KR100798099B1 - Apparatus and method for coiling cold rolling strip - Google Patents

Abstract

The present invention is to provide a winding device of the cold rolled steel coil and the method, a steel plate speed detection unit 30 for detecting the speed of the steel sheet conveyed by the rotation of the winding machine; A steel plate tip detecting unit 40 for detecting whether the steel plate tip enters; A sleeve step detection unit 50 for detecting position tracking information of the sleeve step unit 20; A winding speed detecting unit 90 for detecting a winding speed of the sleeve 10; Position tracking by the position deviation amount by using the information detected by the steel plate speed detector 30, the steel sheet end portion detector 40, the sleeve stepped portion detector 50 and the winding speed detector 90 By including the position control unit 60 to perform the position control, it is possible to prevent the end mark defects generated when the cold rolled steel sheet winding.

Tension reel, end mark, top mark, sleeve

Description

Apparatus and method for coiling cold rolling strip of cold rolled steel coil

1 is a block diagram of a winding device of a cold rolled steel coil according to the present invention,

FIG. 2 is a detailed block diagram of the position controller in FIG. 1;

3 is a flow chart showing a winding method of a cold rolled steel coil according to the present invention,

Figure 4 is a curve of the positional deviation between the speed response of the winding reel and the steel sheet leading end and the sleeve step according to the prior art,

5 is a curve of positional deviation between the speed response of the winding reel and the steel sheet leading end and the sleeve step according to FIGS. 1 to 3;

6 is a relationship diagram between the positional deviation amount and the speed limiter limit setting value shown in FIGS. 1 to 3;

7 is a functional explanatory diagram showing the detection of the steel plate front end portion of the area detection method according to FIGS.

8 is a functional explanatory diagram showing the amount of deviation detection at the step reference point of the winding sleeve according to FIGS.

Explanation of symbols on the main parts of the drawings

10 sleeve 20 sleeve step                 

30: steel plate speed detection unit 40: steel plate front end detection unit

50: sleeve step detection unit 60: position control unit

61: position deviation calculator 62: proportional integral control unit

63: proportional gain unit 64: first coupling unit

65: integral portion 66: second coupling portion

67: speed limit unit 68: anti-wind up control unit

69: third coupling unit 70: the anti-wind up gain unit

80: speed control unit 90: winding speed detection unit

The present invention relates to a winding device for a cold rolled steel coil and a method thereof during the cold rolling process of steel manufacturing, and in particular to a winding device for a cold rolled steel coil coil suitable to prevent end mark defects occurring during winding of the cold rolled steel sheet and It's about how.

In general, the cold rolled steel sheet after a series of processing in the steel manufacturing process is wound in the form of a coil.

At this time, the sleeve of elastic material is wound on the outside of the mandrel, and a certain amount of tension is applied to take up the coil. It occurs periodically every length.                         

As a technique for solving the end mark defect, it is a typical method to use a sleeve having a certain amount of step and to match the end of the steel sheet to the step of the sleeve to offset the end step, which is the cause of defect, and to wind it. As the technique used, the techniques of Japanese Patent Laid-Open No. 9-76014 and Japanese Patent Laid-Open No. 8-192225 are known.

The prior art of Japanese Patent Laid-Open No. 9-76014 detects the leading end of the steel sheet in progress and detects the position of the sleeve step of the winding machine in rotation to control the winder speed so that the steel sheet leading end and the sleeve step part coincide. And it is a technique to control the winding machine speed by detecting the front end just before winding.

However, in this technique, the detection method of the steel plate tip part causes the position tracking error of the steel plate tip part and the position tracking error of the sleeve step part more than several tens of millimeters in proportion to the steel plate feed rate when used in a conventional controller having a signal detection period of several tens of msec or more. There was a problem that causes an error in the position alignment control.

In addition, the technique of Japanese Laid-Open Patent Publication No. 8-192225 is carried out in principle similar to that of Japanese Laid-Open Patent Publication No. 9-76014, but immediately after the winding position of the steel sheet tip is detected. The pressure buoyancy force of the belt wrapper that induces the initial winding can be characterized by continuing position control so that the sleeve and the steel plate can slide within a certain range. In addition, an on or off sensing controller was used.

However, this technique also cannot fundamentally solve the position tracking error due to the signal input delay in detecting the steel plate tip and sleeve end, and prevents overshoot when the position deviation is recognized as a sudden value due to the characteristics of the controller. There was a problem.

The transient response generated in the position control between the steel sheet tip and the sleeve step has a negative function which cannot recover the position deviation due to the mechanical characteristics of the initial winding.

