JPH10225710A - Device for controlling tension of strip in rolling equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for controlling tension of a strip in rolling equipment whose looper is removed as a conventional equipment in the tension control of the strip. SOLUTION: This device is for controlling the tension of the strip between a rolling mill 3 and a running device l while moving in synchronism with the traveling of the strip 2 as clamping the strip 2 with the running device 1 which is arranged on the upstream side of the rolling mill 3 of the rolling equipment. In the running controller 4 of the running device 1, the transporting speed of the strip in synchronism with the rolling speed of the rolling mill 3 is taken as the target speed, received from a rolling mill controller 5, the motor current signal Iref of the running device 1 is calculated from the same target speed and speed control is executed. Simultaneously, the corrective amount AVset of the target speed to the target speed is calculated and tension control is executed and, by adding this corrective amount of the target speed to the target speed, speed control and tension control are simultaneously controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for controlling the tension of a strip between a rolling mill of a rolling plant and a traveling device disposed upstream of the rolling mill for clamping the strip while traveling.

[0002]

2. Description of the Related Art For example, in sheet bar joining in a rolling plant, both strips are clamped on the upstream side of a finishing mill of a rolling plant in order to join a leading end of a strip and a leading end of a succeeding strip. A traveling device that moves with the movement of the vehicle is provided. In this traveling apparatus, after the strip is clamped, the strip tension during traveling may fluctuate due to acceleration or deceleration, a traveling plate thickness change, traveling resistance fluctuation, etc. on the rolling mill side. Between them, means for controlling the tension is required.

FIG. 5 shows an example of a conventional tension control means. FIG. 5 (a) shows the relationship between a rolling mill 3 and a traveling device 1, and FIG. This shows a case where tension is applied. That is, the traveling device 1 is disposed on the upstream side of the rolling mill 3, the tail end of the strip 2 is clamped as shown in (a), and the roll at the tip of the looper 6 is brought into contact with the lower part of the strip 2 on the rolling line, Then
(B) As shown in the drawing, the looper 6 is rotated by a drive motor (not shown) to push up and drive the strip 2 upward, thereby applying a predetermined tension to the strip 2 in advance. When the strip 2 is being conveyed in this state, even if a tension fluctuation occurs for some reason, the looper 6 moves to a position where the tension of the strip 2 and the set torque of the drive motor for the looper 6 are balanced, whereby the looper 6 is balanced. The tension fluctuation is absorbed. In this case, the speed control of the traveling device 1 is performed when the target speed is output from the rolling mill control device 5 to the traveling control device 4 as the target speed based on the rolling speed command to the rolling mill 3. Outputs a motor torque command to the traveling device 1 to control the speed of the traveling device 1.

[0004]

In the tension control means shown in FIG. 5 described above, a looper 6 is disposed between the traveling device 1 and the rolling mill 3, and the loop 2 is moved by the looper 6.
Is pushed up from below, which has the following problem. (1) The thickness of the strip 2 on the upstream side of the rolling mill 3 is usually about 10 mm or more, and a large force is required to push up the strip 2 from below with the looper 6. For this reason, the equipment of the looper 6 and the driving means for pushing up (not shown) becomes large, and the material may change due to the large bending force acting on the strip 2 side. (2) When a tension change occurs in the strip 2 due to some disturbance, the tension change hardly becomes a force for pushing down the strip 2 with respect to the looper, so that it is difficult to control the tension change with high precision.

[0005] In order to solve the above-mentioned problems of the prior art, the present invention eliminates the conventional tension control looper and adds a tension control function to the speed control system of the traveling device, thereby achieving speed control and tension control. It is an object of the present invention to provide a strip tension control device in a rolling plant that can simultaneously perform control and perform high-precision tension control.

[0006]

The present invention that achieves the above object has the following matters specifying the invention. (1) A rolling mill of a rolling equipment, a rolling mill control device for controlling the rolling mill, a traveling device arranged upstream of the rolling mill for clamping a strip, and outputting a motor torque command to the traveling device. The motor torque command calculated by the travel control device is a command based on the target speed from the rolling mill control device, taking into account a target speed correction amount based on the set target tension. It is a feature that the directive was given. (2) In (1), the target speed correction amount is obtained based on the target tension torque, the motor current signal of the traveling device, and the traveling resistance torque. (3) In (1), the target speed correction amount is obtained by the following equation. (Equation) ΔV _set = K d × I _ref + K / s × (τ _set −τ
_r + I _ref ) where ΔV _set is a target speed correction amount, I _ref is a motor current signal, τ _set is a target tension torque, τ _r is an average running resistance torque, Kd and K are control gains, and s is a Laplace operator. It is.

