JPH10244305A - Profile control method and device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable high precision profile control by obtaining an operating quantity of a profile control part corresponding to each stand so that the profile in an exclusive region allotted to each stand is made to be a target profile. SOLUTION: A profile correctable region A1 at a first stand has a wide region. Regions A1, A2,...An, which conduct profile correction among regions in the width direction of a material to be rolled, are divided to exclusive regions B1, B2...Bn to be corrected at the said stand so as not to overlap in corresponding to each stand and so that the region is corrected at other stand but excluding a region corrected at a next stand, an operating quantity of the profile control part corresponding to each stand is obtained so that the profile in respective in respective exclusive region B1, B2...Bn allotted to each stand is made to be a target profile. By this method, control operation is conducted on line.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a profile control method and apparatus for controlling a plate profile at the exit side of a final stand of a tandem rolling mill to a target profile, and more particularly, to a method for calculating the shift amount of each stand online and achieving high accuracy. The present invention relates to a profile control method and apparatus suitable for controlling a profile in advance.

[0002]

2. Description of the Related Art In a rolling mill for producing a rolled material, conventionally, a thickness control for making a thickness in a rolling direction uniform has been performed. However, in this sheet thickness control, since the sheet thickness at a certain control point in the width direction is controlled as a control amount, the sheet thickness in the longitudinal direction at this control point in the width direction is well controlled. The thickness uniformity in the direction is not always good. Therefore, crown control is performed as one of the methods for controlling the thickness in the width direction. In particular, in recent cold rolling, edge drop control for suppressing a reduction in thickness (edge drop) at an end portion in the width direction of the sheet has become important together with the crown of the rolled material. Hereinafter, the thickness control including the thickness control in the width direction and the thickness control in the longitudinal direction is referred to as profile control.

[0003] The thickness control in the width direction in the profile control has been studied and developed especially in the cold rolling process, particularly the edge drop control. Therefore, the edge drop control will be briefly described mainly. The profile in the width direction of the plate is generated by the distribution of the rolling load acting on the roll in the width direction and the distribution of the gap between the work rolls depending on the profile of the work roll. Although the load distribution changes depending on the gap distribution between the work rolls, this is determined by the load distribution and the plate thickness distribution in which the rolled material and the work rolls are in equilibrium, and finally the exit side plate thickness profile is determined.

[0004] Here, the profile of the work roll is:
The profile can be changed by shaving the work roll itself (tapering etc.), and the load distribution can be changed by the bending force of the work roll or intermediate roll, the load leveling of the drive side or operside of the backup roll, etc. .

[0005] For example, in Japanese Patent Publication No. 25000133, an edge drop gauge is installed on the output side of a rolling mill, and the thickness distribution in the sheet width direction at the end of the sheet material is detected by the edge drop meter. The sum of the squares of the difference from the sheet thickness is determined for each width direction position while taking into account the change in the sheet thickness with respect to the change in the work roll shift amount, and the work roll with the taper is set so that the sum becomes the minimum value. It describes shifting in the width direction.

However, in the case of a normal tandem rolling mill, there is no device for measuring the profile of each entry side and each exit side of all stands, but only the plate profile of the first stand entry side and the exit side plate profile of the last stand. Is generally measured. When controlling the profile on the exit side of the final stand, the amount of change in the plate profile on the entrance side is measured, and the amount of operation for changing the work roll profile and changing the load distribution in the width direction to suppress the influence is measured. And feed-forward control to measure the final exit side plate profile, change the work roll profile to cancel the deviation from the target profile, and calculate the operation amount for changing the load distribution in the width direction. Is considered to be effective control.

[0007] A tandem rolling mill is provided with a plurality of rolling mills called stands, and profile control can be performed at each stand. Therefore, these can be used effectively to control edge drop and profile more effectively than controlling a single rolling stand.

However, the profile that can be measured is only the entrance side of the first stand and the exit side of the final stand, and the intermediate stand cannot measure the plate profile. For this reason,
In order to perform plate profile control, the amount of feed forward operation that cancels the amount of change in the plate profile on the entrance side is assigned to which stand, and the amount of feedback operation for removing the error between the target profile and the plate profile on the exit side of the final stand. The question is how much to assign to which stand. That is, it is important how the operations of the plurality of stands are coordinated and controlled.

Conventionally, as described in “Iron and Steel”, Vol. 79, No. 3, pp. 388-394, “Development of Shape / Edge Drop Control Technology in Cold Rolling”, The difference between the edge drop on the exit side of the final stand and the target edge drop amount is distributed to each stand at a predetermined fixed rate, and the work roll is adjusted for each stand so that the distributed edge drop amount is corrected. The shift amount is calculated. Further, in the prior art described in Japanese Patent Publication No. 2505990, the edge drop amount on the final exit side is determined by the ratio of the influence coefficient of the edge drop amount on the exit side of the final stand at a certain point in the width direction due to the operation of each stand. Assigned to a stand.

[0010]

As in the prior art described above, the error of the edge drop amount on the exit side of the final stand is determined at a predetermined ratio (for example, the operation of each stand and the edge drop amount of the final stand are different from each other). (The ratio of the influence coefficient between the two), the amount of operation to reduce the edge drop amount by calculating the work roll shift amount for each stand so as to correct the allocated edge drop amount Can be calculated.

