KR102448230B1 - Plant control apparatus, rolling control apparatus, plant control method and plant control program - Google Patents

Abstract

Even when the state quantity before control and the state quantity after control becomes a complex waveform composed of a plurality of frequency components, the control timing shift amount and control gain of the control output capable of realizing a larger feed-forward control effect are efficiently obtained. The plant control device extracts a plurality of frequency components included in the pre-control state quantity based on the result of fast Fourier transform of the time series data of the pre-control state quantity, and creates a pre-control state quantity synthesis waveform by synthesizing the extracted frequency components, , based on the result of fast Fourier transform of each time series data of the state quantity before control and the state quantity after control, the phase difference and attenuation amount of the state quantity after control with respect to the state quantity before control are obtained, and for each frequency component, the phase difference and attenuation amount obtained Based on the control output timing shift amount, which is a delay time until the pre-control state amount is reflected in the feed-forward control, the control gain of the feed-forward control is determined.

Description

PLANT CONTROL APPARATUS, ROLLING CONTROL APPARATUS, PLANT CONTROL METHOD AND PLANT CONTROL PROGRAM

The present invention relates to a plant control device, a rolling control device, a plant control method, and a plant control program.

In the rolling mill which is a plant which produces thin metal material efficiently by rolling a metal plate, plate thickness defect by the hardness nonuniformity of the metal plate which is a to-be-rolled material may generate|occur|produce. Hardness nonuniformity means the state in which the hardness of a to-be-rolled material is not uniform over the whole to-be-rolled material. Since the hardness of the rolled material is the deformation resistance when rolling, if hardness non-uniformity occurs in the rolling direction, which is the conveying direction for conveying the rolled material at the time of rolling, the crushing method of the rolled material will be different depending on the position. A variation occurs in the later plate thickness.

Rolling is generally performed by passing a to-be-rolled material through a rolling mill multiple times from the original plate thickness which is the plate thickness of an original metal plate to product thickness. When hardness nonuniformity exists, since the hardness of a to-be-rolled material differs according to a position, plate|board thickness fluctuation generate|occur|produces, but in multiple times of rolling, a plate|board thickness deviation generate|occur|produces anew every time. In order to improve the plate thickness accuracy of a product, plate thickness control is implemented in a rolling mill, but it was difficult to remove the plate thickness fluctuation|variation which generate|occur|produces at every rolling due to hardness nonuniformity by conventional plate thickness control.

For example, it is possible to detect plate thickness fluctuations due to hardness non-uniformity generated at the time of rolling at the time of rolling in the next rolling by an entrance thickness gauge, and suppress plate thickness fluctuations by feed-forward plate thickness control. However, by the plate thickness control, the plate thickness fluctuations up to that point are suppressed, but a new plate thickness fluctuation occurs due to the hardness non-uniformity. In such a case, in order to suppress a new plate|board thickness fluctuation|variation, the control gain larger than a normal control gain is needed. Then, in the plate|board thickness control method disclosed by patent document 1, the presence or absence of hardness nonuniformity is judged by frequency analysis, and it is performed to change the control gain of feed-forward plate|board thickness control.

Moreover, in feedforward control, in order to expect a sufficient control effect, the amount of phase shift of a control output is important together with a control gain. Then, in the plate|board thickness control apparatus disclosed by patent document 2, it is trying to derive the maximum control effect by adjusting a control gain and a phase shift amount based on the phase relationship between several control state quantities.

In addition, Patent Document 3 discloses a method in which the maximum control effect is derived by adjusting the control gain and the phase shift amount using a fast Fourier transform in order to accurately obtain the phase relation and the attenuation relation between a plurality of control state quantities.

Japanese Patent Laid-Open No. 2000-33409 Japanese Patent No. 6404195 Publication Japanese Patent Laid-Open No. 2018-05544

In the technique disclosed in Patent Document 1, in order to eliminate variations in the deformation resistance in the conveying direction of the rolled material based on the hardness nonuniformity, the plate thickness variation generated during the previous rolling is fed as the standing plate thickness variation at the time of the next rolling. It is removed by forward control. In that case, it is performed to change the control gain of feed-forward control according to the presence or absence of hardness nonuniformity.

Feed-forward control is proportional control, and it becomes possible to maximize the control effect by providing a control output that matches the phase and amplitude to the deviation of the target control state quantity. Here, a sine wave is assumed as the deviation of the control state quantity to be controlled, and how the control gain amplitude changes with the deviation of the control state quantity is examined.

For example, a sine wave of the control gain G and the phase shift amount ? is created as a control output for a sine wave sin(?t) indicating the deviation of the control state quantity, and the control result of the feed-forward control is y. At this time, y is expressed as in Formula (1).