The strip tension is controlled between the rolling mill and the traveling device while moving in synchronization with the traveling of the strip while clamping the strip by the traveling device arranged on the upstream side of the rolling mill of the rolling equipment. In the traveling control device of the traveling device, the output based on the rolling speed command of the rolling mill or the transport speed of the strip directly measured by a contact or non-contact type (not shown) is received from the rolling mill control device as a target speed, A motor current signal, which is a motor torque command for the traveling device, is calculated from the target speed and speed control is performed. At the same time, a target speed correction amount (ΔV _set ) is calculated with respect to the target speed and tension control is performed. By adding the speed correction amount, the speed control and the tension control can be controlled simultaneously. In this way, since the speed control of the traveling device and the tension control of the strip are simultaneously controlled, the strip tension between the traveling device and the rolling mill can be controlled with high accuracy.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will now be described with reference to FIGS. In FIG. 1, the same parts as those in FIG. 5 are denoted by the same reference numerals. FIG. 1 does not have the looper shown in FIG. 5, and has a traveling device 1, a strip 2, a rolling mill 3, a rolling mill control device 5, and a traveling control device 4 as in FIG. It is characterized that a tension control function is added to the speed control system. In FIG. 1, a traveling device 1 traveling on a traveling line clamps a strip 2 while traveling in synchronization with a strip 2 being conveyed, and then performs tension control with a rolling mill 3. The control device 5 sends the rolling speed of the rolling mill 3 or a target speed based on a transport speed command of the strip 2 which is directly measured by a contact or non-contact method (not shown) to the travel control device 4, and the travel control is performed. In the device 4, in addition to the speed control from the target speed to the traveling device 1, a tension control in which a target speed correction amount for the set target tension is calculated is added, and a motor torque command is issued to the traveling device 1.

FIG. 2 shows an example of a circuit block in the traveling control device 4, which comprises a speed control block 10 and a tension control block 11. Among them, the speed control block 10 performs speed feedback control, and a PI integration section 102 for speed control performs a proportional integral calculation via a feedback addition point 101, and then a drive motor (not shown). A motor current signal I _ref (motor torque command) is output via each of the limiters 103 that suppress the current within the current capacity. If the traveling device 1 side leading to this is expressed in a block diagram, a temporary delay element 104 for generating torque, a point 105 where disturbance torque is added, an integrator for generating a speed in consideration of a drive motor and a moment of inertia of the traveling device 1. 106 are present.

In FIG. 2, the tension control block 11
Is performed the integration of the K / s by the motor current signal I _ref and the target tension torque tau _{The set} as running resistance torque tau _r and an integrator 112 is input to summing point 111 is added from the limiter 103 of the speed control block 10 . In this case, addition point 1
In step 11, the tension is obtained by subtracting the traveling resistance torque τ _r of the traveling device 1 from the traveling speed of the traveling device 1 which is the current signal I _ref of the drive motor of the traveling device 1 to obtain a deviation from the target tension τ _set. ing. The integrator 112 removes the offset from the deviation from the target tension to obtain a target tension deviation. Further, in the tension control block 11, the droop control is performed by the element 113 based on the gain Kd with the motor current signal _Iref as an input. This droop control is used to control the strip tension indirectly to zero and to quickly follow the disturbance, except for the response delay when the strip tension acts as a disturbance and acts on the system. Is what you get. As a result, the integrator 11
The target speed is corrected by adding the target tension deviation which is the output of No. 2 and the droop control output for high-speed response to the addition point 101.

The arithmetic expression of the tension control block 11 shown in FIG. 2 is as follows. ΔT = (τ _set −τ _r + I _ref ) (1) ΔV _set = K d × I _ref + K / s × (τ _set −τ _r + I _ref ) (2) where ΔT; Deviation (torque) (motor current conversion value) ΔV _set ; target speed correction amount I _ref ; motor current signal τ _set ; target tension torque (motor current conversion value) τ _r ; running resistance torque average value (motor current conversion value) Kd, K; control gain s; Laplace operator In the above equation (1), the deviation ΔT from the target tension is 0 on the right side.
The first term of the equation (2) is a droop control, which is used for a control requiring a high response such as a tension control in order to increase the response of the control system, and the second term of the equation (2) is used. The term is
Similarly to the equation (1), the deviation ΔT from the target tension is calculated in consideration of the torque average value (τ _r ) of the traveling resistance of the traveling device 1, and the integral of K / s in the second term of the equation (2) is calculated. The vessel removes the steady-state deviation of the tension as described above.

FIG. 3 is a flowchart showing the control system shown in FIG. 2. The input to the addition point 101, which is the output of the tension control block 11 shown in FIG.
This is described as a target speed correction amount that is _set .

