JPH072400A - Helper roll drive control device - Google Patents

Abstract

PURPOSE:To prevent the slip and tension fluctuation of a strip due to a current reference value error when controlling the current of a helper roll drive motor based on the current reference value. CONSTITUTION:The speed of a helper roll is detected by a speed detector 15 to obtain the speed feedback signal, the difference between this signal and a speed reference value is fed to a speed control circuit 16 with a dead zone to obtain the tension correction output, and a current reference value is corrected with this output. The speed of the help roll in a looper is fed back, the operation state of the helper roll is invariably monitored and controlled, thus the current reference value is corrected to eliminate an error, and a slip and a tension fluctuation are not generated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive device for a helper roll in a looper device for temporarily storing strips in a steel process line.

[0002]

2. Description of the Related Art FIG. 5 is a mechanical block diagram of a conventional looper device. In the figure, 1 is a strip material, 2 is an inlet side roll, 3 and 4 are helper rolls, 5 is an outlet side roll, 6, 7
Is a drive motor for rotating the helper rolls 3 and 4, 8
Is a looper carriage which is composed of a carriage roll 8a and a connecting bar 8b and is displaceable with respect to the helper rolls 3 and 4, and 9 is a wire for suspending the looper carriage 8.
Is a support roller for guiding the washer 9, 11 is a drum for winding up and down the wire 9, and 12 is a carriage driving motor for rotating the drum 11.

Next, the operation will be described. Initially, the looper carriage 8 is located at a predetermined distance upward from the helper rolls 3 and 4, and the strip material 1 alternately passes between them as shown in the drawing, from the inlet side on the left side. It is designed to be sent out toward the exit on the right side. The strip material 1 is wound in a coil shape on the left side on the inlet side, but when the feeding operation approaches the end, the tail end portion also pulls rightward and moves.

In order to continuously and continuously carry out such a feeding operation, the tail end portion of the strip material 1 is fed to another strip material 1 to be fed next.
It is necessary to connect it to the tip of by a welder or the like. However, in order to perform the connection by the welder or the like, the tail end portion of the strip material 1, that is, the portion at the inlet portion must be stopped for a certain time, while the strip material 1
As for the part on the exit side of,
It is necessary to keep sending at a constant speed.

Therefore, in such a case, the carriage driving motor 12 is rotated at a predetermined speed in the direction of the arrow to move the looper carriage 8 downward, that is, to approach the helper rolls 3 and 4. Then, the portion of the strip material 1 on the right side of the exit side roll 5 and the entrance side roll 2
The part between the outlet side roll 5 and the outlet side roll 5 is fed as before, but the tail end portion of the strip material 1 is stopped for a certain period of time because the inlet side roll 2 does not rotate. You can Therefore, it is possible to connect the tail end portion of the strip material 1 and the leading end portion of the next strip material by utilizing this stop time. After the connection work is completed, the looper carriage 8 is pulled up to the original position again.

By the way, while the looper carriage 8 is descending toward the helper rolls 3 and 4, the portion of the strip material 1 between the inlet side roll 2 and the outlet side roll 5 is The mechanical loss and bending (bending) loss fluctuate as the rotation speed of No. 4 changes, and the tension applied to the strip material 1 increases.

Therefore, in order to avoid such an increase in tension, the drive motors 6, 7 are used to correct the loss to the strip material 1 between the inlet side and the outlet side.
Thus, the helper rolls 3 and 4 are rotationally driven.

That is, the mechanical loss of the rolls in the helper rolls 3 and 4 and the bending loss of the strip material 1 in the looper are calculated and converted into current values of the helper roll drive motors 6 and 7.

FIG. 6 is a block diagram of a conventional control device for carrying out this type of current control, which is disclosed in Japanese Patent Laid-Open No. 64-71515. The controller 13 controls the current reference value and the drive motor 6
(Or, the output current of the current device 14 is controlled so that the current feedback value of the drive motor 7 may match.

[0010]

In the conventional control, the current reference value for controlling the current of the helper roll drive motor is defined by a function of roll speed (mechanical loss) and a function of slip material and size (bending loss). Since the sum is calculated, there is a difference between the actual loss and the strip, resulting in excessive tension or under tension for the strip, resulting in the problem of promoting strip and tension fluctuation.

The present invention has been made to solve the above problems, and a helper roll driving motor stably outputs a torque corresponding to a necessary loss compensation amount and performs a proper tension control. An object is to provide a roll drive control device.

