JPH07265930A - Control device for looper tension - Google Patents

Abstract

PURPOSE:To make it possible to carry out tension control with high precision in rolling a narrow thin sheet with a small cross-sectional area by measuring on line a dead weight torque of a looper and using the latest dead weight torque of the looper thus obtained. CONSTITUTION:A dead weight torque of a looper outputted from a detector 1 for a dead weight torque of a looper and the reference of a preset tensile torque of a plate are added by an adder 12, and the added value is added to a looper driving device 25 as a looper torque reference. In addition, a detected value of an angle by a looper angle detector 26 is also added to a looper height controller 11 other than the detector 1 for a dead weight torque of a looper. The looper angle reference is compared with the detected value of the angle by the looper height controller 11, and a correction value of velocity is outputted to make the difference zero. This correction value of velocity and a preset velocity of the main machine are added by an adder 13, and the added value is added to a driving device 27 for the main machine as the velocity reference for the main machine. The motor 28 of the main machine is driven by the driving device 27 for the main machine, driving a rolling mill 21 through a pinion stand 29.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a looper tension control device in which a looper for controlling tension is arranged between stands of a hot finish rolling mill, and a looper drive device drives a looper electric motor according to a looper torque standard or a speed standard. Regarding

[0002]

2. Description of the Related Art In a hot finish rolling mill, a looper tension control device for controlling the tension between stands has a torque necessary to support the weight of the looper itself, that is, the looper tension control device as a torque for the looper's own weight. It was general to use a fixed value stored in the above or a function value stored as a function of the looper angle.

[0003]

In recent years, the number of types of materials rolled by the hot finish rolling mill has increased, so that the plate tension set value required for looper tension control is also changed over a wide range. The capacity of the looper is determined for the wide and thick plate materials having the largest plate tension among the materials rolled by the hot finish rolling mill. Therefore, when rolling a narrow plate having a small cross-sectional area and a thin plate, it is necessary to control the plate torque with a torque extremely smaller than the rated torque of the looper motor. In order to control the looper to a certain angle, it is necessary to consider the torque of the looper's own weight that supports the weight of the looper itself.However, most of the torque generated by the looper electric motor is small when rolling a thin sheet with a narrow cross section and thin plate. In some cases, the plate torque is only a few percent of the torque generated by the looper motor.

In order to control the looper tension when rolling a narrow sheet having a small cross-sectional area and a thin sheet, a fixed value stored inside the looper tension control device as in the prior art or a function stored as a function of the looper angle is used. There is a limit to accuracy in using the value as the torque for the looper's own weight. In addition, although the looper's own weight torque changes due to wear of the mechanical system, replacement of parts, etc., conventionally, it is a fixed value that is temporarily stored, or
Since the function value is used as it is, it is also an error with respect to the reference value of the torque generated by the looper drive device.

The present invention has been made to solve the above problems, and measures the looper's own weight torque online between rolling and uses the obtained latest looper's own weight torque. By this, the cross-sectional area is small and narrow,
An object of the present invention is to obtain a looper tension control device that can perform tension control with high precision even in rolling a thin plate.

[0006]

According to another aspect of the present invention, there is provided a looper tension control device for internally detecting a torque of a looper motor by a looper drive device, and a looper motor so that a detected torque value matches a looper torque reference. When driving, the looper is started up without rolled material, and when the looper angle reaches the size during actual rolling, the detected torque value of the looper drive is stored and the stored value is read during rolling to determine the looper's own weight. Calculation of the looper torque for the looper drive unit by adding a preset plate tension torque reference to the looper weight torque output from the looper weight torque detector and the looper weight torque output from the looper weight torque detector And means.

The looper tension control device according to claim 2 is
The looper drive device internally detects the torque of the looper motor and calculates a looper torque reference corresponding to the difference between the speed reference and the speed detection value, so that the looper torque reference matches the internally detected torque detection value. When the looper is driven, the looper is started up in the absence of rolled material, and when the looper angle reaches the size at the time of actual rolling, the torque detection value of the looper drive device is stored and the stored value is read during rolling to read the looper. A looper deadweight torque detector for outputting as a deadweight torque, a first computing means for computing a looper acceleration torque, a second computing means for computing a rolling material deadweight bending torque, and a looper drive during rolling. From the torque detection value of the device, subtract the added value of the looper weight torque, looper acceleration torque, and rolled material weight bending torque, and output as the plate tension detection value. Third calculation means and a plate tension reference that,
A fourth method for calculating a speed reference for the looper driving device based on the plate tension detection value, the looper height reference, and the looper height detection value.
And the calculation means of.