Here, the amplitude X and the phase difference δ of y in the formula (1) are respectively expressed by the formulas (2-1) and (2-2).

25 is a diagram showing the relationship between the phase shift amount Δ of the control output in feedforward control, the phase difference δ of the control state amount before and after control, and the amplitude X, (a) is the relationship between the phase shift amount Δ and the phase difference δ FIG. (b) is a diagram showing the relationship between the phase shift amount Δ and the amplitude X of the control state amount after control. As shown in Fig. 25(b), as the phase shift amount Δ to be controlled increases, the amplitude also increases, and depending on the control gain G, if the phase shift amount Δ exceeds plus or minus 60 degrees, no control effect is obtained. You will find that not only is it not possible, but it is also counterproductive. That is, when the phase shift amount ? is included in the control output, it can be seen that the phase of the obtained control result y is shifted from the original sine wave sin(?t).

That is, even if the control gain G of the feed-forward control, which is proportional control, is increased, when the phase of the control output is out of phase with the phase of the control state amount to be controlled, that is, when the phase shift amount Δ is present (not zero), control The effect is not only diminished, but rather worsened.

Here, when plate thickness fluctuations due to hardness non-uniformity generate, in the rolling control, not only plate thickness control but also tension control is performed. For this reason, the phase relationship of plate|board thickness fluctuation|variation and hardness nonuniformity shifts. This phase relationship indicates by what angle the peak position of each waveform is shifted with respect to one period of 360 degrees. Therefore, even if feed-forward control is performed by the deviation of the entry thickness of the material to be rolled, since the phase relationship with the original hardness non-uniformity is shifted, a sufficient control effect cannot be obtained.

Moreover, hardness nonuniformity may generate|occur|produce by a plurality of causes, and in that case, plate|board thickness fluctuation|variation also generate|occur|produces at a plurality of frequencies accordingly. In addition to hardness non-uniformity, plate thickness fluctuations also occur due to factors such as mechanical fluctuations in rolling, differences in the surface state of the rolled material, and fluctuations in the standing plate thickness of the base metal, and the phase relationship between the occurrence factors and the plate thickness fluctuations is generally different. Therefore, it is necessary to adjust the feed-forward control according to the frequency of plate thickness fluctuations. However, the input thickness deviations measurable by the standing plate thickness meter are their synthesized waveforms, and it is impossible to adjust for each frequency component.

In addition, such a situation is not limited to the hardness nonuniformity of the to-be-rolled material in rolling of a metallic material, It may also arise in control of a general plant. In particular, in a case in which a control result is obtained by controlling a control object including a fluctuation factor before control generated based on a fluctuation factor as a reference, when the phase of a fluctuation factor serving as a reference and a fluctuation factor before control is out of phase, the same as above Not getting enough control effect.

In particular, when a plurality of fluctuation factors exist, the frequency of the state quantity generated thereby becomes plural, and the phases of the fluctuation factor serving as a reference and the fluctuation factor before control are out of phase for each, and the detected state quantity is used to feed Even if forward control is performed, sufficient control effect is not obtained.

Patent Document 2 discloses that, in feed-forward control of a plant such as a rolling mill including a plurality of fluctuation factors having different phases of the controlled state quantity to be controlled, appropriately adjusting the phase shift amount Δ of the control output to increase the control effect The technique is disclosed. According to this technique, first, the phase difference δ between the fluctuation of the control state amount before control (state amount before control) and the fluctuation of the control state amount after control (state amount after control) when a processing process such as rolling is performed is acquired by the phase difference acquisition unit do. Then, based on the phase difference δ, the phase shift amount Δ when the measurement result of the pre-control state quantity is reflected in the feed-forward control is determined by the feed-forward adjustment unit. Therefore, it becomes possible to appropriately determine the control gain G and the phase shift amount ? used in the control output of the feedforward control, and the control effect can be improved.

However, in the invention disclosed in Patent Document 2, the phase difference acquisition unit creates a time series table of the pre-control state quantity and the post-control state quantity, and determines the phase difference δ while comparing the two tables. Therefore, when multiple frequency components are included in the state quantity before control and the state quantity after control, and the waveform is complicated, the frequency of the plate thickness disturbance (hardness non-uniformity) to be controlled is specified and the phase difference δ is determined. it gets difficult As a result, it was found that there are problems such as difficulty in accurately determining the phase shift amount ? of the control output.

