JPH06126315A - Method and device for controlling line speed in bridle equipment - Google Patents

Abstract

PURPOSE:To prevent a backlash from being generated on a reduction gear by controlling load distribution between an inlet side roll and an outlet side roll of a bridle. CONSTITUTION:Tension is applied to a steel sheet between the inlet side roll 2a and the outlet side roll 2b driven by electric motors 6a, 6b through reduction gears 5a, 5b, and this tension is controlled so that its value is smaller than the average value of the tensions given to the steel sheet by an inlet side tension equipment 1 and an outlet side tension equipment 3. In this way, when the inlet side tension and outlet side tension of the bridle 2 approach to each other, since the backlash of the reduction gear generated by excessive reduction of the torque transmitted through the reduction gear is restrained, a favorable influence to the quality of the steel sheet is given as an effect.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for controlling the line speed of bridle equipment in a steel sheet surface treatment equipment, and more particularly to backlash suppressing control of a bridle reducer.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG. 3, a bridle facility in a steel sheet surface treatment facility generally has an inlet side tension facility 1 for controlling the tension of a steel sheet 9 on the upstream side and the downstream side of a bridle 2 of a process line. Equipped with outlet tension equipment 3,
The steel plate passing through the bridle 2 is pulled by the tension set by the entrance side tension equipment 1 and the exit side tension equipment 3. The steel plate 9 pulled with the tension F ₁₁ by the inlet side tension equipment 1 on the upstream side is the inlet side roll 2 a of the bridle 2.
After being wound about 1/3 to 2/3 of the roll, it is further wound around the exit side roll 2b of the brie 2 about 1/3 to 2/3 of the roll. The steel plate 9 sent by the exit roll 2b is sent to the exit tension equipment 3 on the further downstream side,
It is pulled by a tension F ₂₁ by the exit side tension equipment 3. The entrance side roll 2a and the exit side roll 2b fixed to the drive shafts 4a and 4b are driven by independent electric motors 6a and 6b via speed reducers 5a and 5b. Electric motor 6a,
6b is controlled by a bridle speed control device 8 and a speed detector 7 attached to each of the electric motors 6a and 6b.
The rotation speed detected by a and 7b is fed back to the bridle speed control device 8, and the two electric motors 6a and 6b
The rotation speed of the electric motor is independently controlled in accordance with the line speed commonly set for b.

FIG. 4 is a block diagram of the bridle speed control device 8. The speed command signal from the line speed command unit 30 is input to the linear command unit 31, and the ramp-shaped speed command signal N _{RF obtained} there is supplied to the bridle 2. It is commonly given to the speed controller 11 of the entrance side roll 2a and the speed controller 21 of the exit side roll 2b. The speed signal detected by the speed detector 7a attached to the electric motor 6a that drives the entrance side roll 2a is input to the filter 14 having the first-order lag element to generate the speed signal N _FB11 . The speed signal N _FB11 is fed back to the speed command N _RF commonly given to the speed controllers 11 and 21, and is input to the speed controller 11 having the deviation signal proportional gain A ₁₁ and the integral time constant τ _I11. . The deviation signal is amplified by the speed controller 11 and input to the torque controller 12 as a torque command signal T _RF11 . The torque controller 12 _determines the first-order lag element time constant τ according to the command of the torque command T _RF11.
The motor torque T _M11 is controlled at _T11 . A block 1 showing the mechanical time constant τ _M11 of the electric motor as a torque obtained by subtracting the load torque T _L11 transmitted by the speed reducer 5a from the torque electric motor T _M11 as the acceleration torque of the electric motor 6a.
3 and outputs the motor speed N _M11 . If the motor torque T _M11 and the load torque T _L11 are equal, the motor 6
No acceleration torque is generated at a, and the speed of the electric motor 6a is maintained at a constant value in accordance with the commonly given speed command N _RF .
The speed (p.u), which is the difference between the motor speed N _M11 (p.u) and the roll rotation speed N _L11 (p.u), is input to the integrator 15, and when it is integrated, the rotation of the motor 6a The twist angle θ is between the shaft and the drive shaft 4a of the entrance side roll 2a. Block 16 indicates the backlash of the speed reducer 5a, the input is the rotation angle θ ₁₁ (p.u) of the input shaft of the speed reducer 5a, and the output is the rotation angle θ ₁₂ (p. u)
Is. When the absolute value of the difference between the rotation angle θ ₁₁ (p.u) of the input shaft and the rotation angle θ ₁₂ (p.u) of the output shaft of the speed reducer 5a reaches a certain value (backlash angle) or more, the speed reducer 5a The torque of the input shaft is transmitted to the output shaft of the speed reducer 5a. Rotation angle θ ₁₁ (p.u) of the input shaft and rotation angle θ ₁₂ (p.
When the difference from u) is a fixed value (backlash angle) or less, the input shaft torque of the speed reducer 5a is not transmitted to the output shaft,
The output shaft of the speed reducer 5a is in a rotating state independent of the input shaft.

