, which is the difference between them, to the tension reference correction calculation means 10.

Tension reference correction calculation means], 0 is the tension reference correction amount such that the deviation between the smoothed tension value that is the output of the smoothing calculation means 9 and the tension reference set by the tension reference setting device 1 is zero; That is, a torque-based correction amount is calculated.

The gain compensator 11 performs gain adjustment to compensate for the phase delay between the drive system and the tension transmission system based on T to the resonance frequency component of the tension, which is the output of the resonance tension variation calculation means 8, and adjusts the gain of the tension. Multiplying the resonance frequency component by the gain adjusted to T1. outputs a torque-based correction amount corresponding to the resonant frequency component ΔT of the tension.

Next, the operation of the above embodiment will be explained. The tension standard set by the tension standard setting device is the tension/l/lux conversion means 2.
is converted into a torque reference by

Then, the torque reference compensation amount for inertia calculated by the inertia component torque compensation calculation means 3, the torque reference correction amount calculated by the tension reference correction calculation means 10, and the correction of the torque reference output from the gain compensator 11. The correction amount of the torque reference, which is the sum of the amounts, is added to the torque reference, which is the output of the tension/torque conversion means 2. Based on the corrected torque reference which is this sum, the electric drive control device 1
2, the output (torque) of the electric motor 20 is controlled to match the corrected torque reference. i.e. material 30
The tension is controlled so that the tension is the tension reference.

As described above, according to this embodiment, the gain compensator 11
By correcting the resonant frequency component ΔT of the tension, which is the main component of the tension pulsation output from the tension pulsation, the resonance fluctuation of the tension pulsation can be removed as much as possible, and the accuracy of tension control can be improved. can. In addition, since the torque reference correction amount is determined by the tension reference correction calculating means 10 based on the deviation between the smoothed resonant frequency component of the tension and the tension reference, it becomes possible to increase the gain of tension control, thereby improving the response. can improve sex. This makes it possible to obtain products of the highest possible quality.

FIG. 2 shows an embodiment of the tension control device according to the second invention. The tension control device of this embodiment is the same as the embodiment of the first invention shown in FIG. 1 except that a torque output detector 6 and a tension calculation means 7 are provided in place of the tension detector 4.
This is used when the tension detector 4 cannot be installed, or even if it is installed, it cannot be used due to accuracy, response noise, etc.

Torque output detector 6 detects torque that is the output of electric motor 20. The tension calculating means 7 calculates the tension acting on the material 30 based on the outputs of the torque output detector 6 and the rotational speed detector 5. Then, the resonance frequency variation calculation means 8 calculates the tension value calculated by the tension calculation means 7 and the output of the rotational speed detector 5 in the same way as in the first embodiment of the invention shown in FIG. , resonant frequency component of tension ΔT
Calculate. Further, the smoothing calculation means 9 is the tension calculation means 7.
and the first one based on the output of the resonance frequency component calculation means 8
A smoothed tension value is calculated in the same manner as in the embodiment shown in the figure.

Even if the tension value calculated by the tension calculation means is used instead of the tension value detected by the tension detector, the same effect as in the first embodiment of the invention shown in FIG. 1 can be obtained. can.

〔Effect of the invention〕

As described above, according to the present invention, it is possible to remove the tension fluctuation component having a frequency determined by the mechanical conditions, material conditions, and operating conditions of the rolling equipment, thereby improving the accuracy and responsiveness of tension control. You can aim for
You can get the highest quality product possible.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of the tension control device according to the first invention, FIG. 2 is a block diagram showing an embodiment of the tension control device according to the second invention, and FIG. 3 is a block diagram showing an embodiment of the tension control device according to the second invention. FIG. 2 is a block diagram showing the device. DESCRIPTION OF SYMBOLS 1... Tension reference setting device, 2... Tension/torque conversion means, 3... Inertia component torque compensation calculation means, 4... Tension detector, 5... Rotation speed detector, 8... - Resonant tension fluctuation calculation means, 9... Smoothing calculation means, 10... Tension reference correction calculation means, 11... Gain compensator, 12.
...Electric motor drive control device, 20...Electric motor, 25...
- Winding machine, 30...material.

Claims (1)

[Scope of Claims] 1. In a tension control device for a rolling facility, which is equipped with a control means for controlling the tension of a material to be rolled in the rolling facility so as to serve as a tension reference, based on a detected value of the tension of the material to be rolled. and a tension fluctuation calculation means for calculating a tension fluctuation component having a frequency determined by the mechanical conditions, material conditions, and operating conditions of the rolling equipment, and the control means calculates the difference between the tension reference and the calculated tension fluctuation component. 1. A tension control device for rolling equipment, characterized in that the tension of a material to be rolled is controlled based on a modified tension standard. 2. A tension calculation means is provided for calculating the tension of the rolled material based on the output of the control means, and the tension fluctuation calculation means is calculated by the tension calculation means instead of the detected value of the tension of the rolled material. 2. The tension control device for rolling equipment according to claim 1, wherein the tension control device for rolling equipment performs the calculation using a calculated value of the tension.