A looper tension control device according to a third aspect of the present invention is
As the looper's own weight torque detector, the looper angle setter that sequentially changes and sets the angle of the looper without rolling material at least within the fluctuation range during rolling, and the looper angle set sequentially by the looper angle setter In addition, a torque detection value internally detected by the looper driving device is stored, and a storage table for reading a stored value corresponding to the angle of the looper during rolling to obtain a torque corresponding to the looper's own weight is used.

[0009]

In the looper tension control apparatus according to the first aspect of the present invention, the preset loop tension torque reference is added to the looper own weight torque detected in the absence of the rolled material to be used as the looper torque reference.

In the looper tension control device according to a second aspect of the present invention, the looper's own weight torque is detected in the absence of the rolled material, and the looper's acceleration torque and the rolled material's own weight bending component torque are respectively detected to perform rolling. From the detected torque value to
The plate tension detection value is obtained by subtracting the added value of the looper own weight torque, the looper acceleration torque, and the rolled material own weight bending torque.

In the looper tension control device according to a third aspect of the present invention, the angle of the looper is sequentially changed and set within a fluctuation range at least during rolling without a rolled material, and the torque of the looper drive device is set for each angle of the looper. The detected value is stored, and the stored value is read during rolling to correspond to the angle of the looper to obtain the torque corresponding to the looper's own weight.

[0012]

The present invention will be described in detail below with reference to the embodiments shown in the drawings. FIG. 3 shows a detailed configuration of a looper gravity weight torque detector, which is a constituent element of each embodiment of the present invention, together with a rolling system. In the figure, the rolled material 10 is sequentially rolled by the rolling mills 21 and 22 of a plurality of stands arranged in tandem. Here, a two-stand rolling mill is illustrated, but the same applies to the case of three or more stands, and therefore, two stands of a plurality of stands will be described below. Between adjacent stands, that is, rolling mills 21 and 22
A looper 23 is provided between them, and the looper torque is generated in the looper 23 to adjust the tension applied to the rolled material 10 between the stands.

An angle of the looper 23 can be changed by a looper electric motor 24. The looper electric motor 24 is driven by a looper driving device 25. Looper drive 25
Includes a DC Leonard device, an inverter or the like, and drives the looper motor 24 according to a speed reference or a torque reference.
FIG. 3 shows a case where the looper motor 24 is driven according to the speed reference. In this case, the looper drive device 25 can internally calculate the torque generated by itself and output it as a torque detection value. A looper angle detector 26 that detects the angle of the looper 23 is attached to the looper motor 24. The looper angle detector 26 outputs an angle detection value.

The torque detector 1 for the looper's own weight starts up the looper 23 without a rolled material, and at this time, the looper drive device is operated.
The torque detection value internally detected by 25 is used as the looper angle detector.
The stored value is stored in association with the detected angle value of 26, the stored value corresponding to the detected angle value of the looper angle detector 26 is read out during rolling, and is output as the looper own weight torque. This looper own weight torque is used for calculation of the looper torque reference and the plate tension detection value, as will be described later.

The looper deadweight torque detector 1 comprises a deadweight torque storage table 2, a looper angle setting device 3, AND gates 4 and 6, changeover switches 5 and a switch 7. Among them, the AND gate 4 sends a torque measurement request for the dead weight to the looper angle setter 3, the changeover switch 5 and the AND gate 6 on condition that there is no rolled material between the rolling mills 21 and 22.
Add to. At this time, the looper angle setter 3 first sets the looper to the lower limit angle of the fluctuation range during rolling and outputs a speed reference that maintains that state, and then sets the looper angle to a larger value by a certain value. The operation of outputting the speed reference that maintains the state is repeated until the upper limit of the variation range during rolling is reached. Further, the changeover switch 5 adds the speed reference set by the looper angle setting device 3 to the looper drive device 25 instead of the looper motor speed reference for rolling. As a result, the looper 23 is lifted in multiple steps from the lower limit to the upper limit of the variation range during rolling. The looper angle is detected by the looper angle detector 26 and added to the looper angle setter 3. Further, the looper angle setting device 3 determines whether or not the set value and the detected value match each time the looper angle is set, and outputs an angle setting completion signal each time they match. The AND gate 6 closes the switch 7 each time an angle setting completion signal is output, on condition that a torque measurement request for its own weight is added, and the torque detection value internally detected by the looper drive device 25 is determined by its own weight. It is stored in the minute torque storage table 2. As a result, the looper weight torque is stored in the loop weight torque storage table 2 for each set looper angle.