A block 17 indicates the torsion time constant τ _V11 of the drive shaft 4a of the entrance side roll 2a, and the speed reducer 5a.
The rotation angle θ ₁₂ (p.u) of the output shaft of the torsion time constant τ _V11
It is shown that the torque T _L11 of the drive shaft 4a is obtained by integrating with. When the tension of the steel plate between the entrance side roll 2a and the exit side roll 2b of the bridle 2 is F ₃₁ , the tension F for pulling the steel plate 9 by the entrance side tension equipment 1 of the bridle 2
Load torque T corresponding to the force obtained by subtracting tension F ₃₁ from _11
L12 acts on the drive shaft 4a of the entrance side roll 2a. Output torque T _L11 (p.u) of reduction gear 5a and load torque T
The torque that is different from _L12 (p.u) is the acceleration torque of the entrance side roll 2a. A block 18 indicates the mechanical time constant τ _L11 of the entrance side roll 2 a, and the output torque T _L11 (p.u) and the load torque T _L12 (p.u) of the speed reducer 5 a are input to the block 18. And the mechanical time constant τ _{L11 is} integrated and the output is the roll speed of the entrance side roll 2a. Exit roll 2b of bridle 2
Speed control and transmission of torque to the exit side roll 2b,
Except that the speed controller 21 of the exit-side roll 2b is constituted by the proportional gain A _21, is similar to the inlet side roll 2a, a description thereof will be omitted. The block 31 is a tension time constant τ _V31 of the steel plate 9 between the entrance side roll 2a and the exit side roll 2b.
Is shown. From the block 18 and the block 28, the difference in peripheral speed between the entrance side roll 2a and the exit side roll 2b is determined by the block 31.
Is input, the tension obtained by integrating with the tension time constant τ _V31 becomes the tension F ₃₁ of the steel plate 9 between the entrance side roll 2a and the exit side roll 2b. Figure 5
The line speed command N _RF , the output torque T _L11 of the speed reducer 5a, which is the drive shaft torque of the entrance side roll 2a, and the rotation speed N _L11.
(P.u), the output torque T _L21 (p.u) of the speed reducer 5b, which is the drive shaft torque of the delivery side roll 2b, and the rotation speed N _L21.
(P.u) and the tension fluctuation ΔF ₂₁ of the tension equipment 3 on the output side are shown. Here, the rotation speed N _L11 of the entrance side roll 2a and the rotation speed N _L21 of the exit side roll 2b are
A speed difference from the line speed command N _RF is generated during acceleration / deceleration of the line, and as a result, a large tension fluctuation is occurring in the tension equipment 3 on the output side.

[0005]

However, in the above configuration, when the difference between the tension F ₁₁ of the steel sheet 9 by the entrance side tension equipment 1 and the tension F ₂₁ of the steel sheet 9 by the exit side tension equipment 3 is large,
The drive shaft torque T _L11 of the entrance side roll 2a and the exit side roll 2
When the drive shaft torque T _{L21 of} b shows a sufficiently large positive or negative value, the influence of backlash of the reduction gear does not occur. However, when the tension F ₁₁ by the entrance side tension equipment 1 and the tension F ₂₁ by the exit side tension equipment 3 are close to each other, the drive shaft torque T _L11 of the entrance side roll 2a and the drive shaft torque T _L21 of the exit side roll 2b. Is a small value (a value near 0). In this state, the speed reducers 2a and 2b are
Drive torque is not transmitted at all,
The entrance-side roll 2a and the exit-side roll 2b rotate independently of the electric motor speed, and the tension controlled by the exit-side tension equipment 3 largely fluctuates. Therefore, there is a problem that if the tension fluctuations occur continuously, the quality of the steel sheet is adversely affected. An object of the present invention is to prevent fluctuations in the tension of a steel plate by controlling the electric motors of the entrance side roll and the exit side roll so that backlash of the reduction gear does not occur.