However, in consideration of profile control including edge drop, there are a plurality of means for changing the work roll gap distribution and each means for changing the load distribution in the plate width direction for each stand. In tandem rolling mills in which the profile correction effect differs according to the amount, as the number of control points in the rolled material width direction increases, distributing the profile error on the final stand exit side by a simple influence coefficient of each point with respect to each operation amount, The calculation takes an enormous amount of time and becomes difficult. If the number of control points is increased, profile control with higher precision becomes possible. However, in consideration of the calculation time that can be achieved by online control, there arises a problem that the number of control points cannot be increased.

It is an object of the present invention to provide a profile control method and apparatus suitable for controlling the profile with high accuracy by calculating the shift amount of each stand online.

[0013]

SUMMARY OF THE INVENTION An object of the present invention is to provide a rolling mill for rolling a material to be rolled (hereinafter referred to as a stand) in a plurality of directions in which the material to be rolled moves and to modify the profile of the material to be rolled. In the profile control of the tandem rolling mill provided with a profile operation unit that corrects the profile in the width direction of the material to be rolled corresponding to the stand, the region for performing the profile correction in the region in the width direction of the material to be rolled is The area that can be corrected at a certain stand, excluding the area that can be corrected at the next stand, is divided as a dedicated area to be corrected at the stand so as not to overlap with the stand, and assigned to each stand. Operate the profile control unit corresponding to each stand so that the profile in each dedicated area is the target profile By seeking it is accomplished.

According to the present invention, when the profile correction is performed by a plurality of stands, the area assigned to each stand is divided so as not to overlap with each other, and the operation amount for performing the profile correction only for the area assigned to itself is set to another area. Of the impact on the affected area (the affected area is taken into account by the stand in charge of the affected area). , The operation amount can be calculated, and high-precision rolling can be performed.

[0015]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram of a profile control device of a tandem rolling mill according to a first embodiment of the present invention. In FIG. 1, a tandem rolling mill 100 to be controlled has a plurality of rolling mills (101-1) called a stand.
To 101-n). The rolling mill 101 of each stand is equipped with profile operation units (102-1 to 102-n) for changing the delivery profile at each stand. In addition, on the entry side and the exit side of the tandem rolling mill 100, profile measuring means 201 and 202 for measuring the widthwise plate profile are installed.
The plate profile is measured at the entrance side and the exit side at 00, respectively.

The embodiment shown in FIG. 1 shows the case of profile control by feedback control. The feedback control type profile control device includes an error calculation unit 400 that calculates an error between the delivery plate profile measured by the delivery profile measurement unit 202 of the final stand and a preset target profile, and an error calculation unit 400. The first feedback (FB) control unit 3 that outputs the operation amount of the profile operation unit 102-1 of the first stand and the predicted value of the exit side plate profile error that changes according to the operation amount, using the profile error calculated in the above as an input.
00-1 and the plate profile error prediction value predicted by the FB control unit for the previous stand as an input, the operation amount of the profile operation unit 102 and the predicted value of the exit side plate profile error that changes according to the operation amount are output from each stand. Feedback (FB) control units 300-2 to 300-n
And a control timing adjusting means 2000 for outputting an operation amount as an operation result of each of the feedback control units 300-1 to 300-n at a timing when the same point of the material passes. The output timing of the manipulated variable is performed by calculating where each point of the material is currently based on the rolling speed so that the operation is performed on the same point of the material. This is achieved by a technique called tracking in the field of rolling control.

The first FB control unit 300-1 controls the first stand 1 based on the profile error from the error calculation unit 400.
An area dividing means 301-1 for extracting an area in the width direction that can be corrected by the profile operating means 102-1 of 01-1 and a second means for correcting a profile error in the correctable area extracted by the area dividing means 301-1. First stand operation amount calculation means 302-1 for calculating the operation amount of the one stand profile operation unit 102-1 and profile operation of the first stand using the operation amount calculated by the first stand operation amount calculation means 302-1 as an input. A model 303-1 for predicting a change in the exit side plate profile obtained on the exit side of the final stand when the unit 102-1 is operated, and a plate profile change amount estimated by the model 303-1 and a profile calculated by the error calculation unit 400. It comprises a prediction means 304-1 for predicting a new plate profile error from the error.

The prediction means 30 of the first FB control unit 300-1
The plate profile error calculated in 4-1 is sent to the second FB control unit 300-2. The second FB control unit 300-2, like the first FB control unit 300-1, has the first FB control unit 3-2.
Area dividing means 301-2 for extracting a profile error in the width direction that can be corrected by the second stand profile operation unit 102-2 from the plate profile error calculated in 00-1.
And a second stand profile operation unit 102 for correcting the extracted profile error in the width direction that can be corrected.
Second stand operation amount calculating means 3 for calculating the operation amount of -2
02-2 and the operation amount calculated by the second stand operation amount calculation means 302-2 as an input, and when the profile operation unit 102-2 of the second stand is operated, the change of the exit side plate profile obtained on the exit side of the final stand. Model 3 for predicting
03-2, the plate profile change amount estimated by the model 303-2, and the prediction means 304-1 of the first FB control unit 300-1.
And a prediction unit 304-2 for predicting a new plate profile error from the plate profile error calculated in step (1). Hereinafter, the third to n-th FB control units 300-3 to 300-n
Has a similar configuration.