On the other hand, during rolling, the AND gate 4 does not output a torque measurement request for its own weight, and the looper drive device 25 drives the looper motor 24 in accordance with the looper motor speed reference.
At this time, the looper angle is detected by the looper angle detector 26 and added to the own-weight torque storage table 2. As a result, the looper self-weight torque stored in the self-weight torque storage table 2 is read, and the value corresponding to the detected angle is read. The looper own weight torque thus read is used for calculating the looper torque reference and the plate tension detection value.

FIG. 1 shows an embodiment corresponding to the looper tension control device according to the first aspect of the present invention, and in particular, a case where the looper deadweight torque detected by the looper deadweight torque detector 1 is used for calculation of a looper torque reference. Shows. In the figure, the same elements as those of FIG. 3 are designated by the same reference numerals, and the description thereof will be omitted. Here, the looper deadweight torque output from the looper deadweight torque detector 1 and a preset plate tension torque reference are added by the adder 12, and the added value is added to the looper drive device 25 as a looper torque reference. To be Further, the angle detection value obtained by the looper angle detector 26 is added to the looper height controller 11 in addition to the looper own weight torque detector 1. The looper height controller 11 compares the looper angle reference with the angle detection value, and outputs a speed correction value that makes the difference zero. This speed correction value and a preset main engine speed set value are added by the adder 13, and the added value is added to the main engine drive device 27 as the main engine speed reference. When the main machine drive device 27 drives the main machine electric motor 28, via the pinion stand 29,
The rolling mill 21 is driven. The looper tension control device illustrated in FIG. 1 is called a conventional type.
25 controls the torque of the looper motor 24 so that the tension set for the rolled material 10 is generated. On the other hand, the angle of the looper 23 is detected by the looper angle detector 26, and the main machine speed set value is corrected so that the detected value matches the reference value.

In this conventional looper tension control device, the angle set value of the looper angle setter 3 (see FIG. 3) is set when the weighted torque measurement request is given to store the looper weighted torque. The looper height controller 11 may be added as a reference value.

Thus, according to this embodiment, since the looper self-weight torque is measured online between rolling and the latest looper self-weight torque obtained is used, a narrow cross-sectional area with a narrow width, High-precision tension control can be performed even when rolling a thin plate.

FIG. 2 shows an embodiment corresponding to the looper tension control device according to the second aspect of the present invention. In particular, the looper self-weight torque detected by the looper self-weight torque detector 1 is used to calculate the plate tension torque detection value. The case where it is used is shown. Figure 3
The same elements as those of 1 are denoted by the same reference numerals and the description thereof will be omitted. Here, the looper acceleration torque calculator 14 detects the looper acceleration (deceleration) torque during rolling, and the rolling material self-weighting bending torque calculator 15 bends the rolled material by its own weight based on the rolling schedule. In this case, the force that supports this is converted into the torque of the electric motor and output. Further, the subtracter 16 subtracts the looper self weight component torque of the looper self weight component torque detector 1 from the torque detection value internally detected by the looper drive device 25, and the subtracter 17 outputs the looper acceleration component torque calculator from the output of the subtracter 16. Subtractor for subtracting 14 looper acceleration torque
18 subtracts the rolled material's own weight bending component torque of the rolled material's own weight bending component torque calculator 15 from the output of the subtractor 17, and adds the obtained value to the looper tension height controller 19 as the plate tension torque detection value. ing. The looper tension height controller 19 inputs the plate tension torque detection value, the plate tension reference, the looper angle detection value, and the looper height reference, and determines the principle of non-interference control between the looper height and tension, optimal control, etc. It is used to output a speed reference for the looper drive device 25 and a speed correction value for the main engine drive device 27.

The looper tension control device shown in FIG. 2 is called a modern control type. The looper drive device 25 controls the speed of the looper motor 24, and the looper angle is detected by the looper angle detector 26.
It is controlled by the looper tension height controller 19 so that the looper angle detected in 1 and the height reference thereof match. Further, the looper tension height controller 19 performs multivariable control so that the detected plate tension torque matches the plate tension torque reference. The plate tension torque is required for this multi-variable control, but the looper torque internally detected by the looper drive device 25 includes the loop tension, the looper weight torque, the looper acceleration torque, and the rolled material weight bending torque. Be done. Therefore,
A looper acceleration component torque calculator 14 and a rolled material self-weight bending component torque calculator 15 are provided, and subtracted from the looper torque and added to the looper tension height controller 19.

As is clear from the above description, also in the embodiment shown in FIG. 2, the looper's own weight torque is measured online between rolling and the latest looper's own weight torque obtained is used. Therefore, the cross-sectional area is small and narrow,
High-precision tension control can be performed even when rolling a thin plate.