[0006]

A bridle consisting of an entrance roll and an exit roll driven by an electric motor through a speed reducer, a bridle speed control device for controlling the speed of the electric motor, and the entrance roll. In the line speed control of the bridle equipment including the entrance side tension equipment for applying a tension to the steel plate between and the exit side tension equipment for applying a tension to the steel sheet between the exit side roll, the entrance side roll and the exit side Controls the load sharing of the electric motor of the bridle's inlet side roll and outlet side roll so that the tension value of the steel plate between the side roll and the side roll becomes smaller than the average value of the tension value of the entrance side tension equipment and the tension value of the exit side tension equipment. To do.

[0007]

The operation of the present invention will be described with reference to FIG.
The drive shaft of the inlet side roll in a state where the operation of the tension equipment is in a steady state, that is, the line speed command N _RF is constant and the tension F _{11 due} to the inlet side tension equipment of the bridle and the tension F ₂₁ due to the outlet side tension equipment do not change. Consider the torque T _L11 and the output shaft drive shaft torque T _L21 . In such a steady state, no acceleration / deceleration torque is applied to the entrance side roller, the exit side roller, and the electric motor that drives these rollers, so the following relational expression holds. It should be noted that all torques, torque commands, tensions, tension commands, etc. used below are in units of (pu). In the drive system of the entry side roll of the bridle, roll drive shaft torque T _L11 , roll load torque T _L12 , electric motor torque T _M11 and torque command T
_RF11 is all equal. T _L11 = T _L12 = T _M11 = T _RF11 (1) In the drive system of the exit side roll of the bridle, roll drive shaft torque T _L21 , roll load torque T _L22 , motor torque T _M21 and torque command T _RF22 are all equal. Become. _{T L21 = T L22 = T M21} = T RF22 ... (2) entry side output torque command T value obtained by subtracting the load sharing bias setting value T _Rf31 from the output torque command T _{RF 11} of the electric motor of the roll and the exit-side roll motor _RF22 Input the deviation from and to the load sharing controller. The load sharing controller has a proportional gain and an integrator, outputs a correction signal T _RF32 so that the combined signal of the input signals becomes 0, and has a speed control having only the proportional gain of the bridle's outgoing roll. Output signal T
_Since it operates so as to add to _RF21 , the following expression (3) is established. T _RF11 −T _RF31 −T _RF22 = 0 (3) The following formula (4) is established between the load torque T _L12 of the entrance side roll, the entrance side tension F ₁₁ and the inter roll tension F ₃₁ . _{T L12 = F 11 -F 31 ...} (4) outlet side the following equation (5) holds between the load torque T _L22 and egress tension F ₂₁ and the roll between the tension F ₃₁ rolls. T _L22 = F ₃₁ −F ₂₁ (5) From the relationship between the equations (1) and (4), T _RF11 in the equation (3) is (F
₁₁ -F ₃₁₎ by substituting, (if 2) and (5) (3 relationships) organize by substituting (F ₃₁ -F ₂₁₎ on the T _RF22 of formula, the following formula (6) can get. F ₃₁ = (F ₁₁ + F ₂₁ ) / 2−T _RF31 (6) Substituting T _L11 into T _L12 of equation (4) and further substituting F ₃₁ of equation (6) from the relationship of equation (1). When T _L11 is _calculated by the following equation, it is expressed by the following equation (7). _{T L11 = T RF31 / 2 +} (F 11 -F 21) / 2 ... (7) (2) by substituting T _L21 from the relation (5) to T _L22 of formula wherein further the F ₃₁ of (6) Substituting to obtain _TL21 is expressed by the following equation (8). T _L21 = −T _RF31 / 2 + (F ₁₁ −F ₂₁ ) / 2 (8) Equations (7) and (8) are set by setting the setting value T _RF31 of the load sharing bias setting device of the bridle to 0, When the inlet side tension F ₁₁ and the outlet side tension F ₂₁ of the roller have the same value, the roll drive shaft torques T _L11 and T _L21 become 0, which indicates that backlash of the reduction gear is likely to occur. However, the load sharing bias setting value T _RF31 is set to, for example, 0.
When set to 6 (p.u), the drive torque T _L11 of the entrance side roll is 0.3 (p.u) and the drive torque T _L of the exit side roll.
_L21 is -0.3 (p.u), which indicates that the load state is such that backlash does not occur.