As described above, the area dividing means 301, the operation amount calculating means 302, the model 303, and the predicting means 30
4 and each FB control unit 300
The profile error of the last output side predicted by the B control unit 300 is input, and the profile operation unit 102 of each stand is input.
Then, the operation amount of each of these and the profile error of the final stand exit side obtained when the profile operation unit 102 on the upstream side of each stand is operated are output.

FIG. 2 is a configuration diagram of a profile control device according to a second embodiment of the present invention. In this embodiment,
Profile control is performed by feedforward control. The feed-forward control type profile control apparatus is configured such that the profile measurement unit 201 on the entry side of the first stand before rolling changes the entry-side plate profile measured at a certain time period from the plate profile measured one cycle before. A variation calculation unit 600 for calculating the amount, a final profile prediction unit 700 for predicting a plate profile error on the exit side of the final stand using the profile variation calculated by the variation calculation unit 600 as an input, and a final profile prediction unit 700 Profile operation unit 102-1 of the first stand using the profile error predicted in
And a first feedforward (FF) control unit 500-1 for outputting a predicted operation amount of the delivery-side plate profile error that changes according to the operation amount of the first stand and an F related to the preceding stand.
The feedforward (FF) control unit 5 of each stand that outputs the plate profile error predicted value predicted by the F control unit as an input and outputs the operation amount of the profile operation unit 102 and the predicted value of the exit side plate profile error that changes according to the operation amount.
Control timing adjusting means 2000 for adjusting the output timing of the manipulated variable so as to output the manipulated variable which is the operation result of each feedforward control section 500-1 to 500-n at the timing when the same point of the material passes through 00-2 to n. Consists of

The first FF control section 500-1 calculates the first FF from the profile error from the final
Area dividing means 501-1 for extracting an area in the width direction which can be corrected by the stand profile operating means 102-1;
A first stand operation amount calculation unit 502-1 for calculating an operation amount of the first stand profile operation unit 102-1 for correcting a profile error in the correctable region extracted by the region dividing unit 501-1; A model 503-1 for predicting a change in the exit side plate profile obtained on the exit side of the final stand when the profile operation unit 102-1 of the first stand is operated with the operation amount calculated by the stand operation amount calculation means 502-1 as an input. And a prediction unit 504-1 for predicting a new plate profile error from the plate profile change amount estimated by the model 503-1 and the profile error calculated by the final profile prediction unit 700.

The prediction means 50 of the first FF control section 500-1
The plate profile error calculated in 4-1 is sent to the second FF control unit 500-2. The second FF control unit 500-2 is the same as the first FF control unit 500-1.
A region dividing unit 501-2 that extracts a profile error in the width direction that can be corrected by the second stand profile operation unit 102-2 from the plate profile error calculated in 0-1.
And a second stand profile operation unit 102 for correcting the extracted profile error in the width direction that can be corrected.
Second stand operation amount calculating means 5 for calculating the operation amount of -2
02-2 and the operation amount calculated by the second stand operation amount calculation means 502-2 as an input, and when the profile operation unit 102-2 of the second stand is operated, the change of the exit side plate profile obtained on the exit side of the final stand. Model 5 for predicting
03-2, the plate profile change amount estimated by the model 503-2, and the prediction means 504-1 of the first FF control unit 500-1.
And a prediction means 504-2 for predicting a new plate profile error from the plate profile error calculated in step (1). Hereinafter, the third to n-th FF control units 500-3 to 500-n
Has a similar configuration.

As described above, the area dividing means 501
The FF control unit 500 corresponding to each stand composed of the operation amount calculation unit 502, the model 503, and the prediction unit 504 calculates the profile error of the last output side predicted by the FF control unit 500 of the previous stand. As inputs, it outputs each operation amount of the profile operation unit 102 of each stand and the plate profile error on the final stand exit side obtained when the profile operation unit 102 upstream of each stand is operated.

FIG. 3 is a configuration diagram of a profile control device according to a third embodiment of the present invention. The present embodiment is a combination of the two embodiments shown in FIGS. 1 and 2, and performs profile control by feedforward control and feedback control. This profile control device includes both a feedback control type profile control device shown in FIG. 1 and a feedforward control type profile control device shown in FIG. 2, and furthermore, an arithmetic means 800 for fusing both operation amounts. -1 to n, the operation amounts calculated by the feedback control units 300-1 to 300-n and the feedforward control units 500-1 to 500-n are output at the timing when the same point of the material passes. Control timing adjusting means 20 for achieving output timing
00.

Next, prediction of the plate profile on the exit side of the final stand will be described. First, the relationship between the entrance side plate profile and the exit side plate profile of a certain stand can be described by the following equation (1).

[0026]

(Equation 1)

At this time, the above relationship can be summarized as follows.
The relationship between the entrance profile of the stand and the exit profile of the final stand can be described as in the following equation (2).

[0028]

(Equation 2)

In the above model, when the profile operating section 102 of each stand is operated, the work roll interval distribution S (z) changes, and the rolling load distribution P (z) changes, and the exit side profile of the final stand changes. Changes.

For example, when the bending force is changed by the profile operation unit, the load distribution changes, and when the shape of the work roll is changed, the work roll interval distribution changes. Therefore, the operation of the profile operation unit 102 and the changes in the work roll interval distribution and the rolling load distribution may be modeled in advance. That is, the relationship of the following equation 3 may be checked in advance for each stand.