[0012]

A helper roll drive control device according to the present invention is a helper roll drive control device for controlling a current of a drive motor for driving a helper roll of a looper device based on a current reference value. Detecting means for detecting the speed, comparing means for comparing the detected speed with a speed reference value given to the drive motor as a speed feedback value, and a dead zone control circuit for converting the compared deviation according to a tension correction characteristic having a dead zone, The conversion output is added to the current reference value to correct the current reference value.

Further, a state function generating means for changing the dead band width of the tension correction characteristic of the control circuit with dead band according to the operating state of the looper carriage is provided.

Further, a correction value for correcting the current reference value is set in advance in accordance with various conditions such as the plate size, the type of steel plate, the operating state of the looper carriage, the speed deviation signal, etc. A current correction control circuit with a learning function is provided which corrects the current reference value based on a preset correction value by inputting various conditions.

[0015]

The helper roll drive control device of the present invention compares the speed of the drive motor as a speed feedback value with a speed reference value, converts the compared deviation according to a tension correction characteristic having a dead zone, and outputs the converted output as a current reference. The value is added to the value to correct the current reference value, and the drive motor is current-controlled based on the corrected current reference value.

Further, the dead zone width of the tension compensation characteristic of the dead zone-equipped control circuit is changed according to the operating state of the looper carriage to better compensate the current reference value.

Further, a correction value for correcting the current reference value is set in advance according to various conditions such as plate size, type of steel plate, operating state of the looper carriage, speed deviation signal, etc. By inputting various conditions, the current reference value is corrected with the preset correction value.

[0018]

【Example】

Example 1. Hereinafter, description will be given based on the block diagram of the first embodiment of the present invention shown in FIG. In the figure, 6 is a drive motor for helper rolls, 13 is a current control device, and 14 is a power supply device, which are the same as those of the conventional device shown in FIG. Reference numeral 15 is a speed detector for detecting the speed of the drive motor 6, and 16 is a speed control circuit with a dead zone having a dead band (D-BAND, dead band) and a tension correction characteristic. The current reference value is corrected based on the detected speed feedback value.

Next, the operation will be described. The speed feedback value of the drive motor 6 detected by the speed detector is compared with the speed reference value, and the deviation is converted by the dead zone speed control circuit 16 based on the tension correction characteristic having the D-BAND width, This output is multiplied by the speed / current conversion gain (G) by the conversion coefficient circuit 17.

The output of the conversion coefficient circuit 17 is added to the adder 18
Is added to the current reference value to correct the current reference value, and the drive motor 6 is current-controlled. The speed reference value is given for each individual helper roll and is calculated by the speeds of the inlet side helper roll (entrance side section) and the outlet side helper roll (outlet side section). The current reference value is also given and corrected for each helper roll.

Example 2. In the first embodiment, the case where the dead zone control circuit 16 for correcting the current reference value is provided to make the tension in the looper stable is described. However, in the second embodiment, as shown in FIG. By providing the state function generator 20 that makes the D-BAND width of the dead zone control circuit 16 variable depending on the operating state, more stable tension control can be obtained even when the looper carriage is moving.

That is, when the looper is driven in / out, the looper carriage 8 moves up / down, so that the error between the speed reference value of the helper roll and the speed feedback is large, and the looper carriage 8 moves during the looper synchronization. Since it does not exist, the operation is relatively stable and the error is small. Therefore, stable tension control can be obtained by varying the D-BAND width of the dead zone control circuit 16 depending on the operating state of the looper carriage 8.

That is, during the looper synchronization, the speeds of the inlet side roll 2 and the outlet side roll 5 before and after the looper are constant, the looper carriage 8 is in a stopped state, and the helper rolls 3, 4
Is constant speed, the operation is stable and the error is small. While the looper is being driven, the looper carriage 8 is moving upward while the velocity of the inlet side roll 2 and the outlet side roll 5 before and after the looper is “the velocity of the inlet side roll 2> the velocity of the outlet side roll 5”. Since the strip material 1 is being driven inside, the error becomes large. While the looper is being ejected, it is the reverse of the looper ejection, and the looper carriage 8 descends.
Since the strip material 1 in the looper is being dispensed,
The error becomes large.

FIG. 3 shows details of the state function generator 20.
Reference numerals 21, 22, and 23 are contacts, and an input signal of “looper synchronizing / looper pushing in / looper paying out” is input from a control device (not shown) monitoring the plant to close the contacts. Reference numerals 24, 25, and 26 denote state function generators for the dead band control circuit 16 so that the D-BAND width is small during the looper synchronization and becomes large during the looper insertion and the looper payout. , Send the command. Based on this command, the dead zone control circuit 16 is set to D-BA.
Change the ND width. In this way, the current reference value is appropriately corrected so that stable tension control can be obtained even when the looper carriage is moving.

