JPH07234708A - Set-up device for control sequencer - Google Patents

Abstract

PURPOSE:To output a highly precise setting value to a control sequencer by providing a function generator outside the control sequencer, executing private numerical formula operation which is previously registered and executing a complicated function operation expression as against one input or multiple input data. CONSTITUTION:The control sequencer l outputs the request signal 6 of setting value calculation to the function generator 3. The function generator 3 refers to the number of input data existing in a data memory and input data via a data memory interface 2 and executes the operation expression corresponding to an input value range defined in an operation expression/condition registration part by an arithmetic part. The result is written into the data memory via the data memory interface 2. A setting completion signal 8 is outputted to the control sequencer 1. The control sequencer 1 fetches control data 9 from the data memory and sets it to be the setting value (target value) for a controlled object 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sequencer data setup device for steel control using a function generator.

[0002]

2. Description of the Related Art In feedback control, a feedback value (input value) is subjected to some calculation to determine a target value for a controlled object. When this calculation is performed by the control sequencer, the more complicated the calculation formula is, the more load is placed on the CPU. Therefore, the calculation result is calculated in advance for a typical input value and a function table is created. Input values that do not exist have been obtained by linear approximation of the two points that are closest to the input value.

As shown in FIG. 5, if the input value is X and the output value is Y, then 0 ≦ X <10: Y = 0 10 ≦ X ≦ 40: Y = (X-10) ² In this case, X is calculated in steps of 10 and Y is calculated to create a function table.

At this time, when the output when the input X = 15 is obtained from the linear approximation of the graph, Y = 50.

When calculated by an actual arithmetic expression, Y = (15-1
0) ² = 25, and the error (50-2
5) occurs.

In the case of multiple inputs and one output, a plurality of function tables are created and the result of the function table is further calculated in the control sequencer. For example, between the input values X, Y and output Z, Z = (X-5 ) 1/2 + Y 1/2 +10 when the relationship equation holds that, the (X-5) ^1/2 and Y ^1/2 A function table is created separately, and an operation for obtaining Z is executed in the control sequencer.

[0007]

In the prior art, an input value not found in the function table is obtained by linear approximation of the output values of the two closest points, so an error occurs from the result of the actual arithmetic expression. . The challenge is to reduce this error to the extent of calculation error (a hardware limitation of the computer). Furthermore, multi-input 1
In the case of output, there is a drawback that the function table increases.

[0008]

[Means for Solving the Problems] One of means for solving the problems is to provide a function generator outside. The function generator performs an operation on the input value and outputs the result. The operation can execute the formula including trigonometric function, logarithm, exponential function, etc. The function generator is provided outside the control sequencer, receives the input value from the control sequencer, executes the operation, and passes the output to the control sequencer.

Furthermore, by making it possible to register the arithmetic expression and the range of input values, even in the case of multiple inputs and one output, it is possible to deal with the arithmetic expression according to the range of input values without having a plurality of function tables. .

According to the present invention, a function generator as a control target value setup function is provided outside the control sequencer, and a dedicated mathematical expression registered in advance is used to perform a complicated function operation expression for one-input or multi-input data. By executing it, it becomes possible to output a highly accurate set value to the control sequencer.

[0011]

[Function] The user registers the input value range and the arithmetic expression in advance in the arithmetic expression / condition registration unit. Registration is performed interactively from a CD (console display) device.

The control sequencer issues a set value calculation request signal to the function generator. When the function generator receives the request signal, the calculation unit refers to the number of input data in the data memory and the input data via the data memory interface, and according to the input value range defined in the calculation formula / condition registration unit. Execute the calculated expression. Further, the result is written in the data memory via the data memory interface. Then, the setting completion signal is output to the control sequencer. Upon receiving the setting completion signal, the control sequencer takes out the control data from the data memory and sets it as the set value (target value) for the controlled object.

Further, the function generator has a function of obtaining an arithmetic expression (an approximate expression when a solution cannot be obtained) when the order of the equation and coordinate data are given as the arithmetic expression derivation data (1 input 1 output). have.