[0031]

(Equation 3)

Using the above model, the exit profile of the final stand can be predicted. For example, the outgoing profile error when the incoming profile changes and no operation is performed by the profile operation unit 102 at that time is predicted by the following equation (4).

[0033]

(Equation 4)

Further, there is no change in the input side profile,
The final stand exit profile error when only the stand profile operation unit 102-i is operated can be calculated by the model shown in the following equation 5.

[0035]

(Equation 5)

FIG. 4 is an explanatory diagram of the role of the area dividing means in the embodiment described above. FIG. 4 shows a profile section from the center of the plate to the end in the plate width direction. In the rolling process, since rolling is performed sequentially at a plurality of stands, the plate thickness and hardness of the rolled material at each stand differ from one stand to another, and accordingly, the rolling state also differs. Therefore, the range (region) in which the plate profile can be changed by operating the profile operation unit 102 of each stand is different. For example, as shown in FIG.
The thickness of the material when passing through the stand is still large, and the effect of work hardening (the material hardens when pressed) is small.
At this stage, the region in which the profile of the plate can be corrected by operating the profile operation unit 102-1 is relatively from the plate edge to the vicinity of the plate center. That is, as shown in the upper part of FIG.
There is a fairly large area.

On the other hand, since the thickness of the plate becomes thinner in the rear stand and the influence of work hardening progresses, the profile near the center of the plate cannot be corrected by operating the profile operation section 102 no matter how much, and the end of the plate cannot be corrected. Only profiles can be modified. Therefore, as shown in the upper part of FIG. 2, the area A2 in which the profile operation unit 102-2 of the second stand can be corrected is narrower on the plate edge side than the area A1 in which the first stand can be corrected. Similarly, in the n-th stand, the profile-correctable area An further narrows toward the plate edge. As described above, the area that can be corrected by the profile operation unit 102 becomes ubiquitous on the plate edge side as the stand becomes the exit side, so that the area near the center of the plate is corrected by the entrance side stand. There is a need.

Therefore, in the present embodiment, as for the area where the profile can be corrected only by the profile operation unit 102-1 in the first stand (the area B1 in the lower part of FIG. 4), the area is changed to the dedicated correction area of the first stand. And the first
The operation calculation means of the stand calculates by taking into account only the profile control of the area B1 alone to obtain the operation amount. In this case, if the profile control is performed by operating the first stand, it is natural that the profile is actually corrected not only in the dedicated correction area B1, but also in the entire modifiable area A1 of the first stand. . Therefore, with respect to the area (A1-B1) other than the correction area B1, the operation amount of each stand is calculated so as to make corrections in the second and lower stands in consideration of the profile change caused by the operation of the first stand. Ask. That is, in the second stand, except for the first stand correctable area A1, the area B2 in which the profile can be corrected only by the profile operating unit 102-2 in the second stand is used as the dedicated correction area for the second stand. The operation calculation means of the second stand is
As will be described in detail later, the operation amount of the profile control only in this area B2 is obtained. In this case, the operation amount of the second stand in this area B1 is obtained in consideration of the effect of the profile correction by the first stand. Hereinafter, the third to n-th
Similarly, the stand assigns each of the dedicated correction areas B3 to Bn, and obtains the respective operation amounts.

FIG. 5 is a flowchart showing a processing procedure in the profile control apparatus of the feedback control type shown in FIG. In the case of this embodiment, discrete time control is performed in which operation is performed at a certain time period. First, control calculation is started at a certain time timing (S-FB0). When the control calculation is started, first, profile data sent from the plate profile measuring device installed in the final stand is taken in (S-FB1). When the measurement of the profile data is completed, the deviation between the target profile on the exit side of the final stand and the profile data actually measured is calculated (S-FB2). Next, the target stand number is set to “1” (S-FB3).

Next, profile deviation data in the profile correction area B1 of the first stand is extracted from the profile deviation data obtained in step S-FB2 (S-FB4). Then, the profile operation amount of the first stand that eliminates the profile deviation in the correction area B1 is calculated (S-FB5).

For the calculation of the manipulated variable here, for example, the manipulated variable that satisfies the following equation 6 may be obtained using the profile prediction model shown earlier.

[0042]

(Equation 6)

Next, after calculating the profile operation amount of the first stand, when the profile operation is performed with the operation amount, the plate profile error on the exit side of the final stand is predicted, and the predicted profile error and the step S-F are calculated.
From the profile deviation data calculated in B2, a profile deviation with respect to the target profile on the exit side of the last stand, which is generated when the profile operation of the first stand is performed (S-FB6). And this step S-
The profile deviation calculated in FB6 is used as new profile deviation data (S-FB7). The above is the calculation relating to the first stand. Next, the stand number i is incremented and the process proceeds to the calculation for the second stand (S-FB9).

By repeating the above procedure, the profile operation amounts from the first stand to the last stand are all calculated. When the calculation of the last stand is completed, the process waits until the next control calculation start timing, and repeats this procedure. It repeats (S-FB8).

FIG. 6 is a flowchart showing a processing procedure in the feed-forward control type profile control device shown in FIG. Also in the case of this embodiment, discrete-time control in which operation is performed at a certain time period is performed. First, control calculation is started at a certain time timing (S-FF0).
When the control calculation starts, profile data sent from a plate profile measuring device installed on the first stand entrance side is taken in (S-FF1). When the measurement of the profile data is completed, the amount of change between the profile data measured in the previous cycle and the profile data measured this time in step S-FF1 is calculated (S-FF2). Then, when the change amount calculated in step S-FF2 exists, the profile error on the final stand exit side is predicted (S-FF3). After this prediction, the stand number i is set to “1” in order to calculate the operation amount of the first stand first (S-FF4).

