KR101758473B1 - Tension control apparatus and method using the same - Google Patents

Tension control apparatus and method using the same Download PDF

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Publication number
KR101758473B1
KR101758473B1 KR1020150169991A KR20150169991A KR101758473B1 KR 101758473 B1 KR101758473 B1 KR 101758473B1 KR 1020150169991 A KR1020150169991 A KR 1020150169991A KR 20150169991 A KR20150169991 A KR 20150169991A KR 101758473 B1 KR101758473 B1 KR 101758473B1
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KR
South Korea
Prior art keywords
tension
rolling mill
speed
strip
controlling
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KR1020150169991A
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Korean (ko)
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KR20170064610A (en
Inventor
김신일
김성겸
심지현
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주식회사 포스코
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/48—Tension control; Compression control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/46—Roll speed or drive motor control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/48—Tension control; Compression control
    • B21B37/50—Tension control; Compression control by looper control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2265/00—Forming parameters
    • B21B2265/02—Tension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2275/00—Mill drive parameters
    • B21B2275/02—Speed
    • B21B2275/04—Roll speed

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Metal Rolling (AREA)

Abstract

The present invention relates to a tension control apparatus and method capable of imparting a tension before looper-tension control after a leading end of a strip is fed into an (i + 1) -th rolling mill. The tension control apparatus of the present invention comprises a looper- And the first tension is controlled by controlling the speed of the rolling mill i at the time point when the strip enters the rolling mill i + 1, and the tension is controlled using the looper from the moment the strip enters the rolling mill i + And an auxiliary controller for controlling the speed of the rolling mill i according to the deviation between the target tension and the feedback tension of the louper driving unit until the control is started to apply the second tension.

Description

TECHNICAL FIELD [0001] The present invention relates to a tension control apparatus,

The present invention relates to an apparatus and a method for controlling the tension at the leading end of a strip.

In the hot finishing rolling process, looper is used as described in the following prior art documents in order to secure strip line quality. The looper is installed between two rolling mills adjacent to each other to maintain the strip tension at a set value, thereby smoothly passing the strip.

This looper-tension system is described as a two-input / two-output multivariable system with a looper motor and a drive motor for each mill as inputs and a looper angle and strip tension as outputs. .

Recently, looper-tension control algorithm, which is applied to most hot rolling mills in domestic and overseas steel mills, is mainly a non-interfered PI control technique. However, recently, the optimal control (LQ, ILQ, H∞) based on a mathematical model, ) And the like are actively applied. In particular, the rolling control equipment to which the inverse optimal control (ILQ) algorithm is applied is attracting attention.

However, in such a control, when the leading end of the strip is metal-ined to the (i + 1) th rolling mill, the looper is raised to contact the strip before tension control, and looper-

Therefore, after the leading end of the strip is taken in (i + 1) th rolling mill, a loop phenomenon (formation of a loop having a large strip due to a setting error at the leading edge transfer) occurs before looper-tension control there is a problem.

When the rear end of the strip is metal out of the rolling mill i, the looper-tension control ends and the looper descends. Therefore, there is a problem that the tension of the strip is lost and the plate anxiety and the tail twist of the rear end portion occur.

Korean Patent Publication No. 10-2003-0028902

According to an embodiment of the present invention, there is provided a tension control apparatus and method capable of imparting a tension before looper-tension control after a leading end of a strip is taken in an (i + 1) -th rolling mill.

In order to solve the problems of the present invention, a tension control device according to an embodiment of the present invention includes a looper driving unit for driving a looper, a speed control unit for controlling the speed of the rolling mill i at a time point when the strip enters the rolling mill i + The first tensile force is applied and from the time when the strip enters the rolling mill to the (i + 1) -th rolling mill, until the steady-state control of the tension is started using the looper, according to the deviation between the target tension and the feedback tension of the looper- And an auxiliary control unit for controlling the speed of the second tension to apply the second tension.

According to the embodiment of the present invention, it is possible to prevent a malfunction due to the tip loop when the strip is blown.