[0008]

Embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a bridle speed control device 8 having a speed controller according to an embodiment of the present invention. It should be noted that the same components as those shown in FIGS. 3 and 4 shown in the description of the conventional example are denoted by the same names and reference numerals, and description thereof will be omitted. A reference speed roller that follows the line speed command commonly given to the drive system of the bridle with a small error can be arbitrarily selected, but a case where the entrance side roll of the bridle is used as the reference speed roll will be described. Further, the number of non-reference speed rolls is generally 1 to 3, but the case of one output side roll will be described as an example. The reference roll is the entrance roll 2a, and the speed of the electric motor 6a that drives the entrance roll 2a is
The speed signal is detected by the speed detector 7a attached to the electric motor 6a, and the speed signal is generated through the filter having the first-order lag element shown in the block 14 to generate the speed signal N _FB11 . This speed signal N _FB11 is fed back to the line speed command N _RF commonly given to the speed control devices of the motors of the bridle, and the deviation signal thereof is used as the integral time constant of the proportional gain A ₁₁ and the time constant τ _I11. Input to the speed controller 11 provided. The output signal of the speed controller 11 is a torque command T _RF11 , and the torque of the electric motor is controlled by the torque controller 12 in accordance with the torque command T _RF11, so that the line speed command N _RF is controlled to have a small error. It The non-reference roll is the exit roll 2b, and the speed signal N _FB21 is generated through the filter having the first-order lag element shown in block 24, which is the speed signal detected by the speed detector 7b attached to the electric motor 6b of this roll. To do. This speed signal N
_{The FB21} is _{fed back} to the common line speed command N _RF , and the deviation is input to the speed controller 21 having only the proportional gain A ₂₁ to calculate the torque command signal T _RF21 .

The above is almost the same as the conventional example, but is different from the conventional example in the following points. That is, the load sharing bias setter 32 for the roll of the bridle 2 is provided so that the bias setting value T _RF31 can be set, and the load sharing of the electric motor of the bridle having the proportional gain A ₃₁ and the integrator with the time constant τ _I31 is provided. A controller 33 is provided to control the load sharing of the non-reference speed roll motor. With this configuration, the bias setting value T of the load sharing bias setter 32 is _calculated from the output torque command signal T _RF11 of the speed controller 11 of the entrance side roll 2a which is the reference speed roll.
Subtract _RF31 . The deviation between the subtracted torque command signal and the torque command T _RF22 of the input of the electric motor torque controller 22 of the output side roll 2b which is the non-reference roll is _calculated, and the deviation signal is input to the load sharing controller 33, The torque correction signal T _RF32 is output. A signal _obtained by adding the torque correction signal T _RF32 to the output torque command T _RF21 of the speed controller 21 of the exit roll 2b is input to the torque controller 22 as a torque command T _RF22 of the electric motor 6b to control the torque of the electric motor 6b. . As a result, when the tension F _{11 of the} steel plate 9 given by the entrance side tension equipment 1 and the tension F ₂₁ given by the exit side tension equipment 3 come close to each other and become almost equal, the electric force of the electric motor 6a of the entrance side roll 2a is changed. Torque T _M11 (p.u)
Is a torque in the positive direction substantially equal to 1/2 of the set value T _RF31 (p.u) set by the load sharing bias setter 32 of the bridle 2. On the other hand, the torque T _M21 (p.u) of the electric motor 6b of the delivery side roll 2b is set to a set value T _RF31 (p.u) set by the load sharing bias setter 32.
The torque in the negative direction is approximately equal to the absolute value of u). In this way, by controlling the load sharing of the entrance side roll 2a and the exit side roll 2b, the occurrence of backlash of the speed reducers 5a, 5b is suppressed. 2 shows the line speed command N
_RF (p.u), drive shaft torque T _{L1 1 of} entrance side roll 2a
(P.u) and the rotation speed N _L11 (p.u), the drive shaft torque T _L21 (p.u) of the delivery side roll and the rotation speed N _L21, and the tension variation ΔF ₂₁ of the steel sheet 9 due to the delivery side tension equipment 3. It shows the relationship. As a result, even though the tension F ₁₁ of the steel plate 9 by the entrance side tension equipment 1 and the tension F ₂₁ by the exit side tension equipment 3 are almost equal, the entrance side roll 2
The torque of the electric motor 6a of "a" has a sufficiently large value in the positive direction, and the torque of the electric motor 6b of the delivery side roll 2b has a sufficiently large value in the negative direction, and the speed N _{L21 of the delivery} side roll 2b.
Is stably controlled by following the line speed command even during line acceleration / deceleration. Therefore, the outlet tension equipment 3
In the tension control performed by, the fluctuation of the tension becomes small, which indicates that the tension is controlled well. In addition, although the case where the entrance roll of the bridle is used as the reference speed roll has been described above, it is obvious that the exit roll may be used as the reference speed roll, contrary to the above.