Next, as described above, the profile deviation data of the correction area B1 for performing the profile of the first stand is extracted (S-FF5). Then, the profile operation amount of the first stand that removes the profile deviation extracted in the previous step is calculated (S-FF6).
The operation amount here can be calculated in the same manner as the feedback operation type profile operation amount described above.

After calculating the profile operation amount of the first stand, a plate profile error on the exit side of the final stand when the profile operation is performed with the operation amount is predicted,
From the predicted profile error and the profile change amount predicted in step S-FF3, a profile deviation with respect to the target profile on the final stand exit side that is generated when the profile operation of the first stand is performed (S-FF7). Then, the profile deviation calculated in step S-FF7 is set as new profile deviation data (S-FF8). The above is the calculation for the first stand. Next, the process proceeds to step S-FF10, where the stand number i is incremented, and the process proceeds to the calculation for the second stand.

By repeating the above procedure, the profile operation amounts from the first stand to the last stand are all calculated. When the calculation of the last stand is completed, the process waits until the next control calculation start timing, and repeats this procedure. Perform (S-FF9). The output timing of each manipulated variable is
It is performed at the timing when the same point of the material passes through each stand.

FIG. 7 is a block diagram of another embodiment of the feedback control section. The feedback control unit 300-i in this embodiment includes a region dividing unit 301-i
And an operation amount determination unit 305-i in addition to the i-th stand operation amount calculation unit 302-i, the model 303-i, and the prediction unit 304-i. This operation amount determination means 3
05-i is the control unit 300- (i-1) of the previous stand.
The difference between the operation amount output to the profile operation unit and the operation amount calculated for controlling the own stand is determined, and it is determined whether or not this difference is equal to or greater than a limit value. A value obtained by restricting the operation amount to this limit value is output as an actual operation amount. The model 303-i performs prediction based on the limited new operation amount.

FIG. 8 is a block diagram of another embodiment of the feedforward control section. The feedforward control unit 500-i in this embodiment includes a region dividing unit 5
01-i and the i-th stand operation amount calculating means 502-i
In addition to the model 503-i and the prediction means 504-i, an operation amount determination means 505-i is provided. This operation amount determination means 505-i is provided by the control unit 500 of the previous stand.
Calculating a difference between the operation amount output to the profile operation unit from (i-1) and the operation amount calculated for controlling the own stand, determining whether the difference is equal to or greater than a limit value, In the above case, a value obtained by limiting the calculated operation amount to this limit value is output as the actual operation amount. Model 503-i is
Prediction is made based on this limited new operation amount.

FIG. 9 is a configuration diagram of a profile control device according to the fourth embodiment of the present invention. This embodiment is of a feedback type, and similarly to the profile control device of FIG. 1, an error for calculating a deviation between a profile in the width direction of a plate and a target profile measured by a profile measuring means 202 provided on the exit side of the final stand. A calculation unit 400, a feedback control unit 300 for calculating the operation amount of the profile operation unit 102 of each stand, and in addition to this, a profile storage unit 1100 for storing the profile deviation calculated by the error calculation unit 400; Adjustment of the feedback control unit 300 is performed by judging whether the control is good or not based on the operation amount storage unit 1000 that stores the operation amount calculated by the feedback control unit 300 of the stand and the profile prediction value at the final stand when the operation is performed with each operation amount. A profile determination unit 900 is provided.

The profile storage unit 1100 stores the deviation of the profile calculated by the error calculator 400. Then, based on the deviation, the feedback control unit 300 calculates the operation amount. When the operation amount up to the final stand is calculated by the feedback control unit 300, a predicted value of the profile deviation at the final stand is obtained. The profile determination unit 900 includes a determination unit 910, a correction unit 920, and an arithmetic control unit 930. Judgment unit 91
In the case of 0, the final stand profile deviation predicted value is input, and it is determined whether or not the prediction error is within a preset allowable value. The determination result is sent to the arithmetic control unit 930, and if the predicted profile value is within the allowable value, the arithmetic control unit 93
0 operates the profile operation unit 102 according to the operation amount stored in the operation amount storage unit 1000.

On the other hand, if it is determined that the value is not within the allowable value, the arithmetic control unit 910 causes the correction unit 920 to change the range of the area division of each feedback control unit 300. And
Using the profile deviation value stored in the profile storage unit 1100, the feedback control unit 300 further calculates the operation amount under the changed divided region. By repeating the above, the operation amount is calculated until the profile deviation predicted value falls within the allowable value. At this time, the correcting means 9
Reference numeral 10 can change the limit value (amount) of the operation amount in addition to the change of the divided area of the feedback control unit 300.

FIG. 10 is a configuration diagram of a profile control device according to the fifth embodiment of the present invention. This embodiment is
A change amount calculating unit 600 for obtaining a change amount of a profile in a plate width direction measured by a profile measuring unit 201 provided on the entrance side of the first stand, which is a feed-forward type similarly to the profile control device of FIG. A final profile estimating unit 700 for estimating a profile on the exit side of the final stand from a result of the change amount calculating unit 600, and a feedforward control unit 500 for calculating an operation amount of the profile operating unit 102 of each stand, and Operation amount storage means 13 for storing the operation amount calculated by the feedforward control unit 500 of each stand.
00, and a profile determination unit 1200 that determines whether control is good or not based on a profile prediction value in the final stand when the operation is performed with each operation amount and adjusts the feedforward control unit 500.