1 is a schematic block diagram of a tension control device according to an embodiment of the present invention.
2 is a conceptual diagram for explaining an auxiliary controller according to an embodiment of the present invention.
3 is a flowchart of a tension control method according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, in order that those skilled in the art can easily carry out the present invention.

FIG. 1 is a schematic configuration diagram of a tension control device according to an embodiment of the present invention,

FIG. 2 is a conceptual diagram for explaining an operation of an auxiliary control unit according to an embodiment of the present invention, and FIG. 3 is a flowchart illustrating an operation of a tension control method according to an embodiment of the present invention.

1, a tension control device according to an embodiment of the present invention includes a looper 21 disposed between a plurality of rolling mills 10 to apply a tension to a strip S, A control unit 24 for controlling the looper driving unit 20, an angle detecting unit 22 for detecting the angle of the looper 21, a tension measuring unit 22 for measuring the tension σ of the strip, A detector 31, a tension calculating unit 32, a main control unit 40 for controlling the tension in tension change, and an auxiliary control unit 80.

The plurality of rolling mills 10 includes a pair of work rolls 12 and backup rolls 13, a main electric motor 13 for driving the work rolls 12, a speed control device 13 for controlling the speed of the main electric motor 13, (14), and a speed calculation unit (15).

The main control unit 40 receives angle information of the looper from the angle detecting unit 22 and receives the tension information from the tension calculating unit 32 to control the speed and looper angle of the front end mill. For example, when the tension measured based on the target tension is decreased, the speed change amount can be calculated to control the speed of the main electric motor 13. [

The main control unit 40 may operate based on previously known PI control, LQ control, and ILQ control theory. That is, the main control unit 40 can be applied without limitation as long as the speed of the front end mill 10 and the angle of the looper 21 are controlled so as to maintain a predetermined strip tension at the time of the tension change.

When the strip enters the (i + 1) -th rolling mill 10, the main control unit 40 drives the looper 21 to apply tension to the strip S, and controls the speed of the rolling mill 10 according to the target tension do. Accordingly, the first sub control unit 50 controls the tension of the strip until the tension control by the main control unit 40 is started from the time when the strip enters the rolling mill i + 1.

The auxiliary control unit 80 may include a first sub-controller 81 and a second sub-controller 82 for controlling the tension at the tip end of the strip.

In addition, in still another embodiment, the auxiliary controller 80 may further include a third sub controller 83 for controlling the tension at the leading end of the strip.

The first sub controller 81 is configured to feed the strip S to the (i + 1) th rolling mill (i + 1) via the i-th rolling mill i as shown in Fig. (S20), the first tension can be controlled by controlling the speed of the rolling mill (i) at the time point (S10) in which the first rolling mill (S) enters. Thus, it is possible to prevent the erroneous operation of the strip S due to the arcing force.

The first tension may be set in advance, and the set value of the first tension may be transmitted from the data storage unit 70. [

The first sub controller 81 may apply the first tension to the strip by controlling the speed of the rolling mill i, and the speed compensation amount of the rolling mill i may be set as shown in Equation (1).

(Equation 1)

DELTA V_HESUC = G1 G2 Vref / 100

Here,? V_HESUC denotes a speed compensation amount of the rolling mill for applying the first tension, and G1 denotes a steel type gain. For example, it may be set to -1 for a high strength steel and -0.1 for a general steel. G2 represents the thickness gain and can be set to -1 for a high strength steel article and to -0.9 for a remaining strip steel plate. Vref may represent the current speed of the rolling mill.

2C, the second sub controller 82 controls the second auxiliary controller 82 so that the target tension and the target tension are controlled until the normal control in which the tension is controlled using the looper 21 from the time when the strip enters the rolling mill i + The application of the second tensile force can be controlled by controlling the speed of the i-th rolling mill 10 according to the deviation between the feedback tension of the looper driving part 23 (S30). The target tension may be a preset value, and the feedback tension may be a value calculated from the feedback signal of the looper driving part 23. [ The target tension may be transmitted from the data storage unit 70.