Example 3. In the first embodiment, the case where the dead zone control circuit 16 for correcting the current reference value is provided and the tension in the stable looper is made constant is described.
Then, as shown in FIG. 4, current correction with a learning function having a learning function for correcting the current reference value by the plate size, the steel plate, the operating state of the looper carriage, the deviation between the speed reference value and the speed feedback value, and the like. By providing the control device 30, more stable tension control can be obtained.

The current correction controller 30 with a learning function corrects the current reference value according to various conditions such as the size of the plate, the type of the steel plate, the operating condition of the looper carriage, the plant condition, and the speed deviation signal. Set the value in advance,
By inputting various conditions in the actual operating state, it is possible to obtain the correction value of the current reference value according to the preset value.

This learning function obtains an appropriate correction output depending on the speed deviation (slip amount) between the speed reference value and the speed feedback value and the plant condition such as plate size, steel plate type, looper carriage operating condition and the like. ,as a result,
An appropriate correction current value is obtained so as to reduce the speed deviation (slip amount), and the current correction output from the dead zone control circuit 16 is finally controlled to zero.

The plate size, the type of steel plate, the operating state of the looper carriage, etc. are input from a controller (not shown) that monitors the plant.

Example 4. State function generator 20 of the second embodiment
Both the current correction control circuit 30 with a learning function of the third embodiment may be used at the same time, and more stable tension control can be obtained.

[0030]

As described above, according to the present invention, the speed of the helper roll in the looper is fed back, and the operating state of the helper is constantly monitored and controlled. It is possible to correct tension fluctuations so that stable tension control can be obtained.

Further, since the width of the D-BAND is made variable depending on the operating state of the looper such as looper pushing, looper payout, looper synchronization, etc., more stable tension control can be obtained.

Further, since a control device having a learning function for correcting the current reference value is provided according to various conditions depending on the operating state of the plant, better correction can be performed and stable tension control can be obtained.

[Brief description of drawings]

FIG. 1 is a block diagram of a helper roll drive controller showing a first embodiment of the present invention.

FIG. 2 is a block diagram of a helper roll drive controller showing a second embodiment of the present invention.

FIG. 3 is a block diagram showing a main part of FIG.

FIG. 4 is a block diagram of a helper roll drive controller showing a third embodiment of the present invention.

FIG. 5 is a mechanical configuration diagram of a looper device.

FIG. 6 is a block diagram of a control system of a conventional helper roll drive motor.

[Explanation of symbols]

 1 Strip Material 2 Inlet Side Roll 3, 4 Helper Roll 5 Outlet Side Roll 6, 7 Drive Motor 8 Looper Carriage 8a Carriage Roll 8b Connecting Bar 9 Wire 10 Support Roller, 11 Carriage Drum 12 Carriage Drive Motor 13 Current Control Device 14 Power supply device 15 Speed detector 16 Speed control circuit with dead zone 17 Conversion coefficient circuit 18 Adder 19 Adder 20 State function generator 21, 22, 23 Contacts 24, 25, 26 State function generator 30 Current correction control circuit with learning function

Claims (3)

[Claims] 1. A helper roll drive control device for controlling the current of a drive motor for driving a helper roll of a looper device based on a current reference value, and a detection means for detecting the speed of the drive motor and a speed feedback of the detected speed. Comparing means for comparing the speed reference value given to the drive motor as a value, a dead zone control circuit for converting the compared deviation according to a tension correction characteristic having a dead zone, and a conversion output of the dead zone control circuit for the current reference value. And a adding means for correcting the current reference value by adding the current to the drive motor and controlling the current of the drive motor based on the corrected current reference value. 2. A helper roll drive control device for controlling the current of a drive motor for driving a helper roll of a looper device based on a current reference value, and a detection means for detecting the speed of the drive motor and a speed feedback of the detected speed. A comparison means for comparing the speed reference value given to the drive motor as a value, a dead zone control circuit for converting the compared deviation according to a tension correction characteristic having a dead zone, and a conversion output of the dead zone control circuit for the current reference value. And a state function generating means for changing the dead band width of the tension correction characteristic of the control circuit with dead band according to the operating state of the looper carriage, and the operating state of the looper carriage. Depending on the current reference value corrected according to the tension correction characteristic that changes the dead band width A helper roll drive control device characterized by being controlled. 3. A correction value for correcting the current reference value according to various conditions such as plate size, type of steel plate, operating state of the looper carriage, speed deviation signal, etc. 3. The current correction control circuit with a learning function, which corrects the current reference value based on the preset correction value by inputting various conditions, is provided. Helper roll drive controller.