The final profile predicting means 700 stores the profile change amount calculated by the change amount calculating means 600. Then, based on the profile change amount stored in the prediction unit 700, the feedforward control unit 500 calculates the operation amount. When the operation amount up to the final stand is calculated by the feedforward control unit 500,
The predicted value of the profile deviation at the last stand is obtained. The profile determination means 1200 includes a determination unit 1210
, Correction means 1220, and arithmetic control means 1230. The determination unit 1210 receives the final stand profile deviation predicted value as an input, and determines whether the prediction error is within a preset allowable value. The judgment result is calculated by the arithmetic control unit 123
0, and if the profile prediction is within the tolerance,
The arithmetic and control unit 1230 operates the profile operation unit 102 based on the operation amount stored in the operation amount storage unit 1300.
Operate.

On the other hand, if it is determined that the value is not within the allowable value, the arithmetic control unit 1210 causes the correction unit 1220 to change the range of the area division of each feedforward control unit 500. Then, using the profile change amount stored in the final profile prediction unit 700, the feedforward control unit 500 further calculates an operation amount under the changed divided region. By repeating the above, the operation amount is calculated until the profile deviation predicted value falls within the allowable value. At this time, in addition to the change of the divided area of the feedforward control unit 500, the correction unit 1210 sets the operation amount limit value (amount).
Can also be changed.

FIG. 11 is a flowchart showing a processing procedure of the profile control device shown in FIG. Assuming that control is performed at a certain sampling interval, the output profile of the last stand is measured by a trigger of sampling (NS-FB1). Next, a profile deviation is calculated from the measured delivery profile and the target profile (NS-FB2). Then, first, the first stand is designated by setting the stand number i to “1” (NS-FB3),
From the profile deviation obtained in the previous step NS-FB2, deviation data in the correction area B1 of the first stand is cut out (NS-FB4). The operation amount of the first stand is calculated based on the deviation data in the cut-out correction area B1 (NS-FB5). Next, a change value of the profile at the final stand is predicted from the calculated manipulated variable and profile deviation data (NS-FB6), and the predicted profile deviation data is used as deviation data (NS-FB6).
-FB7).

The above is repeated until the final stand.
Calculate the manipulated variables for all stands. When the operation amounts of all the stands are calculated, a profile deviation predicted value at the final stand based on the obtained operation amounts is calculated (NS-FB1).
0). If the profile deviation predicted value is within the preset profile deviation allowable value, control is performed with the obtained manipulated variable (NS-FB13), and step NS-FB0 is performed.
Return to Here, when the profile deviation predicted value is not within the allowable value, when calculating the operation amount of each stand, the range of the divided area is changed, or the operation amount limit value of each stand is changed (NS-FB12). ). Then, returning to step NS-FB3, the operation amount is calculated from the first stand. By repeating the above, the amount of operation such that the prediction profile deviation falls within the allowable value is determined. However, the maximum value of the operation amount limit is determined in advance, and when the maximum value is exceeded, the profile operation unit is forcibly exited from the loop and operated with the stored operation amount. The timing of operating each profile operation unit, that is, the output timing of the operation amount of each stand calculated in the same control cycle is the timing at which the same point of the material passes through each stand. It should be noted that the feedforward control shown in FIG. 10 can also be performed by a procedure similar to this procedure.

FIG. 12 shows a control timing adjusting means 200.
FIG. 7 is a schematic diagram showing a state of an operation timing for each stand by 0. The operation amount of each stand is calculated in advance, and in the case of the feedforward control unit 500, the feedforward operation amount of the first stand is obtained at the timing when the control point measured by the entrance profile measurement unit 201 reaches the first stand. Control the operating means. This control point
After reaching the second stand after the transfer time corresponding to the rolling speed, the second stand operation amount is output at that timing. In this way, the control timing adjusting means outputs the operation amount corresponding to each stand in consideration of the transfer time between stands.

FIG. 13 shows a control timing adjusting means 200.
It is the schematic diagram which showed another aspect of the operation timing to each stand by 0. Here, the operation amount of each stand is output before the control point reaches each stand in the manner of the preview control in consideration of the response delay of the operation means. The output timing of this operation amount is advanced, for example, by a time corresponding to the response delay of the operation means. Thus, an optimal operation can be performed in consideration of the response characteristics of the operation means.

As described above, in the above-described embodiment, the profile correction areas assigned to the respective stands are divided so as not to overlap with each other, and each stand calculates the operation amount by considering only the profile correction of the area in charge of each stand. However, the influence of the operation amount on other areas is taken into consideration by the stand in charge of the affected area, so that control calculations can be performed online.

[0062]

According to the present invention, since the control is performed by deciding the area to be assigned to each stand, the control operation can be performed online and the profile control can be performed with high accuracy.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a feedback type profile control device according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram of a feed-forward type profile control device according to a second embodiment of the present invention.

FIG. 3 is a configuration diagram of a profile control device according to a third embodiment of the present invention and having both functions of a feedback type and a + feedforward type.

FIG. 4 is a diagram illustrating the function of area division.