The second sub control unit 82 includes a data collecting unit 82a that receives a feedback signal from the looper driving unit 23, a data processing unit 82b that calculates a deviation between the target tension and the feedback tension, And a feedforward control unit 82c for calculating a speed compensation amount by applying a tension control gain to a deviation of the feedforward control unit 82c.

The data collecting unit 51 recognizes the time when the strip has entered from the load cell 16 of the (i + 1) -th rolling mill 10 and receives the feedback signal from the looper driving unit 23 thereafter.

The looper driving section 23 can touch the looper 21 to the strip S to deliver a feedback signal having the information on the tension state of the strip S. [

The data processing section 52 calculates the deviation between the target tension and the feedback tension.

At this time, the target tension can be received from the data storage unit 70, and the feedback tension can be calculated from the information of the tension state included in the feedback signal inputted from the looper driving unit 23 by tension. If the looper drive 23 is a hydraulic cylinder, the transmitted feedback may be force feedback. The data processing section 52 calculates the feedback with the tension.

The feedforward control section 53 calculates the speed compensation amount by applying the tension control gain to the deviation of the feedback tension.

The tension deviation may be set to a plurality of sections, and the speed compensation amount may be calculated for each section.

For example, if the tension deviation is divided into six sections,

Tension deviation rate (UTDIF): The tension / target tension calculated by the feedback signal

Tension section 1: UTDIF> 2.5

Tension section 2: 1.5 < UTDIF < = 2.5

Tension Period 3: 1.0 < UTDIF < = 1.5

Tension section 4: 0.0 < UTDIF < = 1.0

Tension Period 5: UTDIF = 0.0 and duration 0.03 sec

Tension Period 6: UTDIF = 0.0 and duration 0.06 sec

The velocity compensation amount can be calculated according to the tension section as shown in the following equation (2).

(Equation 2)

? V_TSUC = Gten? Vref / 100

Here, ΔV_TSUC represents the speed compensation amount of the rolling mill for applying the second tension, Gten represents the gain per tension section, and Vref can represent the rolling mill current speed. The gain can be set in accordance with the above-described tension section as follows.

Tension section 1: Gten = 1.5

Tension section 2: Gten = 0.0

Tension section 3: Gten = -1.0

Tension section 4: Gten = -1.5

Tension section 5: Gten = -3.5

Tension section 6: Gten = -4.0

When the tension is generated by the equation (2), the velocity is calculated and the velocity is compensated by the rolling mill speed. This function makes the tension more tangible by the first sub-controller previously applied when the setting is actually tensile, but relaxes the tension when the second sub-controller is applied so that it does not become a problem of falling due to tension. If the setting is an actual loop, the former function is made tensioning in advance and the second auxiliary controller makes the remaining necessary tension, so that it is possible to quickly solve the unstable state due to the tension, thereby preventing the misreading.

Referring to FIGS. 1 and 2, the auxiliary controller 80 may further include a third auxiliary controller 83 according to another embodiment of the present invention.

The third auxiliary controller 83 compensates the speed of the rolling mill when the tension applied to the strip S at the normal control time for controlling the tension of the strip is less than the reference tension as shown in FIG. A third tension may be applied to the strip S (S40).

That is, the rolling speed compensation amount of the former stand (i-th stand) for adding the tension when the tension is lower than the reference tension is calculated by disturbance (fluctuation of rolling load due to application of hydraulic pressure, The speed of the rolling mill i can be controlled. This function is applied to the whole area where the existing control function is applied, so that the existing control function can be compensated to prevent the occurrence of the arcing during rolling.

The velocity compensation amount of the pressure device for applying the third tension can be expressed by the following equation (3).

For example, a plurality of reference tension may be set, and another reference tension may be applied according to the tension deviation.

Reference tension 1: UTDIF> 0.5

Reference tension 2: UTDIF = 0

Here, UTDIF can mean the tension deviation rate.