When the arithmetic expression degree n and the arithmetic expression derivation data are input to the arithmetic expression / arithmetic expression derivation data input section, they are stored in the arithmetic expression derivation data storage section, and the simultaneous equations are solved in the arithmetic expression derivation section. Then, a calculation approximation formula is derived. The approximate expression is
By correcting the calculation formula derived data and inputting it repeatedly,
You can derive an arithmetic expression that matches the user's image. The derived calculation approximate expression is defined in the calculation expression / condition registration unit, and operates similarly to the case where the calculation expression is registered in the calculation expression / condition registration unit.

[0015]

EXAMPLES Examples in the field of steel will be given. 1),
3) is an example in the case of 1 input 1 output, and 2) is a case of multiple input 1 output.

1) Bender Roll Down Command Rolls (work rolls, intermediate rolls) of the rolling mill are rolled down by the bender.

For the bender pressure, the sum of the bender command value and the balance pressure is unit-converted (ton / chock ⇒ kg / mm ² ) to obtain a bender pressure command value. When the rolled material passes through the rolling mill, the proportional sequence (p-1 = Propotional
Integral) control determines the vendor roll-down command. The calculation unit of the bender pressure is ton / chock due to the feedback value and the convenience of the load cell. With the conventional method, the function table was registered inside the control sequencer. When the relationship between the vendor command value x before unit conversion and the vendor command value after unit conversion y is y = 2x + 5, (x, y) = {(1,7) ( 2,9) (3,11)
The programmer calculates and registers a finite number of data sets such as (4, 13) (5, 15) (6, 17) (7, 19). As a result of the control calculation, if you want to set the vendor pressure of 5 ton / chock, y = 15 corresponding to x = 5 from the function table
Guide In the present invention, when it is desired to set a vendor pressure of 5 ton / chock as a result of control calculation, the control sequencer writes the data number 1 and data 5 in the data memory. After that, a set value request signal is issued to the function generator. The function generator is an arithmetic expression
1 by the arithmetic expression y = 2x + 5 (y: command value, x: sum of vendor command value and balance pressure) registered in the condition registration unit.
Write the calculation result of 5 kg / mm ² to the data memory. After that, a setting completion signal is output to the control sequencer.
The control sequencer refers to the set value of the data memory and issues a pressure reduction command to the vendor (PIO linkage).

According to the present invention, the amount of data in the control sequencer is reduced, and the labor for calculating sample data is eliminated, so that the productivity of software is improved.

2) Tension meter tension calculation As shown in FIG. 4, a tension meter (tension meter.
Abbreviated as M17. ) Is also applicable when calculating the strip load from the detected load.

The basic formula of the TM detection load F [kg] is given by F = Ft + Fb + Fr + Fs (1) Here, Ft: tension 2Tsin θ [kg] (2) Fb: bending moment Bhσy / 1.5L [kg] (3) Fr: roll weight [kg] (4) Fs: strip weight 7.85BhL10e ^{− 6/2 [kg] ... (} 5) T: strip tension [kg] B: plate width [mm] h: thickness [mm] σy: material strength [kg / mm ^2] L: the strip length. At this time, the strip tension T is T = (F−Fb−Fr−Fs) / 2sinθ (6).

Conventionally, the sum (Fb + Fs) of the above equations (3) and (5) for the plate width B and the plate thickness h is calculated to create a function table. Considering the combination of plate width and plate thickness (plate width type × plate thickness type), a lot of data must be stored in the control sequencer.

Therefore, the plate width is calculated as the maximum plate width of each plate thickness from the fact that the plate width difference is not large if the plate thickness is the same.

For example, the maximum plate width with a plate thickness of 0.2 [mm] is 10
When it is 00 [mm], σy: material proof stress 100 [kg / mm ² ] L: when strip length is 3000 [mm], Fb + Fs = 6.75.

