JPH1094813A - Method and device for controlling tension in continuous rolling mill - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tension control method for a continuous rolling mill by which highly accurate control of the tension of a rolled stock is enabled at the time of continuous rolling, not only a simple loop but strained loop are rapidly absorbed and stable rolling operation is realized. SOLUTION: At the time of controlling the tension T of the rolled stock 20 by adjusting the oscillation torque τ which exerts the rotatioal speed V of rolling rolls 16, 16 and a looper 22 so as to cancel the estimated rotational speed disturbance of the rolling rolls and the oscillation torque disturbance of the looper, when the oscillation angle θ of the looper 22 is monitored and is over the allowable range, the rotational speed V of the rolling rolls 16, 16 is adjusted by control including integral action based on the magnitude of the oscillation angle θ of the looper 22 and the oscillation angle θ of the looper 22 is adjusted so as to fall in the allowable range.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tension control method and a tension control device in a continuous rolling mill, and more particularly to a tension control method for a rolled material which is oscillated about one axis and abuts a rolled material between rolling stands. The present invention relates to a tension control method and a tension control device in a continuous rolling mill having a looper for adjusting the tension.

[0002]

2. Description of the Related Art In a continuous rolling mill, maintaining a constant tension of a rolled material between rolling stands is necessary to ensure the accuracy of the thickness and width of a rolled material and to obtain a desired rolled material stably. This is an important issue. As a method of controlling the tension of the rolled material, for example, a looper that is caused to swing around one axis is pressed against the rolled material, and the tension is controlled by balancing the swinging torque applied to the looper and the tension of the rolled material. Although a tension control method is known, various improvements have been conventionally added for further improving the performance.

[0003] The applicant of the present invention has also disclosed in
No. 7518, detecting the tension of a rolled material, adjusting the rotation speed of the rolling stand in the rolling stand so that the tension becomes a target value, and detecting the swing angle of the looper (ie, the looper angle). Then, when controlling the looper angle by adjusting the swinging torque applied to the looper so that the looper angle becomes the target value, the disturbance estimator adds the system to the system based on the tension deviation and the looper angle deviation. Tension control method for estimating the rotational speed disturbance of the rolling roll and the swinging torque of the looper as disturbances to be affected, and adjusting the rotating speed of the rolling roll and the swinging torque of the looper so as to cancel the estimated disturbance. Suggested.

According to such a tension control method, the rotation speed of the rolling roll and the swinging torque of the looper can be accurately adjusted. As shown in FIG. 7, even when a loop 5 is generated in the rolled material 4 rolled by the rolling stands 2 and 2 and the tension between the stands becomes less than the target tension due to the error, as shown in FIG. 6 rises quickly and is brought into contact with the rolled material 4,
It has a good effect on rapid loop absorption.

[0005] However, the present inventors have further studied and found that since the rolling material is very unstable at the start of threading, especially when the thickness of the rolling material is small, the figure is shown in FIG. In some cases, a special loop 8 that results in a wavy or seaweed plate strain as shown in FIG. 8 may occur. In the case of such a strain loop 8, even with the tension control method previously proposed, It has been clarified that a sufficient loop absorption effect is still hardly exhibited. In other words, in the case of the strain loop 8, the rolled material 4 is erroneously detected as being in tension due to the contact of the rolled material 4 with the looper 6 in spite of the occurrence of the loop, and the thread is passed through the loop. When the rolled material 4 hits the looper 6 downward, the detected tension value may be indeterminate and may be detected as being higher than the target tension. Therefore, there is a problem that the adjustment of the number of rotations of the roll during the tension control is delayed, and an effective loop absorbing effect is not always exhibited.

[0006]

Here, the present invention has been made in view of the above-mentioned circumstances, and the problem to be solved is not only a simple loop 4 as shown in FIG. Even at the time of occurrence of the strain loop 8 as shown in FIG. 8, an early loop absorption effect is exhibited,
An object of the present invention is to provide a tension control method and a tension control device in a continuous rolling mill that can realize more stable rollability.