(Equation 3)

? V_NTSUC = Gnoten 占 Vref / 100

Gnoten = Gnoten = -0.5 when the reference tension is 1, Gnoten = -1.0 when the reference tension is 2, and Gnoten = -1.5 when the reference tension is 1. In this case, Lt; / RTI &gt; Vref is the current speed of the mill.

As described above, according to the present invention, it is possible to prevent a malfunction caused by the tip loop when the strip is blown.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the particular forms disclosed. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

10: Rolling mill
21: Looper
22:
23: Looper drive
24: Control device
31: tension detector
32:
40:
70: Data storage unit
80:
81: First sub-controller
82: Second sub-controller
82a: Data collecting unit
82b:
82c: Feedforward control section
83: Third auxiliary controller

Claims (6)

1. A tension control device for controlling a strip tension between an i-th rolling mill and an (i + 1) -th rolling mill using a looper,
A louper driver for driving the looper; And
The first tension is applied by controlling the speed of the i-th rolling mill at the time when the strip enters the (i + 1) -th rolling mill, and after the time when the strip enters the i + 1th rolling mill, And an auxiliary control unit for controlling the speed of the rolling mill i to apply the second tension in accordance with a deviation between the target tension and the feedback tension of the louper driving unit until the normal control to be controlled is started,
The speed compensation amount of the rolling mill i can be set as shown in the following equation (1).
(Equation 1)
DELTA V_HESUC = G1 G2 Vref / 100
Here,? V_HESUC represents the speed compensation amount of the rolling mill for applying the first tension, G1 represents the steel grade gain, G2 represents the thickness gain, and Vref represents the current speed of the rolling mill.
The method according to claim 1,
Wherein when the strip tension is equal to or lower than the reference tension after the start of the normal control, the auxiliary controller controls the speed of the rolling mill i to apply the third tensile force.
The method according to claim 1,
The sub-
A first sub controller for controlling the application of the first tensile force by controlling the speed of the rolling mill i when the strip enters the (i + 1) th rolling mill; And
The speed of the rolling mill i is controlled according to the deviation between the target tension and the feedback tension of the louper driving unit from the time when the strip enters the rolling mill to the (i + 1) th rolling mill until the normal control starts, The second sub-
.
3. The method of claim 2,
The sub-
A first sub controller for controlling the application of the first tensile force by controlling the speed of the rolling mill i when the strip enters the (i + 1) th rolling mill;
The speed of the rolling mill i is controlled according to the deviation between the target tension and the feedback tension of the louper driving unit from the time when the strip enters the rolling mill to the (i + 1) th rolling mill until the normal control starts, A second sub-controller for controlling the second sub-controller; And
When the strip tension is equal to or lower than the reference tension after the start of the normal control, a third sub controller
.
1. A tension control method for controlling a strip tension between an i-th rolling mill and an (i + 1) -th rolling mill using looper,
And the data collecting unit recognizes entry of the strip into the (i + 1) th rolling mill
Controlling the speed of the i-th rolling mill to apply a first tensile force to the auxiliary control unit at a time point when the strip enters the (i + 1) -th rolling mill; And
The auxiliary control unit may control the turning speed of the i-th rolling mill in accordance with the deviation between the target tension and the feedback tension of the looper driving unit until the normal control in which the tension is controlled using the looper after the time when the strip enters the rolling mill i + And controlling the speed of the second tension to apply the second tension
A tension control method
The speed compensation amount of the rolling mill i can be set as shown in the following equation (1).
(Equation 1)
DELTA V_HESUC = G1 G2 Vref / 100
Here,? V_HESUC represents the speed compensation amount of the rolling mill for applying the first tension, G1 represents the steel grade gain, G2 represents the thickness gain, and Vref represents the current speed of the rolling mill.
6. The method of claim 5,
And controlling the speed of the rolling mill i to apply a third tensile force when the strip tension is less than the reference tension after the auxiliary control unit starts the normal control.
KR1020150169991A 2015-12-01 2015-12-01 Tension control apparatus and method using the same KR101758473B1 (en)

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