FIG. 5 is a flowchart showing a processing procedure of the profile control device shown in FIG.

6 is a flowchart showing a processing procedure of the profile control device shown in FIG.

FIG. 7 is a schematic diagram of an internal configuration according to another embodiment of the feedback control unit shown in FIG. 1;

FIG. 8 is a schematic diagram of an internal configuration according to another embodiment of the feedforward control unit shown in FIG. 2;

FIG. 9 is a configuration diagram of a feedback type profile control device according to a fourth embodiment of the present invention.

FIG. 10 is a configuration diagram of a feed-forward type profile control device according to a fifth embodiment of the present invention.

11 is a flowchart showing a processing procedure of the profile control device shown in FIG.

FIG. 12 is an explanatory diagram of a control timing of each stand by a control timing adjusting unit.

FIG. 13 is an explanatory diagram of another embodiment of the control timing for each stand by the control timing adjusting means.

[Explanation of symbols]

100: tandem rolling mill, 101: rolling mill of each stand, 201: profile measuring means, 202: profile measuring means, 102: profile operating unit, 300 ...
Feedback control unit of each stand, 301: area dividing means, 302: operation amount calculating means, 303: model, 30
4 Prediction means, 400 Error calculation unit, 500 Feedforward control unit of each stand, 501 Area division means, 502 Operation amount calculation means, 503 Model, 504
... Prediction means, 600... Change amount calculation section, 700... Final profile prediction means, 800.
0: Profile determination means, 1000, 1300: Operation amount storage means, 2000: Control timing adjustment means.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hiroshi Saito 5-2-1 Omikacho, Hitachi City, Ibaraki Prefecture Inside the Omika Plant, Hitachi, Ltd. (72) Inventor Satoshi Hattori 5-chome Omikacho, Hitachi City, Ibaraki Prefecture No. 1 Hitachi, Ltd. Omika Factory (72) Inventor Naganori Hatanaka 5-2-1, Omika-cho, Hitachi City, Ibaraki Pref. Hitachi, Ltd. Omika Factory

Claims (14)