[0010]

As described above, according to the present invention, by controlling the torque of the electric motor of the entrance side roll and the exit side roll, when the tension on the entrance side of the bridle and the tension on the exit side are close to each other. Since the backlash of the reducer that occurs when the torque transmitted through the reducer becomes too small is suppressed, the tension fluctuation of the bridle's inlet side tension equipment and the tension fluctuation of the exit side tension equipment are reduced, There is an effect that it is possible to obtain a control characteristic that positively affects the quality.

[Brief description of drawings]

FIG. 1 is a block diagram showing a bridle speed control device according to an embodiment of the present invention.

FIG. 2 is an acceleration / deceleration characteristic diagram of the bridle speed control device according to the embodiment of the present invention.

FIG. 3 is a block diagram of a bridle of a steel plate process line.

FIG. 4 is a block diagram showing a conventional bridle speed control device.

FIG. 5 is an acceleration / deceleration characteristic diagram of a conventional bridle speed control device.

[Explanation of symbols]

 1 entrance side tension equipment 2 bridle 2a entrance side roll 2b exit side roll 3 exit side tension equipment 4a, 4b drive shaft 5a, 5b speed reducer 6a, 6b electric motor 7a, 7b speed detector 8 bridle speed controller 9 steel plate 11, 21 Speed controller 12, 22 Torque controller 30 Line speed setting device 31 Linear command device 32 Load sharing bias setting device 33 Load sharing controller

Claims (4)