Accordingly, the present invention has been proposed in order to solve the conventional problems as described above, an object of the present invention is to provide a winding device and a method for winding a cold rolled steel coil that can prevent the end mark defects generated during cold rolled steel sheet winding There is.

It is another object of the present invention to provide a coiling apparatus and a method of winding a cold rolled sheet steel which can eliminate errors by irrespective of the controller sensing period by using the position tracking method of the steel sheet end portion.

In addition, another object of the present invention is to provide a winding device and a method of a cold rolled steel coil to eliminate the error by the sleeve step tracking in the amount of deviation detection method.

Furthermore, another object of the present invention is to connect the speed limiter which is variable according to the position deviation amount to the proportional integral controller for continuous position alignment control by the anti-wind-up control method, and transient response to the discretely generated position deviation input An object of the present invention is to provide a winding device for a cold rolled steel coil and a method thereof, which can suppress the occurrence of the corrosion.

In order to achieve the above object, the winding device of a cold rolled steel coil according to an embodiment of the present invention,

A steel plate speed detecting unit detecting a speed of the steel sheet conveyed by the rotation of the winding machine; A steel sheet tip detection unit for detecting whether the steel sheet leading end has entered; A sleeve step detection unit for detecting position tracking information of the sleeve step unit; A winding speed detecting unit detecting a winding speed of the sleeve; And a position control unit performing position control by tracking the position by the amount of position deviation using information detected by the steel plate speed detecting unit, the steel plate tip detecting unit, the sleeve step detecting unit, and the winding speed detecting unit. The technical configuration features.

Winding method of the cold rolled steel coil according to an embodiment of the present invention to achieve the above object,

A first step of sensing the steel plate speed, detecting whether the steel sheet tip is entered, and detecting the sleeve step; And a second step of performing position tracking by obtaining the position deviation amount from the sensed value and controlling the speed by the position control.

Hereinafter, an embodiment according to the present invention configured as described above, a coiling apparatus for a cold rolled steel coil and a method thereof will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a winding apparatus of a cold rolled steel coil according to the present invention.

As shown here, the steel plate speed detection unit 30 for detecting the speed of the steel sheet conveyed by the rotation of the winder; A steel wire end detecting unit 40 for detecting whether the steel sheet leading end has entered; A sleeve step detection unit 50 for detecting position tracking information of the sleeve step unit 20; A winding speed detecting unit 90 for detecting a winding speed of the sleeve 10; Position tracking by the position deviation amount by using the information detected by the steel plate speed detector 30, the steel sheet end portion detector 40, the sleeve stepped portion detector 50 and the winding speed detector 90 It is configured to include a position control unit 60 for performing position control.

Here, reference numeral 80 is a speed control unit for controlling the speed of the sleeve 10 in accordance with the position control of the position control unit 60.

In the above, the position control unit 60 performs "" (distance to the winding machine) / (π * mandrel diameter)-(π * mandrel diameter) |-(sleeve step position) " Perform control.

FIG. 2 is a detailed block diagram of the position controller in FIG. 1.

As shown therein, a position deviation calculator 61 for calculating a position deviation using the position tracking information of the steel sheet position tracking information and the sleeve stepped portion; A proportional integral controller 62 which receives an input from the position deviation calculator 61 and performs proportional integral; A speed limiter 67 which receives the output of the proportional integral controller 62 and outputs a control signal according to the speed limit amount; And an anti-windup control unit 68 which receives the outputs of the proportional integral control unit 62 and the speed limiter 67 and performs an anti-windup control and outputs the result to the proportional integral control unit 62. .

The proportional integral control unit 62 includes: a proportional gain unit 63 which receives the output of the position deviation calculator 61 and amplifies the proportional gain; A first coupling unit 64 which combines the output of the anti-wind-up control unit 68 from the output of the proportional gain unit 63; An integrating unit (65) for integrating the output of the first coupling unit (64); And a second coupler 66 which adds and outputs the output of the integrator 65 and the output of the position deviation calculator 61.

The anti-wind-up control unit 68 includes: a third coupling unit 69 which reduces and couples the output of the speed limit unit 67 from the output of the proportional integral control unit 62; And an anti-wind up gain unit 70 which receives the output of the third coupling unit 69 and amplifies the anti-wind up gain.

In the above-described position controller 60, the anti-wind-up gain 70 is set to a sufficiently large value range for the proportional gain 63 that can prevent the transient response to obtain the amount of position deviation.