Maximum plate width of 0.2 [mm] is 1000 [mm] Maximum plate width of 0.4 [mm] is 1000 [mm] Maximum plate width of 0.6 [mm] is 1100 [mm] Maximum thickness of 0.8 [mm] is 1100 [mm] Maximum thickness of 1.0 [mm] is 1200 [mm] Maximum thickness of 1.2 [mm] Is 1200 [mm] maximum thickness of 1.4 [mm] is 1300 [mm] maximum thickness of 1.6 [mm] is 1400 [mm] maximum thickness of 1.8 [mm] If the width is 1500 [mm], the maximum plate width is 2.0 [mm], and the maximum plate width is 1600 [mm], the function table shows coordinate data (h, Fb + Fs) =
{(0.2,6.75) (0.4,13.51) (0.6,2
2.29) (0.8, 29.72) (1.0, 40.53) (1.
2, 48.6) (1.4, 61, 4) (1.6, 75.6) (1.
It is composed of a finite number of data such as 8, 91, 1) (2.0, 108.0)}.

Here, h: When the rolled material having a plate thickness of 0.5 [mm] B: plate width of 1000 [mm] is entered, from the function table, Fb + Fs = (13.51 + 22.29) /2=17.9 It becomes [kg]. From the equipment measurement value, if θ: 5 degrees Fr: roll weight 500 [kg], 2sinθ = 0.174 is a fixed constant. TM
If the input load from the detector is F = 700 [kg], strip tension T = (F−Fr− (Fb + Fs)) / 2sinθ = (700−500−17.9) /0.1174=1046.5 [kg] Becomes

In the present invention, the arithmetic expressions (3), (5) and (6) are registered from the arithmetic expression / arithmetic expression derivation data input section. For example, B: plate width 1000 [mm] h: plate thickness 0.5 [mm] σy: material yield strength 100 [kg / mm ² ] L: strip length 3000 [mm] θ: 5 degrees Fr: roll weight 1000 [kg ] The equipment and material conditions (constant or variable in the control sequence) are used to show an example of setting up the strip tension T.

The control sequencer 19 uses the FG input value 21.
The number of data is 7 and the load output from the load cell is F = 700.
[Kg] and the values of B, h, σy, L, θ and Fr are written in the data memory-22. Then, the FG value request signal 23 is output to the function generator. The function generator 24 calculates the bending moment Fb = Bhσy / 1.5L = 11.0 [kg] from the calculation formulas (3), (5) and (6) registered in the calculation formula / condition registration section, and the strip weight Fs = 7.85BhL10e. ^-6 / 2 = 5.88 [kg] Strip tension T = (F-Fb-Fr-Fs) / 2sin [theta] = (700-11.0-500-5.88) / 2sin5 [deg.] = 10500.5 [kg] Is calculated and the strip tension which is the FG set value 25 is written in the data memory. Then, the setting completion is issued to the control sequencer. The control sequencer refers to the strip tension and performs roll motor control (ATR20). In the present invention, there is less error in the set value than in the conventional method (1050.5-1046.5 = 4.0 [kg] in the conventional method).
There is an error of. Therefore, there is an effect of reducing the roll strip and improving the convergence of the rolling material to the target value of tension.

Further, the calculation portion of the strip tension T is eliminated from the control sequencer, and the calculation amount (load) can be reduced.

3) Calculation of payout length based on roll diameter As shown in FIG. 7, when a plate is paid out from a POR (payment reel) 28, the distance from the POR to the next roll 29 differs depending on the material roll diameter 30. .

With continuous annealing equipment (CAL) etc., this distance,
That is, the payout length from the roll is required under the conditions for welding the rolled material to the preceding rolled material. If the delivery length from the roll is a preset welding delivery length and other electrical and mechanical conditions are satisfied, a welding preparation completion signal 31 is sent to the welding machine.

Θ1 = 90 ° − (θ3−θ2) (7) θ2 = cos ⁻¹ (N / K) (8) θ3 = cos ⁻¹ ((D / 2 + E / 2) / K) (9) ) θ4 = θ1-θ5 ... ( 10) K = (H 2 + N 2) 1/2 ... (11) 13 = πEθ1 / 360 ° ... (12) 14 = (K 2 - (D / 2 + E / 2) 2) ^1/2 ... (13) becomes 15 = πEθ4 / 360 ° ... ( 14). Here E = 700 [mm] H = 1450 [mm] N = 2600 [mm] K = (H 2 + N 2) 1/2 = 2976.9 θ2 = cos -1 (N / K) = 0.508 conventional In the method of, for the distance 14 from the POR corresponding to the coil diameter to the next roll, a function table is created from the equation (13),
(D, 14) = {(600,2905.17) (70
0,2893.53) (800, 2880.97) (900,
2867.49) (1000, 2853.07) (110
0, 2837.69) ...} and a finite number of data.