[Claims] A plurality of rolling mills (hereinafter, referred to as stands) for rolling a material to be rolled are provided in a moving direction of the material to be rolled, and the material to be rolled corresponds to a stand for correcting a profile of the material to be rolled. In the profile control method of a tandem rolling mill provided with a profile operation unit that corrects the profile in the width direction, in the width direction area of the material to be rolled, the area for performing the profile correction does not overlap with each of the stands. In addition, the area excluding the area that can be corrected by the next stand in the area that can be corrected by a certain stand is divided as a dedicated area to be corrected by the stand, and the area in each dedicated area assigned to each stand is divided. The operation amount of the profile control unit corresponding to each stand is obtained so that the profile becomes the target profile. Profile control method. 2. A rolling mill (hereinafter referred to as a stand) for rolling a material to be rolled is provided in a plurality of directions in a moving direction of the material to be rolled, and the material to be rolled is adapted to a stand for correcting a profile of the material to be rolled. In a profile control device of a tandem rolling mill provided with a profile operation unit that corrects a profile in a width direction, a region for performing a profile correction in a width direction region of the material to be rolled is not overlapped with each of the stands. In addition, an area that can be corrected by a certain stand, excluding an area that can be corrected by the next stand, is divided as a dedicated area to be corrected by the stand, and a profile in each dedicated area assigned to each stand Means to obtain the operation amount of the profile control unit corresponding to each stand so that And a profile control device. 3. A plurality of rolling mills each having a profile operating section for correcting a profile in the width direction of a rolled material (hereinafter, each rolling mill is referred to as a stand), and a profile measurement for measuring a profile on a final stand exit side. Means,
An error calculating unit for calculating a difference between a value measured by the profile measuring unit and a target profile; and an operation amount of a profile operation unit of a certain stand using the difference between the profiles calculated by the error operation unit as an input and a final operation amount based on the operation amount. A first feedback control unit for outputting a profile error predicted value on the stand exit side, and a profile error predicted value on the last stand exit side predicted by the first feedback control unit as an input, the first feedback control unit outputting the profile error predicted value on the next stage of the certain stand. A second feedback control unit that outputs an operation amount of the profile operation unit of the stand and a profile error prediction value on the final stand exit side based on the operation amount, and an operation amount output from the first and second feedback control units Control timing adjustment means for adjusting the output timing of the Yl controller. 4. A plurality of rolling mills each having a profile operation unit for correcting a profile in the width direction of a rolled material (hereinafter, each rolling mill is referred to as a stand), and a profile for measuring a profile on a first stand entry side. Measuring means, a change amount calculating section for calculating a change amount at a certain time from a value measured by the profile measuring means, and an input side profile change amount calculated by the change amount calculating section as an input and on the output side of the final stand. Final profile estimating means for calculating the predicted value of the profile change amount, and the operation amount of the profile operation unit of a certain stand and the operation amount based on the operation amount of the profile operation unit of a certain stand, using the final stand egress side profile change amount calculated by the final profile estimating means as an input. A first feedforward control unit that outputs a predicted profile change amount on the exit side of the last stand; The operation amount of the profile operation unit of the stand next to the certain stand is input by using the profile change amount of the final stand exit side predicted by the feed forward control unit, and the predicted profile change amount of the final stand exit side by the operation amount. A second feed-forward control unit for outputting the control signal, and control timing adjusting means for adjusting the output timing of the manipulated variable output from the first and second feed-forward control units. . 5. A profile control device comprising both the configuration according to claim 3 and the configuration according to claim 4. 6. The feedback control unit according to claim 3, wherein each feedback control unit calculates the profile error amount on the last stand exit side calculated by the error calculation unit or the final stand output side output from the feedback control unit on the previous stand. An area dividing means for taking a profile error predicted value as input and extracting error data in the dedicated area according to claim 1 for each stand from error data in a width direction of the profile error, and correcting the error data extracted by the area dividing means. Operating amount calculating means for calculating the operating amount of the profile operating unit of the stand corresponding to the dedicated area, and inputting the operating amount calculated by the operating amount calculating means on the final stand exit side based on the operating amount. A model for calculating a profile to be corrected; and a correction profile calculated by the model and a preceding stage. A profile control device comprising: a prediction unit for predicting a profile error on a final stand exit side using a profile error on a final stand exit side output by a feedback control unit in a stand as an input. 7. The last stand according to claim 4, wherein each of the feed forward control units outputs a predicted profile change amount on the exit side of the last stand calculated by the final profile prediction means or a feed forward control unit of the previous stand. 2. An area dividing means for taking out an estimated profile change amount on the output side and extracting error data in a dedicated area according to claim 1 for each stand from error data in a width direction of a profile error, and an error extracted by the area dividing means. An operation amount calculating means for calculating an operation amount of the profile operation unit of the stand corresponding to the dedicated area for correcting data, and a final stand exit side based on the operation amount calculated by the operation amount calculated by the operation amount calculating means. A model for calculating the amount of profile to be corrected by the method, and a correction profile calculated by the model. A profile control unit for predicting a profile error on the final stand exit side by using the input of the control amount and a profile error on the final stand exit side output from the feedback control unit of the preceding stand. 8. A profile control device according to claim 5, wherein the feedback control unit and the feedforward control unit in claim 5 are the feedback control unit according to claim 6 and the feedforward control unit according to claim 7, respectively. 9. A profile in a width direction of a rolled material is corrected by a plurality of rolling mills each having a profile operation unit (hereinafter, each rolling mill is referred to as a stand), and a profile on a final stand exit side is measured by profile measuring means. In the profile control method for a tandem rolling mill to be measured, an error between a profile measurement value on the exit side of a final stand and a target profile is calculated, and an operation amount of a profile operation unit of a stand is calculated so as to remove the calculated profile error. Then, a predicted value of the profile error on the final stand exit side when the profile operation unit of the certain stand is operated with the operation amount is calculated, and the predicted profile error predicted value on the final stand exit side is removed. The operation amount of the profile operation unit of the stand next to the certain stand is calculated, and the operation amount is calculated using the operation amount. A profile control method, wherein a process of calculating a profile error predicted value on the exit side of the last stand when the profile operation unit of the next stage is operated is performed up to the last stand. 10. A profile in a width direction of a rolled material is corrected by a plurality of rolling mills each of which has a profile operation unit (hereinafter, each rolling mill is referred to as a stand), and a profile on the first stand entry side is measured by a profile measuring means. In the profile control method of the tandem rolling mill to measure in, the amount of change every time from the profile measurement value on the entrance side of the first stand, calculated on the exit side of the final stand caused by the calculated profile change amount on the entrance side Calculate the predicted value of the profile change amount, calculate the operation amount of the profile operation unit of a certain stand that cancels the calculated profile change amount of the final stand exit side, and calculate the profile of the final stand exit side generated by the operation amount. Calculate the predicted change amount and cancel the predicted profile change amount on the exit side of the final stand. The process of calculating the operation amount of the profile operation unit of the stand next to the certain stand and calculating the predicted profile change amount on the exit side of the final stand caused by the operation amount is performed up to the final stand. Profile control method. 11. A profile control method comprising performing both the profile control method according to claim 9 and the profile control method according to claim 10. 12. The calculation of the operation amount at each stand according to any one of claims 9 to 11, wherein the calculated profile error amount at the last stand exit side or the last stand exit side calculated at the previous stand is calculated. The error data in the exclusive area according to claim 1 for each stand is extracted from the data in the width direction of the profile error prediction value, and an operation amount for correcting the error data in the exclusive area is calculated, and the operation is performed using the operation amount. In this case, the profile prediction value obtained at the final stand exit side is calculated, and the profile error at the final stand exit side is calculated from the calculated profile prediction value and the profile error calculated or measured at the previous stand at the final stand exit side. A profile control method characterized by predicting. 13. An error between a predicted value of a profile on a final stand exit side and a target profile under each operation amount calculated by the feedback control unit and the feedforward control unit according to claim 6. Re-determining, when the prediction error is a permissible value, a control unit for controlling with the calculated operation amount, and when the determination result of the determining unit is not a permissible value, the determination unit is divided for each stand. 1. A profile control device, comprising: correction means for correcting the range of the dedicated area according to 1. 14. The method according to claim 12, wherein the error between the predicted value of the profile on the final stand exit side and the target profile under each operation amount calculated by the feedback control and the feedforward control is re-determined, and the prediction error is allowed. The profile control method according to claim 1, wherein the control amount is controlled by the calculated operation amount when the value is a value, and the operation amount is corrected again by correcting the range of the dedicated area when the value is not an allowable value.