[0007]

In order to solve such a problem, a feature of the invention according to claim 1 is that a looper which is swung about one axis and abuts on a rolled material between rolling stands is provided. When controlling the rotation speed of the rolling roll in the rolling stand and adjusting the swinging torque applied to the looper to control the tension of the rolled material and the swinging angle of the looper, Detecting the tension of the rolled material between the rolling stands and the swing angle of the looper, and adding to the control system for controlling the tension of the rolled material and the swing angle of the looper based on deviations from respective target values. The rotation speed disturbance of the rolling roll and the swing torque disturbance of the looper are estimated as disturbances, and the estimated rotation speed disturbance of the rolling roll and the looper disturbance are estimated. In order to cancel the swing torque disturbance, the adjustment gain of the responsiveness in the adjustment system of the rotation speed of the rolling roll in the rolling stand and the adjustment system of the adjustment of the swing torque applied to the looper are adjusted independently of each other, In a tension control method in a continuous rolling mill for adjusting a rotation speed of a rolling roll in a rolling stand and a swinging torque applied to the looper, when the swinging angle of the looper exceeds a preset allowable range, the allowable The rotation speed of the rolling roll is adjusted so as to fall within the range by control including at least the integral operation based on the magnitude of the swing angle of the looper.

According to the first aspect of the present invention, the rotational speed of the rolling roll in the rolling stand is adjusted so as to cancel the estimated disturbance of the rotational speed of the rolling roll and the disturbance of the swinging torque of the looper. It is possible to adjust the adjustment gain of the responsiveness of the system and the adjustment system of the swing torque applied to the looper independently of each other to adjust the rotation speed of the rolling roll in the rolling stand and the swing torque applied to the looper. As a result, high-precision tension control becomes possible, and an early loop absorption effect is exhibited even when a simple loop as shown in FIG. 7 is generated, for example.

In addition, in the method of the present invention, the looper angle is monitored, and if the looper angle exceeds a preset allowable range, the rotation speed of the rolling roll is adjusted regardless of the detected value of the tension. The looper angle is controlled so as to be within the allowable range. As a result of experiments and studies conducted by the inventor, the control for keeping the looper angle within the allowable range is performed in parallel with the above-described tension control by adjusting the rotation speed of the rolling roll and the swinging torque of the looper. Thus, it has been confirmed that an early loop absorption effect can be exhibited even when a strain loop as shown in FIG. 8 occurs. That is, the occurrence of a strain loop
The present inventor has newly found that there is a phenomenon in which the looper angle becomes large (swings to the rolled material side) due to the occurrence of a strain loop, but it is difficult to detect from the swinging torque of the looper or the like. The inventors have completed the method of the present invention, which can exhibit an excellent effect of absorbing the strain loop.

[0010] The invention described in claim 2 is the same as the claim 1.
In the tension control method described in (1), a state feedback is applied with a gain different from each other in the system for adjusting the rotation speed of the rolling roll and the system for adjusting the swinging torque of the looper.

In the method according to the second aspect of the present invention, it is possible to easily adjust and improve the responsiveness to disturbance.

Further, the invention described in claim 3 is the first invention.
Or in the tension control method according to 2, when estimating the rotational speed disturbance of the rolling roll and the swing torque disturbance of the looper, respectively, the amount of change in the rotational speed of the roll, the amount of change in the length of the rolled material, and Estimating the swing angle change amount and the swing angular speed change amount of the looper, respectively, and adjusting the rotation speed of the rolling roll in the rolling stand and the swing torque exerted on the looper using the estimated values, And

According to the third aspect of the present invention, it is possible to configure the control device with a more clear physical meaning, thereby making it possible to adjust the rotation speed adjusting system of the rolling roll and the looper. Adjustment and setting of the responsiveness adjustment gain in the swing angle adjustment system are further facilitated.

Further, in order to solve the above-mentioned problems, a feature of the invention according to claim 4 is that a looper which is oscillated about one axis and abuts on a rolled material between rolling stands. A tension control device for a continuous rolling mill, comprising: (a) tension comparison means for comparing a measured value of the tension of a rolled material between the rolling stands with a target value to determine a tension deviation; and (b) the looper. And (c) the tension comparing means and the tension deviation and the swing obtained by the swing angle comparing means. A disturbance estimating means for estimating a rotational speed disturbance of a rolling roll and a swing torque disturbance of a looper as disturbances applied to a control system of the tension of the rolled material and the swing angle of the looper based on the angle deviation; (D) so as to cancel the rotational speed disturbance of the rolling rolls which is estimated by the disturbance estimating means,
Rotation speed adjusting means for adjusting the rotation speed of the rolling roll in the rolling stand; and (e) adjusting the swing torque applied to the looper so as to cancel the swing torque disturbance of the looper estimated by the disturbance estimation means. (F) gain setting means for setting the responsiveness adjustment gain by the rotational speed adjustment means and the responsiveness adjustment gain by the oscillating torque adjustment means independently of each other; (g) A) determining whether or not the actually measured value of the swing angle of the looper is within a preset allowable range, and if the actual value is out of the allowable range, determining the amount of deviation of the actual measured value from the allowable range; And (h) when the actually measured value of the swing angle of the looper is out of the allowable range, the swing angle of the looper is determined to be within the allowable range. To so that, based on the magnitude of the measured values, adjusting the rotational speed of the rolling rolls, and a loop compensator comprising at least integral element, in the tension control apparatus in a continuous rolling mill having.

In the tension control device having the structure according to the fourth aspect of the present invention, the method according to the first aspect can be easily and effectively performed, and as a result, a simple structure can be obtained. An effective early loop absorption effect is exhibited not only for a simple loop but also for a strain loop, and a stable rolling operation can be advantageously achieved.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, in order to clarify the present invention more specifically, an embodiment of the present invention will be described in detail with reference to specific examples shown in the drawings.

First, FIG. 1 shows an outline of a tension control mechanism of a rolled material between rolling stands of a hot continuous rolling mill using a tension control device as one specific example of the present invention. In the figure, reference numerals 12 and 14 denote upstream and downstream rolling stands, each of which includes a pair of work rolls 16 and 16 and backup rolls 18 and 18, respectively. Then, the rolled material 20 is sent from the right to the left in the figure, and is subjected to rolling by the upstream rolling stand 12 and the downstream rolling stand 14.

A looper 22 oscillated about one axis by driving means such as a hydraulic pump or an electric motor between the upstream rolling stand 12 and the downstream rolling stand 14 and brought into contact with the rolled material 20. Is provided. Further, the looper device 24 includes
A tension sensor as tension detecting means for detecting the tension of the rolled material 20 based on the contact pressure of the looper 22 with the rolled material 20, an angle sensor as a swing angle detecting means for detecting the swing angle of the looper 22; Are provided.

The measured actual tension value T of the rolled material 20 and the actual swing angle θ of the looper detected by the tension sensor and the angle sensor in the looper device 24 are used for the upstream-side rolling driven by the drive motor 30. Stand 12
Is input to a control device main body 26 for controlling the roll speed: V and the swinging torque: τ of the looper 22 driven by the drive means 24. The control device main body 26 controls the actual measured value of the tension of the rolled material 20: T and the looper. Actual swing angle value:
so that θ becomes the target values: T ^ref and θ ^ref , respectively.
The roll speed V of the upstream rolling stand 12 and the swing torque τ of the looper 22 are adjusted.

Further, the measured swing angle θ of the looper detected by the angle sensor of the looper device 24 is also input to the loop controller 28, and the measured looper angle θ is obtained by the loop controller 28. The roll speed V of the upstream rolling stand 12 is adjusted so as to satisfy a predetermined allowable range: θa ≦ θ ≦ θb.

That is, as shown in the block diagram of FIG. 2, the hot continuous rolling mill to be controlled has a tension dynamics 32 relating to the tension of the rolled material and a looper dynamics 34 relating to the swing angle of the looper. The roll speed: V and the looper swing torque: τ are state-feedback controlled by the control device main body 26, whereby the tension T of the rolled material 20 and the looper angle θ are controlled to target values, respectively. It is supposed to be. As is well known, the tension-based dynamics 32 and the looper-based dynamics 34 are not completely independent because one operation affects the other, and there is a mechanical interference between the two. ing.

Here, the control device main body 26 is provided with a disturbance estimator 40 and a state feedback system 42, and the disturbance estimator 40 generates a disturbance applied to the tension system and the looper system as a rotational speed disturbance of the rolling roll: dv
And the swing torque disturbance of the looper: dτ is estimated, and the state feedback system 42 performs feedback control. Then, the roll speed adjustment system 36 and the looper oscillation torque adjustment system 38 cancel the estimated rotational speed disturbance: dv _est and the swing torque disturbance: dτ _est by the feedback control. The tension of the rolled material: T and the swing angle of the looper: θ are controlled by adjusting the roll speed: V of the upstream rolling roll and the looper swing torque: τ in the looper dynamics 34. The disturbance estimator 40 is specifically configured by a disturbance estimation observer as described later.

On the other hand, in the loop control device 28, first, the actual measured value of the swing angle of the looper: θ is set to a predetermined allowable range: θa by the dead band processing system 46.
It is determined whether or not ≦ θ ≦ θb, and it is monitored that it is within the allowable range. When the measured looper angle: θ is outside the allowable range (dead band), the measured looper angle: θ, for example, the target value of θ: θ ^ref , according to the magnitude of the looper angle measured value: θ. (Deviation): dθ is obtained, and the loop compensator 48 adjusts the tension-based dynamics 32 in the loop compensator 48 so that the looper angle measurement value: θ falls within an allowable range according to the magnitude of the looper angle deviation: dθ. Speed of the upstream rolling stand at V: V
Is to be adjusted. In short, the loop controller 28 obtains a roll speed compensation value: ΔV ^comp necessary to maintain the looper angle within an allowable range independently of the control of the looper angle and the tension by the controller main body 26,
The roll speed is adjusted, and as a result, the roll speed: the amount of adjustment of V (the amount of change by adjustment): ΔV is controlled to be ΔV ^ref ′ represented by the following equation. ΔV ^ref ′ = ΔV ^ref + ΔV ^comp

More specifically, as described above, the control object including the tension-based dynamics 32 and the looper-based dynamics 34 is based on a state equation derived from a known rolling model, and is based on a rotational speed disturbance: dv and fluctuation. Dynamic torque disturbance: expressed as shown in FIG. 3 in consideration of dτ.

In FIG. 3, "A.E / L" is
This is an expression for calculating the tensile stress in a rolled material, where A is the cross-sectional area of the rolled material, E is the Young's modulus of the rolled material, and L is the distance between the rolling stands. Also, in the figure, L _A is a conversion coefficient from angle to length. In FIG. 3, the meanings of the other coefficients and symbols are as follows. Δl: change in length (extended length) of rolled material ΔV: change in roll speed of the upstream rolling stand Δθ: change in swing angle of the looper Δθ ′: change in swing angular speed of the looper ΔT: between rolling stands _Aij (i, j = 1 to 4), _bij (i = 1 to 4, j = 1 to
2): Coefficient determined by mechanical properties of the rolled material, motor, etc. ΔV ^ref : Roll speed control command (target roll speed change amount) of upstream rolling stand Δτ ^ref : Looper swing torque control command (target swing torque change) amount)

The tension control device in the control object includes a control device main body 26 composed of a state feedback system having a disturbance estimation observer as described above and a loop control device 28, and is represented as shown in FIG.

[0027] In FIG. 4, the subscript: _est represents an _{estimate, g ij (i, j =} 1~3), kt i (i = 1~3), ka
_i (i = 1 to 3), h _ij (i, j = 1 to 3), kT _i (
i = 1 to 3) and kA _i (i = 1 to 3) are coefficients such as observer gain. T _I is an integration time constant, and K _P is a proportional gain.

That is, in the control device main body 26 configured as shown in FIG. 4, when a roll speed disturbance or a looper swing angle disturbance is exerted, a change in the tension of the rolled material or a change in the looper swing angle occurs. The disturbance estimation is performed based on the change amount, and the roll speed of the rolling stand or the swinging torque of the looper is adjusted so as to cancel the applied roll speed disturbance or the looper swing angle disturbance. Thereby, the tension of the rolled material is controlled to a target value. Therein, in this control apparatus body _{26, ωv, kt i (i =} 1~3), ka i (i =
According to 1-3), the response in the roll speed control system is
Also, ωθ, ωθ ', kT _i (i = 1 to 3), kA _i (i
= 1 to 3), the responsiveness of the looper swing torque adjustment system can be adjusted independently of each other. Therefore, the roll speed disturbance or the looper swing angle disturbance exerted on the control target can be reduced by setting the adjustment gain of the responsiveness by the roll speed of the rolling stand and the adjusting means of the swing torque of the looper independently of each other. As described above, the roll speed of the rolling stand: V and the swinging torque of the looper: τ can be easily and accurately adjusted so that the target tension control of the rolled material can be performed with high accuracy and stability. As a result, excellent effects such as ensuring product quality and reducing rolling troubles by improving the sheet passing property can be exhibited.

In this specific example, the estimated values are used as the roll speed change amount: ΔV, the looper swing angle change amount: Δθ, and the looper swing angular speed change amount: Δθ ′. This also has the advantage that the physical meaning of the control device becomes clearer, and the adjustment and setting of each gain is easier.

On the other hand, in the loop control device 28 configured as shown in FIG. 4, first, in the dead band determination device (dead band processing system), the looper angle measured value:
The value of θ is referred to, and it is determined whether or not the actual measured looper angle value: θ is within the allowable range. If the value is outside the allowable range, roll speed compensation for loop control is performed. Such roll speed compensation is performed, for example, by setting the looper angle actual measurement value: θ to the target value: θ according to the deviation amount (deviation) from the target value: θ ^ref : d ^ref : dθ.
^This can be advantageously performed by correcting the roll speed: V by the roll speed compensation amount: ΔV ^comp determined by the control system including at least the integral element so as to approach ^ref . In particular, in this specific example, PI control (proportional / integral control) represented by the following equation is employed.

ΔV ^comp = K _p (1+ (1 / T _I s)) · dθ where s is a Laplace operator.

Subsequently, by adding the roll speed compensation amount ΔV ^comp obtained in this manner to the roll speed adjustment amount ΔV ^ref obtained by the control device main body 26, the roll speed adjustment loop-compensated. Amount: Δ
V ^ref 'is obtained, and the roll speed adjustment amount: ΔV
Based on ^ref ', the roll speed of the upstream rolling stand is adjusted.

By performing such loop compensation, for example, when a strain loop occurs, even if it is determined that tension is caused by unstable contact of the rolled material with the looper, the looper angle: When θ itself becomes large, it is determined that the state is abnormal, and the roll speed is adjusted. As a result, the distortion loop can be quickly eliminated.

Further, in the loop control device 28, since the roll speed is adjusted by control including at least the integration operation, interference with the tension control operation by the control device main body 26 can be effectively prevented. It has been confirmed by the present inventors that stable tension control characteristics can be exhibited.

Although the embodiments of the present invention have been described in detail, the present invention is not to be construed as being limited to the specific descriptions of the embodiments and the description of the following examples.

For example, in the above embodiment, the disturbance estimator 40
When the roll speed and the looper swing torque are controlled by the state feedback system 42 having the following formulas, the estimated value is ΔV _est , as the change in the rotation speed of the rolling roll, the change in the swing angle of the looper, and the change in the swing angular speed of the looper. Δθ
_est and Δθ ′ _est have been used.
It is also possible to use an actual measurement value as θ or Δθ ′, thereby making it possible to configure the control system with a model having a lower order than in the above embodiment.

The values (gains) of the respective coefficients or elements shown in FIG. 4 should be appropriately changed and set based on the type and dimensions of the rolled material, the physical characteristics of the rolling mill, and the like. There is no limitative interpretation based on specific numerical values and the like in the following examples.

The present invention is applicable not only to hot rolling of various metals but also to cold rolling.

In addition, although not enumerated one by one, the present invention
The present invention can be implemented in modes in which various changes, modifications, improvements, and the like are made based on knowledge of those skilled in the art, and unless such embodiments depart from the gist of the present invention, It goes without saying that they are included in the range.

[0040]

FIG. 5 shows simulation results showing the effect of the rolling control according to the present invention, and Comparative Example 1 shows the simulation results without loop control.
FIG. 6 shows a simulation result in the case where the loop control is performed only by the proportional operation not including the integration operation as Comparative Example 2.

In each of the cases shown in FIGS. 5 and 6, a rolled material of an aluminum alloy having a thickness of 2.6 mm and a width of 1536 mm was subjected to hot continuous finishing at a rolling speed of 200 m / min. When rolling, it was assumed that the roll speed setting error (speed disturbance) at the initial stage of threading was + 10%. The target tension of the rolled material at the time of rolling was 10 tf, and the target swing angle of the looper was 0.087 rad.

In the rolling control according to the present invention,
The following values were set for each coefficient and the like shown in FIG. _{g 11 = -4.2, g 12 =} -1.0, g 13 = -1.0, g 21 = 0, g 22 = -10.0, g 23 = -10.0, g 31 = 9. _{0, h 11 = 25.0507, h} 12 = 1.0, h 21 = -658.1967, h 22 = -26.2507, h 23 = 0, h 31 = -1.4286, kt 1 = -2 .1188 × 10 ⁻⁶ , kt ₂ = 0, kt ₃ = −8.5025 × 10 ⁻⁷ , kT ₁ = 0, ka ₁ = −0.0605, ka ₂ = 0, ka ₃ = 0.1297, kA ₁ = −25.0507, kA ₂ = 572.0971, kA ₃ = 1.4286, ωv = 0, ωθ = 0, ωθ ′ = 0, θa = lower lower limit value, θb = θ ^ref +0.087 _rad , T _{I = 4.00, K p = -0.288} ,

As is apparent from the results shown in FIGS. 3 and 4, in the case of Comparative Example 1 in which the loop control was not performed, a loop was formed in the rolled material, so that it took about 3 seconds to recover the tension. And the looper angle also rises to about 20 degrees, but in the case of the present embodiment in which the loop control is performed, the tension of the rolled material recovers at an early stage, and the rise of the looper angle is suppressed. The effectiveness was confirmed. Thus, according to the present invention, early loop absorption can be performed even when a strain loop that causes erroneous detection of a tensiometer is obtained. It became clear that an excellent effect for prevention could be expected. In the case of Comparative Example 2 in which the loop control is performed only by a simple proportional operation that does not include the integration operation, it is recognized that the tension recovery is delayed in comparison to the case where the loop control is not performed.

[0044]

As is apparent from the above description, according to the method of the present invention, the rotation of the rolling roll is canceled so as to cancel the rotation speed disturbance of the rolling roll or the swing angle disturbance of the looper applied to the rolling system. In addition to being able to control the speed and the looper swinging torque precisely to control the target rolled material tension to the target value, in addition to the simple loop, not only for the strain loop, An early loop absorption effect is achieved, whereby a very good stabilization of the rolling operation can be achieved.

Further, according to the tension control device having the structure according to the present invention, the method of the present invention can be easily and effectively carried out, whereby a stable rolling operation can be realized and a rolling trouble can be prevented. Excellent effects such as reduction and improvement in rolling accuracy are achieved.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an outline of a specific example of a hot continuous rolling mill provided with a control device according to the present invention.

FIG. 2 is a block diagram showing a control system of a rolling system by a control device as one specific example of the present invention.

FIG. 3 is a block diagram showing a configuration of a rolling system to be controlled to which the present invention is applied.

FIG. 4 is a block diagram showing a configuration of a control device as a specific example of the present invention applied to the rolling system shown in FIG. 3;

FIG. 5 is a graph showing a simulation result of rolling control as an example.

FIG. 6 is a graph showing a simulation result of rolling control as a comparative example.

FIG. 7 is an explanatory diagram showing a state of occurrence of a simple loop.

FIG. 8 is an explanatory diagram showing a state of occurrence of a distortion loop.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 12 Upstream rolling stand 20 Rolled material 22 Looper 26 Control device main body 28 Loop control device 36 Roll speed adjustment system 38 Looper swing torque adjustment system 40 Disturbance estimator 42 State feedback system

Claims (4)

[Claims] 1. A continuous rolling mill provided with a looper which is oscillated about one axis and abuts on a rolled material between rolling stands, adjusting a rotation speed of a rolling roll in the rolling stand, Adjusting the swing torque exerted on, to control the tension of the rolled material and the swing angle of the looper, to detect the tension of the rolled material and the swing angle of the looper between the rolling stands,
Based on the deviation from the respective target values, the rotational speed disturbance of the rolling roll and the oscillating torque disturbance of the looper are respectively estimated as disturbances applied to the control system for the tension of the rolled material and the oscillation angle of the looper. Thus, in order to cancel the estimated rotation speed disturbance of the rolling rolls and the swinging torque disturbance of the looper, the system for adjusting the rotation speed of the rolling rolls in the rolling stand and the system for adjusting the swinging torque applied to the looper. A tension control method for a continuous rolling mill that adjusts the adjustment gain of the responsiveness independently of each other to adjust a rotation speed of a rolling roll in the rolling stand and a swing torque applied to the looper; Exceeds the preset allowable range, the rotation speed of the rolling roll is adjusted to fall within the allowable range. A tension control method in a continuous rolling mill, wherein the degree is adjusted by control including at least an integral operation based on the magnitude of the swing angle of the looper. 2. The tension control method for a continuous rolling mill according to claim 1, wherein state feedback is applied with gains different from each other in the system for adjusting the rotation speed of the rolling roll and the system for adjusting the swinging torque of the looper. . 3. A method for estimating a rotation speed disturbance of the rolling roll and a swing torque disturbance of the looper, respectively, wherein the rotation speed change amount of the rolling roll, the length change amount of the rolled material, and the swing angle of the looper. 3. The method according to claim 1, further comprising: estimating a change amount and a swing angular velocity change amount, and using the estimated values to adjust a rotation speed of a rolling roll in the rolling stand and a swing torque applied to the looper.
4. A tension control method in the continuous rolling mill according to 3. above. 4. A tension control device for a continuous rolling mill provided with a looper which is oscillated about one axis and abuts on a rolled material between rolling stands, the tension control device comprising: Tension comparing means for comparing a measured value with a target value to obtain a tension deviation; swing angle comparing means for comparing a measured value of the looper swing angle with a target value to obtain a swing angle deviation; Based on the tension deviation and the oscillation angle deviation obtained by the means and the oscillation angle comparison means, as a disturbance applied to the control system for the tension of the rolled material and the oscillation angle of the looper, the rotational speed disturbance of the rolling roll and Disturbance estimating means for estimating the swing torque disturbance of the looper; and a rolling stand for canceling the rotational speed disturbance of the rolling roll estimated by the disturbance estimating means. Rotation speed adjusting means for adjusting the rotation speed of the rolling roll, and oscillating torque adjusting means for adjusting the oscillating torque applied to the looper so as to cancel the oscillating torque disturbance of the looper estimated by the disturbance estimating means. And gain setting means for setting a response adjustment gain by the rotation speed adjustment means and a response adjustment gain by the oscillating torque adjustment means independently of each other; and an actual measurement value of the swing angle of the looper, Judge whether it is within the preset allowable range, and if it is out of the allowable range,
A swing angle monitoring means for determining an amount of deviation of the actual measurement value from the allowable range; and wherein the swing angle monitoring means, when the actual measurement value of the swing angle of the looper is out of the allowable range, A loop compensator including at least an integral element, which adjusts the rotation speed of the rolling roll based on the magnitude of the measured value so that the swing angle falls within the allowable range. Control device in a continuous rolling mill.