3 is a flowchart illustrating a winding method of a cold rolled steel coil according to the present invention.

As shown therein, a first step (ST11 to ST13) of detecting the steel plate speed, detecting the entry of the steel sheet end portion, and detecting the sleeve step portion; And a second step (ST14) (ST15) to calculate the position deviation from the detected value and perform the position tracking and to perform the speed control by the position control.

In the second step, "| (distance left to the winding machine) / (pi * mandrel diameter)-(pi * mandrel diameter) |-(sleeve step position)" is calculated.

Referring to the accompanying drawings, the operation of the winding device and method of the cold rolled steel coil according to the present invention configured as described in detail as follows.

First, in order to prevent the end mark by the alignment of the steel sheet tip and the sleeve step, it is necessary to eliminate the position tracking error of the steel sheet tip and the sleeve tip and to prevent the overshoot from occurring in the controller.

Thus, the present invention performs position tracking to prevent end mark defects during coil winding so that there is no error in the steel sheet tip and sleeve step. In addition, as a control without overshoot by the speed limiter and the anti-wind-up controller, the coil winding is performed by performing high precision steel sheet tip and sleeve step alignment control.

1 is a block diagram of a winding apparatus of a cold rolled steel coil according to the present invention.

Therefore, the plate feeder and the winding machine rotation which are driven independently are aligned with the steel sheet leading end and the sleeve stepped state in the state maintained at the constant velocity motion.

When the steel plate tip portion is detected by the steel plate tip portion detecting portion 40, the steel plate position tracking is started from the information of the steel plate speed detecting portion 30. In addition, the speed control unit 80 serves to maintain the steel plate speed and the same speed, and adds the output of the position control unit 60 to receive the input to be a position control.

The position step of the current sleeve step 20 is carried out from the sleeve step detection unit 50 and the winding speed detection unit 90 and used as an input of the position control unit 60. Then, in the position control unit 60, position control between the steel plate front end portion and the sleeve step portion is possible.

FIG. 2 is a detailed block diagram of the position controller in FIG. 1.

Thus, the position controller 60 is composed of a position deviation calculator 61, a proportional integral controller 62, a speed limiter 65, an anti-wind-up controller 66, and the like.                     

The position tracking information of the steel sheet and the position tracking information of the sleeve step portion obtained from the steel plate speed detecting unit 30, the steel plate tip detecting unit 40, the sleeve step detecting unit 50, and the winding speed detecting unit 90 are In (61), it is calculated as Equation 1 below and input to the proportional integral controller 62.

The set point here is the absolute value, and the feedback is the sleeve step position.

The proportional integral controller 62 receives the input from the position deviation calculator 61 and outputs the input to the speed limiter 67 through the proportional gain unit 63 and the integral unit 65.

At this time, the output of the discrete position calculation unit 61 that generates discretely causes a large amount of transient response. The control instability element due to such transient response can be removed by the speed limiter 67. The speed limiting amount of the speed limiting section 67 is determined by the output of the position calculation control section 61 and is set proportionally as shown in FIG.

Discrete deviation outputs of the position deviation calculation unit 61 are accumulated in the integrating unit 65. The accumulated amount of the deviation of the integrating unit 65 is not solved at once even when the deviation is resolved.

Since this causes a transient response (overshoot), the anti-windup control unit 68 solves this problem.

The output difference of the proportional integral controller 62 and the output difference of the speed limiter 67 may be multiplied by the anti-wind up gain 70 and returned to the proportional integral controller 62 to subtract it.                     

At this time, the proportional integral gain 63 is a value set appropriately for the speed response in consideration of the load inertia, etc., and the anti-wind up gain 70 is a value range large enough for the proportional gain 63 to prevent the transient response. Set to.

The results of the position alignment experiment between the steel plate front end and the sleeve step using only the proportional integral controller are shown in FIG. 4, where a large amount of position transient response occurs during position control.

On the other hand, the speed response and position deviation test results of the winding reel using the speed limiting unit 67 and the anti-wind up control unit 68 in the proportional integral control unit 62 in the present invention are as shown in FIG. It can be seen that it shows fast control settling time without occurrence.

In order to increase the positional alignment accuracy between the steel sheet leading end and the sleeve step by the position control method that suppresses such transient response, it depends on how accurate the input of the position control unit 60 is. 7 and 8, respectively.

In order to detect the tip of the steel plate being transferred, the sensor of the area sensing type spread in the steel sheet conveying direction is used, and it is a dead band that can be generated due to the sensing period of the controller, instead of the conventional on or off sensing method. The accuracy of position control can be improved by eliminating deadband error and reflecting the current accurate detection amount in position tracking.