Here, when the coil diameter D = 650 [mm], 14 = (2905.17-2893.53) /2=2899.35 [mm].

In the present invention, the arithmetic expression (13) is registered from the arithmetic expression / arithmetic expression derivation data input section. The control sequencer uses the FG input value 33 (data quantity 1 and coil diameter D =
650 [mm]) is written in the data memory 34. Then, the FG request signal 36 is issued to the function generator 35. Function generators, arithmetic expressions, condition registration unit to a registered operation expression by ^{(13) 14 = (K 2} - (D / 2 + E / 2) 2) 1/2 = (2976.9 2 - (650/2 + 700 / 2) ^{2) 1/2} = 3052.46 calculate the [mm], the data memory, FG set value 37 (14)
Write. Then, the setting completion signal 38 is issued to the control sequencer. The control sequencer calculates 13 and 15 and obtains 11 + 12 + 13 + 14 + 15. If the length is the preset welding payout length and other electrical and mechanical conditions are satisfied, the welding machine 3
A welding preparation completion signal for 9 is sent.

The present invention enables exponential operation.

The conventional method had an error of 3054.46-2899.35 = 153.11 [mm]. This is the length error of the welded portion (it is cut at the end of rolling because it does not become a product). By more accurately calculating the payout length, the product yield due to the welding of the rolled material can be improved.

[0036]

EFFECT OF THE INVENTION With the function generator device for calculating the control set value (target value) necessary for the steel control sequencer by the arithmetic expression which is registered in advance, it is more accurate than the conventional reference method using the function table. Control using a complicated arithmetic expression is possible. In TM tension conversion, roll slip prevention and extra tension on the rolled material are reduced, which leads to improved product quality.

By calculating the payout length of the plate from the POR (payment reel), the product yield due to the welding of the rolled material can be improved.

By executing the function of the function generator externally, it is possible to reduce the load by reducing the reference of the function table performed inside the control sequencer and the operation sequence using those reference data.

The labor for calculating the sample data for creating the function table is unnecessary, and the amount of the operation sequencer is reduced, so that the productivity of the software is improved.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of the present invention.

FIG. 2 is a time chart of the present invention.

FIG. 3 is an internal configuration diagram of a function generator.

FIG. 4 is an explanatory diagram of an application example condition for tension meter tension conversion.

FIG. 5 is a diagram showing a conventional implementation method using a function table.

FIG. 6 is a diagram showing an example of derivation of an arithmetic expression.

FIG. 7 is a diagram illustrating an example of calculating a payout length of a plate from a POR (payment reel).

[Explanation of symbols]

1 ... Sequencer, 2 ... Data memory, 5 ... FG input value, 7 ... FG set value, 11 ... Data memory interface, 12 ... Calculation section, 13 ... Registration section, 14 ... Derivation section,
15 ... storage unit, 16 ... input unit.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location G05B 15/02 7531-3H G05B 15/02 H 19/05 F

Claims (1)

[Claims] 1. A data memory (2) and a data memory used for inputting and outputting an FG input value (5) and an FG set value (7) with a sequencer (1) for controlling a controlled object such as a rolling mill or a roll in the steel field. Data memory interface (11) to access to, formula / condition register (1
The calculation unit (12) for executing the calculation formula registered in 3), the calculation formula / condition registration unit (13) for registering the calculation formula and the range of input values, and the calculation formula derivation data for deriving the calculation formula. Input the arithmetic expression derivation unit (14) that solves simultaneous equations by using, the arithmetic expression derivation data storage unit (15) that stores the order and the coordinate data of the equation, the arithmetic expression, the range of input values, the degree of the equation, and the coordinate data. Calculation formula / calculation formula derivation data input section (1
6) A control sequence data setup device comprising: