JPS59118213A - Equipment for controlling looper in continuous rolling mill - Google Patents

Abstract

PURPOSE:To obtain a device capable of controlling the variation of a tension between stands to a lower level and excellent in responsiveness by introducing the outputs of a looper angle and a material tension from the inputs of the speed of a motor for driving a looper and the speed of a motor for driving a main machine, and combining them with the detection of tension in consideration of the mutual interference between respective variables. CONSTITUTION:An integrator 10A performs an integrating action about the deviation DELTATf of a detected value Tf of interstand tension from its target value TfR, and a proportional gain 21 performs a proportional control action about the deviation of Tf from its value Tf* at the time of starting a control. The same actions are performed about an acting angle of looper, an armature current of looper driving motor 2A, a rotational speed of the motor 2A, and respective detected values theta, I, N. These values are added to synthesize the amount of correction DELTAIREF of current target of a current controlling device 1A of looper, which is added to a target value IREF* of current at the time of starting the control to synthesize a current target value IREF. On the other hand, a speed target value NREF of a speed controlling device 4A of main machine is synthesized in the same manner by an integrator 9A and a proportional gain 11, etc.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a continuous rolling mill, and more particularly to a looper control device for controlling the loop/e operating angle and the tension between stamps P.

[Technical background of the invention]

In continuous rolling mills, the important factors for evaluating product quality are plate thickness, plate width, plate crown amount, and plate flatness.
Since the stun P length force value has a large influence on these factors, it is desirable to keep it as constant as possible. For this reason, in a continuous hot rolling mill, control is performed to absorb changes in the tension value by means of a loop mechanism provided between each rolling stand. In addition, during rolling work, roux,
Since it is also required to keep the fluctuation of the operating angle of e small, the roll speed of stun r adjacent to this rue/e is also corrected.

FIG. 1 shows the basic table configuration of the looper and a block diagram of a conventional control device that controls the looper.

The material to be rolled 101 is rolled by rolling rolls 102a and 102b.
After passing through the rolling stand r2 comprising the rolling roll 10
3a and 103b, between which it is in contact with the rug mechanism 104.

The looper operating angle θ of 11104 is detected by the looper operating angle detector 105, and the computing device 106 calculates a looper torque amount corresponding to the looper operating angle θ such that the target tension value is always maintained.

Therefore, the current target value of the Lou/e drive motor necessary for generating the looper torque amount is applied from the calculation device 106 to the current control device 107 of the Lou/e drive motor, and the current control device 107 causes the Lou/e drive motor 108 is driven.

On the other hand, the detection signal of the looper operating angle detector 105 is also applied to the arithmetic unit 109, and this arithmetic unit 109 sets the speed target of the roll drive motor 120 in order to return the looper operating angle θ, which has gone up and down due to the inter-stand tension control, to the target value. Value operations are performed. This speed target is applied from the arithmetic unit 109 to the speed control device 110 of the roll drive motor 120, and the roll drive motor 120 is driven one time by this speed control device 110.

[Problems with background technology]

In such a conventional looper control device, the material length between the staffs 1 changes by speed correction of the roll drive motor 120, and the louver operating angle is controlled to follow this. There was a drawback that the tension between the staffs 1 and 1 varied greatly due to the operating angle control.

However, if the louver operating angle is controlled to keep this tension fluctuation small, the response of the control must be lowered, which has the disadvantage of not being able to follow disturbances that change quickly over time.

[Purpose of the invention]

The present invention has been made in order to overcome the difficulties of conventional devices, and is a looper control device for a continuous rolling mill that can sufficiently suppress inter-stan r tension fluctuations of a rolled material and has excellent responsiveness. Its purpose is to provide.

[Summary of the invention]

In the present invention, the looper control system is a two-man power, two-output, multivariable control system, and its control objective is to minimize the amount of variation in the looper angle and the amount of variation in tension. One of the manipulated variables for this purpose is the roux and e drive motor current, and the other is the main engine motor speed. Required calculations are performed from these two inputs to derive two outputs: the Roux A angle and the tension. Furthermore, root torque control is also performed based on the actual tension by detecting the tension between the stands. The control system is constructed in this manner, and is constructed in consideration of mutual interference between variables.

[Embodiments of the invention]

An embodiment of the present invention shown in FIG. 2 will be described below.

FIG. 2 is a control block diagram showing the configuration of the looper control device according to the present invention. Note that FIG. 2 mainly shows the flow of control signals, and the relationship between the main motor, the 6 motors, and the rolling system is omitted here because it has already been explained.

In FIG. 2, the current target value IREF input to the looper current control device IA is synthesized by adding the current target value REF corresponding to the value at the start of control and the current target value correction amount ΔT. There is.

Therefore, the current target value correction amount ΔIREF is as follows:
Each means represented by ◎, ■ 21 for the integral gain and 1 for the integrator for the deviation between the detected tension value T of the rolled material between the stands and the target tension value TfR.
．． Means for performing an integral operation by 0 A and a proportional operation by a proportional gain f2□ for the deviation ΔT between the detected tension value T and the detected tension value T at the start of control.

■ Looper operating angle detection value θ and looper operating angle detector θ
, the integral gain is 2□, the integral operation by the integrator 10A, and the detected operating angle value θ and the rue, ?
Proportional gain f2 for the deviation Δθ from the detected operating angle value θ
□Means for performing proportional action.

■ Main engine motor rotational speed detection value NR9 Main engine motor armature current■, Main engine speed control device 4 input speed control PI
Controller integral operation output Z11 Main engine speed control device 4
Integral operation output Z2 of PI controller for minor current control in A + Roots R drive motor 2-person rotary rotation speed detection value N, armature current I of Lu/e drive motor 2A, PI for current control in looper current control device IA The integral operation output z3 of the controller and the value N:l when the ono-ono control is open M (2)
Ill z7. z:, N”II, ΔNR9Δ which is the deviation from Z3, Δz1.Δz2゜ΔN, ΔI,
Proportional gain f23゜f24・f for Δ2 respectively
25・f269 f271 f28" Means for performing proportional operation based on 29.

It is synthesized by adding .

On the other hand, the speed target value N input to the main engine speed control device 4A
REF is synthesized by adding the speed set value N'' and the speed target value correction KF positive amount ΔNRKF.

Then, the speed target value correction amount ΔNRF,F is the integral gain of 1, F for the deviation between the detected tension value Tf of the rolled material between the stands and the tension target value TfR at each flat part, that is, shown by ~0 in the following. and integrator 9
Means for performing an integral operation by A and a proportional operation by a proportional gain f1□ regarding the deviation ΔT between the detected tension value T and the detected tension value T at the start of control (11).

■ Regarding the deviation between the looper operating angle detection value θ and the looper operating angle target value θ8, the integral gain is 1°, the integral operation by the integrator 9A, the looper operating angle detection value θ and the looper operating angle at the start of control. Means for performing a proportional operation using a proportional gain f12 regarding the deviation Δθ from the detected value θ.

■ Rotation speed detection value of main engine motor 5A NR9 Armature current Ia of main engine motor 5A, integral operation output Z of PI controller for speed control in main engine speed control device 4A, l for minor current control in main engine speed control device 4A Integral operation amount of PI controller z2. Rotation speed detection value N of the two looper drive motors, armature current of the two looper drive motors ■, sill
e Integral operation output of the current control PI controller in the current control device IA I"l Z"l Z"I N"t I"T
Z” (7) Deviation JN 1812
3 RΔIa, Δz1. Δ
z2. Proportional gain '131 f141 f151 f161 f17'' for ΔN, ΔI, and ΔZ3, respectively.
181f19 means for performing proportional action.

(12) It is synthesized by adding .

Next, the continuous rolling mill of the present invention configured as described above will be explained.
The operation of the R control device will be explained.