In addition, in detecting the stepped position of the rotating sleeve, as shown in FIG. 8, a reflector is installed as much as the distance of the controller sensing main period from the sleeve stepped reference point, and the controller detects the distance from the sleeve stepped detector 50 to detect the distance. It is possible to improve the accuracy of position control by reflecting the deviation amount from the reference point at the corresponding point in the sleeve step position tracking information.

As such, the present invention is to prevent the end mark defects generated during the winding of cold rolled steel sheet.

Although the preferred embodiment of the present invention has been described above, the present invention may use various changes, modifications, and equivalents. It is clear that the present invention can be applied in the same manner by appropriately modifying the above embodiments. Accordingly, the above description does not limit the scope of the invention as defined by the limitations of the following claims.

As described above, the cold rolled steel coil winding apparatus and method thereof according to the present invention prevents end mark defects generated during the cold rolled steel sheet winding, and the position tracking method of the steel sheet tip end position detection method to be independent of the controller sensing period. Eliminate the error by eliminating the error by the sleeve step tracking to the deviation detection method, by connecting the speed limiter variable according to the position deviation to the proportional integral controller for continuous position alignment control by the anti-wind-up control method It is possible to suppress the occurrence of a transient response to the position deviation input that occurs.

Claims (8)

Steel plate speed detection unit 30 for detecting the speed of the steel sheet conveyed by the rotation of the winding machine; A steel plate tip detecting unit 40 for detecting whether the steel plate tip enters; A sleeve step detection unit 50 for detecting position tracking information of the sleeve step unit 20; A winding speed detecting unit 90 for detecting a winding speed of the sleeve 10; Position tracking by the position deviation amount by using the information detected by the steel plate speed detector 30, the steel sheet end portion detector 40, the sleeve stepped portion detector 50 and the winding speed detector 90 Winding device of the cold rolled steel coil, characterized in that it comprises a position control unit 60 for performing position control. The method of claim 1, wherein the position control unit 60, Cold rolling, characterized in that the position control is performed by calculating the position deviation amount by performing "| (distance to winder) / (π * mandrel diameter)-(π * mandrel diameter) |-(sleeve step position) Winding device of steel coil. The method of claim 1, wherein the position control unit 60, A position deviation calculator 61 for calculating a position deviation by using the steel sheet position tracking information and the position tracking information of the sleeve stepped portion; A proportional integral controller 62 which receives an input from the position deviation calculator 61 and performs proportional integral; A speed limiter 67 which receives the output of the proportional integral controller 62 and outputs a control signal according to the speed limit amount; And an anti-wind-up control unit 68 which receives the outputs of the proportional integral control unit 62 and the speed limiter 67 and performs an anti-windup control and outputs the result to the proportional integral control unit 62. Winding device for a cold rolled steel coil, characterized in that. The method of claim 3, wherein the proportional integral controller 62, A proportional gain unit (63) which receives the output of the position deviation calculator (61) and amplifies the proportional gain; A first coupling unit 64 which combines the output of the anti-wind-up control unit 68 from the output of the proportional gain unit 63; An integrating unit (65) for integrating the output of the first coupling unit (64); Winding device of the cold rolled steel coil, characterized in that it comprises a second coupling portion (66) for outputting by combining the output of the integral portion (65) and the output of the position deviation calculator (61). According to claim 3, The anti-wind up control unit 68, A third coupling part (69) for subtracting and coupling the output of the speed limiting part (67) from the output of the proportional integral control part (62); Winding device of the cold rolled steel coil, characterized in that it comprises an anti-wind up gain unit 70 for receiving the output of the third coupling portion 69 and amplifies the anti-wind up gain. The method of claim 3, wherein the position control unit 60, Winding device of the cold rolled steel coil, characterized in that the anti-wind up gain (70) is set to a value range larger than that for the proportional gain (63) that can prevent the transient response. A first step (ST11 to ST13) of detecting the steel plate speed, detecting whether the steel plate front end is entered, sensing the sleeve step, and detecting the winding speed; And a second step (ST14) (ST15) for position tracking using the four values detected in the first step to perform position tracking, and for speed control by position control. Winding method of cold rolled steel coil. The method of claim 7, wherein the second step, Winding the cold rolled steel coil characterized by calculating the position deviation by performing "| (distance to winder) / (π * mandrel diameter)-(π * mandrel diameter) |-(sleeve step position) Way.

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