[Claims] 1. A bridle comprising an entrance side roll and an exit side roll driven by an electric motor via a reduction gear, and the entrance side tension for applying tension to a steel plate between the entrance side tension equipment and the entrance side roll. Equipment, the output tension equipment for applying tension to the steel plate between the output side tension equipment and the output side roll, and the detection signal of the speed detector of the motor for the input side roll is fed back to the line speed command. A speed control device for controlling the torque of the entry-side roll motor by giving an output signal obtained by inputting the deviation signal to a speed controller having a proportional gain and an integrator as a torque command signal. And the detection signal of the speed detector of the output side roll motor is fed back to the line speed command, and the deviation signal is input to the speed controller having only proportional gain to obtain In the line speed control method of the bridle equipment, the speed controller for the entrance side roll is provided with a speed control device for controlling the torque of the motor for the exit side roll by giving an output signal to the torque controller as a torque command signal. Of the output side torque command signal of the output roll speed controller and the signal obtained by subtracting the setting value of the load sharing bias setting device of the bridle from the torque command signal of the output side of the Input to a load sharing controller having an integrator, and the output signal of the load sharing controller is given to the torque controller as a torque command signal in addition to the torque command of the motor for the output side roll. A method for controlling the line speed of bridle equipment, which comprises controlling the torque of an electric motor. 2. A bridle including an entrance side roll and an exit side roll driven by an electric motor via a reduction gear, and the entrance side tension for applying a tension to a steel plate between the entrance side tension equipment and the entrance side roll. Equipment, the output tension equipment for applying tension to the steel plate between the output side tension equipment and the output side roll, and the detection signal of the speed detector of the output side roll motor is fed back to the line speed command. A speed control device for controlling the torque of the output roll motor by giving an output signal obtained by inputting the deviation signal to a speed controller having a proportional gain and an integrator as a torque command signal. And the detection signal of the speed detector of the entrance side roll motor is fed back to the line speed command, and the deviation signal thereof is input to the speed controller having only a proportional gain to obtain the signal. In the line speed control method for bridle equipment including a speed control device for controlling the torque of the electric motor for the entrance side roll by giving an output signal as a torque command signal to the torque controller, the speed controller for the exit side roll is provided. The difference between the signal obtained by subtracting the setting value of the load sharing bias setting device of the bridle from the torque command signal of the output side and the torque command signal of the output side of the speed controller of the entrance side roll is taken, and the deviation signal is proportional gain. Input to a load sharing controller having an integrator, and the output signal of the load sharing controller is given to the torque controller as a torque command signal in addition to the torque command of the motor for the entering side roll, whereby the entrance side roll is provided. A method for controlling the line speed of bridle equipment, which comprises controlling the torque of an electric motor. 3. A bridle including an entrance side roll and an exit side roll driven by an electric motor via a reduction gear, and the entrance side tension for applying a tension to a steel plate between the entrance side tension equipment and the entrance side roll. Equipment, the output tension equipment for applying tension to the steel plate between the output side tension equipment and the output side roll, and the detection signal of the speed detector of the motor for the input side roll is fed back to the line speed command. A speed control device for controlling the torque of the entry-side roll motor by giving an output signal obtained by inputting the deviation signal to a speed controller having a proportional gain and an integrator as a torque command signal. And the detection signal of the speed detector of the output side roll motor is fed back to the line speed command, and the deviation signal is input to the speed controller having only proportional gain to obtain In the line speed control device of the bridle equipment provided with the speed control device for controlling the torque of the output side roll electric motor by giving the output signal to the torque controller as the torque command signal, the speed control of the entrance side roll is performed. The difference between the signal obtained by subtracting the setting value of the load sharing bias setting device of the bridle from the torque command signal on the output side of the roll controller and the torque command signal on the output side of the speed controller of the output roll is taken, and the deviation signal is proportional. Input to a load sharing controller having a gain and an integrator, and an output signal of the load sharing controller is given to the torque controller as a torque command signal in addition to the torque command of the motor for the output side roll. Line speed control device for bridle equipment, characterized by controlling the load sharing of an electric motor for use. 4. A bridle consisting of an entrance side roll and an exit side roll driven by an electric motor via a reduction gear, and the entrance side tension for applying a tension to a steel plate between the entrance side tension equipment and the entrance side roll. Equipment, the output tension equipment for applying tension to the steel plate between the output side tension equipment and the output side roll, and the detection signal of the speed detector of the output side roll motor is fed back to the line speed command. A speed control device for controlling the torque of the output roll motor by giving an output signal obtained by inputting the deviation signal to a speed controller having a proportional gain and an integrator as a torque command signal. And the detection signal of the speed detector of the entrance side roll motor is fed back to the line speed command, and the deviation signal thereof is input to the speed controller having only a proportional gain to obtain the signal. In a line speed control device for bridle equipment equipped with a speed control device for controlling the torque of the electric motor for the entrance side roll by giving an output signal to the torque controller as a torque command signal, the speed control of the exit side roll is performed. The difference between the signal obtained by subtracting the setting value of the load sharing bias setting device of the bridle from the torque command signal on the output side of the container and the torque command signal on the output side of the speed controller of the entrance side roll is taken, and the deviation signal is proportional. Input to a load sharing controller having a gain and an integrator, the output signal of the load sharing controller is given to the torque controller as a torque command signal in addition to the torque command of the motor for the entering side roll, thereby providing the entrance side roll. Line speed control device for bridle equipment, characterized by controlling the load sharing of an electric motor for use.