The Roux/e dynamic characteristic model of a continuous rolling mill is a nonlinear model, but by Taylor expansion in the vicinity of a certain steady state, it can be expressed in the form of a linear equation of state, as shown in (Equation 1) and (Equation 2). It becomes like this.

x=A−x+B・u+w ・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・(1 formula) y=C
-X ・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・(Equation 2) However, the figure is based on the time differential dX/dt, and X, u.

y is a vector shown by (Equation 3), (Equation 4), and (Equation 5), respectively, W is a disturbance vector, and A, B, and C are each 9X9
It is a constant matrix of 19x212x9.

x=[ΔTf, Δθ, ΔNR9ΔTalΔZ□lΔz2
゜ΔN, Δ■, Δz3〕7 (state vector)・・・・・・・・・・・・・・・・・・
・・・・・・・・・(3 formula) u=[ΔNIF+Δengineering REF]
T (operation vector)・・・・・・・・・・・・・・・
・・・・・・・・・(Formula 4) y=[ΔT7. Δθ] (Output vector) (Formula 5) Here, T represents transposition.

The purpose of the roots R control is to suppress the deviation ΔT of the inter-stand tension from the target value and the deviation Δθ of the root movement angle from the target value as small as possible.

Such a problem is called an integral linear regulator problem,
It is said that the operation vector U may be constructed according to the following (Equation 6).

-R”BTP (x-x) + u,,,,,
, , , , , (Formula 6)%Formula% Here, R is a 2x2 diagonal matrix (all diagonal elements are positive), y
R is the target value vector of the output vector y, xo is the initial value of the state vector X, 4 vectors, and uo is the initial value of the operation vector V, 4 vectors.

In addition, R21'' 2□ is calculated by the following formula P^+XTp+q-p111fP=0...open/open/(7
It is a submatrix of the solution P of the R1cca-th equation shown by the formula (Equation), and the relationship between P and P2□ and P2° is as follows. hOh, A and B in (7 formula) are each (9 formula).

llXl1. shown by (Formula 10). , IIX is a constant matrix of 2, and Q is an 11-dimensional diagonal matrix (diagonal elements are positive or zero).

As described above in (Formula 1) to (Formula 10), the speed target value correction amount ΔNRF, F for the main engine speed controller 4 people and the current target value correction amount Δ for the Roots R current control device IA.
■Operation vector U consisting of RF and F = [ΔNR□
, ΔIR]1 can be determined according to Equation (6).

In (6 formula), replace the following formula (12 formula) and concretely write down (6 formula) (13 formula )become that way.

・・・・・・・・・・・・・・・・・・(Formula 13) However, ΔNREF and ΔI are ΔNRF and F'ΔI, respectively.
R.

represents the initial value of

FIG. 2 is a block diagram of the above (Formula 13), and the connection of each signal is as described above.

According to (formula 13), main engine speed target value correction amount ΔNRF, F
By determining the current target value correction amount Δ■R□2, the rotational speed detection value NR of the main engine motor 5A and the armature current ■9 rotational speed detection value N of the two driving motors are corrected, and the tension The detected value Tf and the detected looper operating angle value θ are controlled to be close to the target values.

In addition, in the above configuration, the control system was configured such that all the elements of the state vector
．． Δ2 engineering, Δz2. Regarding Δz3, if it cannot be detected, the control loop may be omitted.

〔Effect of the invention〕

Thus, according to the present invention, the following effects are recognized.

■ In the conventional loop control system, mutual interference between the methane P tension control and the loop A operating angle control was not taken into consideration, and there was a problem with stability, but in the present invention (17)
,.

Since the looper control system is configured as a two-man power, two-output, multi-control system, a looper control device with excellent stability can be obtained in which mutual interference between variables is taken into consideration.

■ In the conventional looper control system, the control response had to be lowered in order to suppress the mutual interference mentioned above, leading to deterioration in the ability to follow high-frequency disturbances, but the present invention has a configuration that takes mutual interference between variables into account. Therefore, there is no need to reduce the control response, and it has excellent followability to high-frequency disturbances.