Returning to FIG. 1, while referring to FIGS. 2 and 3, while the strip 2 is clamped by the traveling device 1 arranged on the upstream side of the rolling mill 3, the strip 2 is moved in synchronization with the traveling of the strip 2. The tension of the strip 2 between the rolling mill 3 and the traveling device 1 is controlled. Travel control device 4 of traveling device 1
Then, a rolling speed of the rolling mill 3 or a target speed based on a conveying speed command of the strip 2 which is directly measured in a contact or non-contact manner (not shown) is received from the rolling mill controller 5 and is set as a target speed. The motor current signal of the traveling device 1 is calculated from the speed to control the traveling speed, and at the same time, the target speed correction amount (ΔV _set ) is calculated from the target speed by the above equation (2) to control the tension of the strip 2. The traveling speed is controlled so that the speed control and the tension control are simultaneously controlled by adding the target speed correction amount to the target speed. That is, with respect to the tension of the strip 2 between the traveling device 1 and the rolling mill 3 generated by clamping the strip 2, the motor current signal (I _ref ) in the speed control of the drive motor of the traveling device 1 is used to determine the above (1)
The deviation ΔT from the target tension is detected by the equation, the target speed correction amount (ΔV _set ) is obtained by the above equation (2), and the tension control for adding this to the target speed is performed. In this way, since the speed control of the traveling device and the tension control of the strip are simultaneously controlled, the strip tension between the traveling device and the rolling mill can be controlled with high accuracy.

FIG. 4 (a) shows that the target tension is set to 0.3 after the strip 2 has been chased and clamped by the traveling device 1.
It is a test result when tension control is started by setting to kgf / mm ² , and FIG. 12B shows a test result when tension control is turned off by unclamping the strip 2. In this case, in FIGS. 4 (a) and 4 (b), the upper diagram measures the oil pressure of the cylinder 8 which moves the clamp device 7 shown in FIG. The figure shows the measured value of the load cell 9 attached to the clamping device 7 of the strip 2 shown in FIG.
/ C load. As can be seen from the test results, the moment when the tension control is “on” is 0.43 kgf / mm ² , but on average it is about 0.40 kgf / mm ^{2 to} 0.23 kgf / mm ² .
is controlled in the range of mm ^2, the target tension (0.3 kgf / mm
^In contrast to ² ), it was found that the variation in tension was suppressed with a small variation of about ± 0.1 kgf / mm ^{2 or} less, and the strip tension was controlled with high precision.

[0015]

As described above, according to the present invention, while the strip is clamped by the traveling device disposed on the upstream side of the rolling mill of the rolling equipment, the rolling mill and the traveling device move in synchronization with the traveling of the strip. The target tension correction amount is calculated for the motor current signal calculated by the traveling control device of the traveling device, and the target speed from the rolling mill control device is calculated as the target speed correction amount. Since it is configured to add, the traveling speed is controlled so as to simultaneously control the speed control and the tension control, and the strip tension of the strip between the traveling device and the rolling engine can be controlled with high precision. . Further, since the fluctuation of the strip tension is suppressed to a small value, the quality of the strip is improved. Further, since the conventional equipment for the looper and the driving means for pushing up is eliminated, the installation space for the looper is not required, the bending force on the strip is eliminated, and the material does not change.

[Brief description of the drawings]

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

FIG. 2 is a block diagram of a control device.

FIG. 3 is a flowchart according to a control device.

FIG. 4 is a graph showing experimental results.

FIG. 5 is a configuration diagram for a conventional example.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 traveling device 2 strip 3 rolling mill 4 traveling control device 5 rolling mill control device 10 speed control block 11 tension control block

Continuation of the front page (72) Inventor Naohiko Ishibashi 4-6-22 Kannonshinmachi, Nishi-ku, Hiroshima-shi, Hiroshima Mitsubishi Heavy Industries, Ltd. Hiroshima Works (72) Inventor Takahiro Yamazaki 1 Kawasaki-cho, Chuo-ku, Chiba-shi, Chiba Made by Kawasaki (72) Inventor Shigeru Isoyama 1 Kawasaki-cho, Chuo-ku, Chiba-shi, Chiba Chiba Works Chiba Works

Claims (3)

[Claims] 1. A rolling mill of a rolling equipment, a rolling mill control device for controlling the rolling mill, a traveling device arranged upstream of the rolling mill for clamping a strip, and a motor torque command to the traveling device. And a travel control device that outputs a motor torque command calculated by the travel control device.
A command based on a target speed from the rolling mill control device,
A strip tension control device, wherein the command is a command taking into account a target speed correction amount based on a set target tension. 2. The target speed correction amount according to claim 1,
A strip tension control device, which is determined based on a target tension torque, a motor current signal of a traveling device, and a traveling resistance torque. 3. The strip tension control device according to claim 1, wherein the target speed correction amount is obtained by the following expression: (Expression) ΔV _set = Kd × _Iref + K / s × (τ _set −τ
_r + I _ref ) where ΔV _set is a target speed correction amount, I _ref is a motor current signal, τ _set is a target tension torque, τ _r is an average running resistance torque, Kd and K are control gains, and s is a Laplace operator. It is.