In the above embodiment, the detected torque value is stored every time the looper angle is changed during rolling and is increased by a fixed angle. In this case, if the angle increment is small, it is sufficient to output the stored value as it is as the looper own weight torque. However, if the angle division is large, the torque due to the looper's own weight may fluctuate, which may adversely affect the rolling. In order to eliminate this adverse effect, for example, it is also possible to use a function to correct an angle for which there is no data, or to use the data-interpolated value as the looper weight torque.

Further, in the above embodiment, the subtracters 16, 17,
18 was used to sequentially subtract the looper gravity torque, the looper acceleration torque, and the rolled material gravity bending torque from the torque detection value of the looper drive device 25 to obtain the plate tension torque detection value. It is also possible to add the torque for the dead weight, the torque for the looper acceleration, and the bending torque for the rolling material dead weight, and subtract the value obtained by adding from the detected torque value. It suffices if there is a computing means for subtracting the added value of the looper gravity torque, the looper acceleration torque, and the rolled material gravity bending torque from the detected value and outputting it as the plate tension detection value.

Further, in the above embodiment, the looper angle setting device 3 of the looper weight torque detector 1 sets the angle value from the lower limit to the upper limit of the variation range during rolling. You may set a value that you use a lot.
By doing so, the storage operation can be speeded up.

[0026]

As is apparent from the above description, according to the looper tension control device of the first or second aspect, the looper's own weight torque is measured and obtained online between rolling. Since the latest looper self-weight torque is used, it is possible to perform tension control with high accuracy even in the rolling of narrow and thin plates having a small cross-sectional area.

According to the looper tension control device of the third aspect, it is possible to obtain a highly accurate torque for the looper's own weight.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.

FIG. 2 is a block diagram showing the configuration of another embodiment of the present invention.

FIG. 3 is a block diagram showing a detailed configuration of a looper deadweight torque detector that is a component of each embodiment of the present invention.

[Explanation of symbols]

 1 Looper self-weight torque detector 2 Self-weight torque storage table 3 Looper angle setting device 11 Looper height controller 12, 13 Adder 14 Looper acceleration component torque calculator 15 Rolling material self-weight bending component torque calculator 16-18 Subtraction Device 19 Looper tension height controller 21, 22 Rolling machine 23 Looper 24 Looper electric motor 25 Looper drive device 26 Looper angle detector 27 Main machine drive device 28 Main machine electric motor

Claims (3)

[Claims] 1. A looper for controlling tension is arranged between stands of a hot finish rolling mill, the torque of a looper electric motor for driving the looper is internally detected, and the detected torque value and the looper torque reference match. As described above, in the looper tension control device equipped with the looper drive device for driving the looper electric motor, when the looper is started up without a rolled material and the looper angle reaches the size at the time of actual rolling, the looper drive device The torque detection value is stored, the stored value is read during rolling, and the looper deadweight torque detector that outputs as a looper deadweight torque and the looper deadweight torque output from the looper deadweight torque detector are set in advance. And a plate tension torque reference for calculating a looper torque reference for the looper drive device. Apparatus. 2. A looper for controlling tension is arranged between stands of a hot finish rolling mill, the torque of a looper electric motor for driving the looper is internally detected, and a difference between a speed reference and a speed detection value is detected. Calculate the corresponding looper torque reference,
In a looper tension control device equipped with a looper drive device that drives the looper motor so that the looper torque reference and the internally detected torque value match, the looper is started up without a rolled material, and the looper angle is actually rolled. When the magnitude of time is reached, the detected torque value of the looper drive device is stored, the stored value is read out during rolling, and the looper gravity component torque detector that outputs the looper gravity component torque is calculated, and the looper acceleration component torque is calculated. And a second calculating means for calculating a bending component torque for the weight of the rolled material, a torque for detecting the looper's own weight, a torque for accelerating the looper, and a rolling process based on the torque detection value of the looper driving device during rolling. Third calculation means for subtracting the added value of the bending torque for the weight of the material and outputting it as a plate tension detection value, the plate tension reference, the plate tension detection value, and the looper height Quasi and looper tension control device characterized by comprising: a fourth calculating means for calculating a speed reference for said looper drive device based on the looper height detection value. 3. The looper deadweight torque detector, wherein a looper angle setting device for sequentially changing and setting the angle of the looper at least within a fluctuation range at the time of rolling without a rolled material, and the looper angle setting device for sequentially changing A storage table for storing the torque detection value internally detected by the looper drive device for each set looper angle, and reading the stored value corresponding to the looper angle during rolling to obtain the looper own weight torque. The looper tension control device according to claim 1 or 2, wherein.