■ In the conventional looper control system, the tension between the staffs 1 and 1 was not detected, so looper control was not performed based on the actual tension, resulting in deterioration of product quality, but in the present invention, a tension detector is installed. This enables looper control based on actual tension, leading to improved quality.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the configuration of a conventional device, and FIG. 2 is a block diagram (18) showing the configuration of an embodiment of the present invention. IA... Rootske current control device, 2A... Luu A drive motor, 3A... Roots mechanical system, 4A... Main engine speed control device (roll drive motor speed control device), 5A...
...Main motor (roll drive motor), 6A...Tension generation mechanism between stands, 9A, 10A...Integrator, ]]
~19, 21~29...Proportional gain, 30~33.
... Adder, word ~ 37... Integral gain. Applicant's agent Kiyoshi Inomata Figure 1

Claims (1)

[Scope of Claims] 1. A current control device for controlling the armature current flowing through the roots ξ drive motor, and a main machine speed for controlling the rotational speed of the main motor for driving the rolls of the rolling mill P adjacent to the roots. In a continuous rolling mill having a control device, each of the following means (1) A means for performing a first integral operation on the difference between the detected tension value of the material to be rolled between stands and the target tension value, and a means for performing a first integral operation on the difference between the detected tension value and the tension target value, and the detected tension value and the control start time. Means for performing a first proportional operation regarding the deviation from the detected tension value. ■ Means for performing a second integral operation on the deviation between the detected value of the looper operating angle and the target value of the operating angle; (2) means for performing a third proportional action regarding the deviation between the detected value of the armature current flowing through the loop drive motor and the value at the start of the control; means for performing a fourth proportional operation on the deviation between the rotational speed detection value of the loop A drive motor and the value at the start of control; The part that outputs to the control device, and each of the following means; Means for performing the first proportional-integral operation on the deviation between the detected tension value of the material to be rolled between stands and the target tension value; means for performing a fifth proportional operation with respect to the deviation from the detected tension value; ■ means for performing a second proportional-integral operation regarding the deviation between the detected value of the looper movement angle and the target value of the looper operation angle; means for performing a sixth proportional operation on the deviation between the detected angle value and the detected value of the loop-and-groove movement angle at the time of starting the control; Means for performing a seventh proportional action on the deviation of. (1) means for performing an eighth proportional operation on the deviation between the rotational speed detection value of the Lue A drive motor and the value at the start of the control; A roots control device for a continuous rolling mill, characterized in that it is comprised of: a portion for outputting information to the main machine speed control device; 2. Means for performing a ninth proportional operation on the deviation between the rotational speed detection value of the main engine motor and the value at the start of control, as the i-stream target value correction amount. and, as the speed target value correction amount, (1) means for performing a tenth proportional operation on the deviation between the rotation speed detection value of the main engine motor and the value at the time of control start. continuous rolling mill looper control device. 3. As the current target value correction amount, ■ Means for performing an eleventh proportional operation on the deviation between the detected value of the armature current flowing through the main engine motor and the value at the start of control, and as the speed target value correction amount. A looper for a continuous rolling mill according to claim 2, further comprising: (1) means for performing a twelfth proportional operation on the deviation between the detected value of the armature current flowing through the main motor and the value at the start of control. Control device. 4. As the current target value correction amount, e means for performing a thirteenth proportional operation on the deviation between the integral operation output of the current control PI controller in the Rouxo current control device and the value at the start of control; means for performing a fourteenth proportional operation on the deviation between the integral operation output of the speed control PI controller in the speed control device and the value at the start of control; (1) integral operation of the minor current control PI controller in the main engine speed control device; means for performing a 15th proportional operation on the deviation between the output and the value at the start of control, and as the speed target value correction amount, ■ the integral operation output of the current control pr controller in the looper current control device and the control start means for performing a 16th proportional operation regarding the deviation from the value at the time of control; (1) performing a 17th proportional operation regarding the deviation between the integral operation output of the speed control PI controller in the main engine speed control device and the value at the start of the control; Claim 3 further comprising: means for performing an eighteenth proportional action on the deviation between the integral action output of the P controller for minor current control in the main engine speed control device and the value at the start of the control. A looper control device for a continuous rolling mill as described in 1.