As a countermeasure therefor, based on the pre-control state quantity that is the pre-control state quantity when processing the workpiece as disclosed in Patent Document 3, feed-forward control of the post-control state quantity, which is the control state quantity after the control, as a plant control device. , frequency response measurement means for obtaining the phase difference and attenuation of the state quantity after control with respect to the state quantity before control based on a result of fast Fourier transform of each time series data of the state quantity before control and the state quantity after control; Feed-forward control parameter adjusting means for determining the control output timing shift amount, which is a delay time until the state amount before control is reflected in the feed-forward control, based on the phase difference and the attenuation amount, is devised. However, when a plurality of frequency components are included in the detection result of the state quantity before control and the state quantity after control, even if the feedforward control parameter adjusting means is implemented for one frequency component, it is impossible to adjust the other frequency components. However, the situation of insufficient control effect cannot be improved.

In view of the problems of the prior art as described above, it is an object of the present invention to realize a larger feed-forward control effect even when the state quantity before control and the state quantity after control become a complex waveform composed of a plurality of frequency components. An object of the present invention is to provide a plant control device, a rolling control device, a plant control method, and a plant control program capable of efficiently obtaining a control timing shift amount (phase shift amount ?) of a control output and a control gain.

In order to achieve the object of the present invention, a plant control device according to the present invention feeds forward the post-control state quantity that is the control state quantity after the control based on the pre-control state quantity that is the control state quantity before the control when processing the workpiece. A plant control device for controlling, based on a result of fast Fourier transform of the time series data of the pre-control state quantity, extracting a plurality of frequency components included in the pre-control state quantity, and synthesizing the extracted frequency components pre-control state quantity synthesizing means (for example, control disturbance temporary value generating device 320, control disturbance synthesized value generating unit 325) for generating a waveform, and time series data of each of the pre-control state quantity and the post-control state quantity frequency response measuring means (for example, frequency response measuring device 201) for acquiring the phase difference and attenuation amount of the state quantity after control with respect to the state quantity before control based on the result of fast Fourier transform; For each component, based on the acquired phase difference and attenuation amount, a control output timing shift amount, which is a delay time until the pre-control state amount is reflected in the feed-forward control, and a feed-forward control parameter adjustment that determines the control gain of the feed-forward control Using means (for example, the feedforward control adjustment device 101) and the control output timing shift amount obtained by the feedforward control parameter adjustment means and the control gain of the feedforward control, the state amount synthesis waveform before control is corrected and controlled Pre-control state quantity synthesized value correction means (for example, control disturbance synthesized correction value creation device 330) for determining a total state quantity synthesized value correction value, and feed-forward control using the pre-control state quantity synthesized value correction value It is characterized in that it has feed-forward control means (eg, feed-forward control 307). Another aspect of this invention is demonstrated in embodiment mentioned later.

According to the present invention, the control timing shift amount (phase shift amount Δ) of the control output capable of realizing a larger feed-forward control effect even when the state amount before control and the state amount after control becomes a complex waveform composed of a plurality of frequency components. ) and a plant control device capable of efficiently obtaining a control gain, a rolling control device, a plant control method, and a plant control program are provided.

BRIEF DESCRIPTION OF THE DRAWINGS It is the figure which showed the example of the whole structure of the rolling mill and rolling control apparatus which concern on embodiment of this invention.
Fig. 2 is a view showing an example of a parameter related to a rolling phenomenon and rolling control of a material to be rolled by a rolling mill;
Fig. 3 is a diagram showing an example of a control model of a rolling phenomenon;
Fig. 4 is a diagram showing an example of the basic control configuration of the plate thickness control in the plate thickness control device;
Fig. 5 is a diagram showing an example of a basic control configuration of tension control in the tension control device;
Fig. 6 is a diagram showing an example of a simulation result in the case where neither plate thickness control nor tension control is performed;
Fig. 7 is a diagram showing an example of simulation results when tension control on the entry side and exit side is performed by proportional integral control, and only feedback control of plate thickness control on the exit side is implemented.
Fig. 8 is a diagram showing an example of a simulation result when feedback control of plate thickness control on the exit side of the stand rolling mill in the preceding stage is performed in addition to the conditions in Fig. 7;
Fig. 9A is a simulation result for multi-frequency components, showing a state before adjustment;
Fig. 9B is a simulation result for multi-frequency components, and is a view showing a state adjusted to a frequency component with the maximum deviation in the thickness of the entrance.
Fig. 9c is a simulation result for multi-frequency components, and is a view showing a state in which the frequency component of the maximum deviation in the thickness of the exit side is adjusted.
Fig. 9D is a simulation result for multi-frequency components, and is a diagram showing a state adjusted by the method of the present embodiment;
Fig. 10 is a view showing a control method of a plant control system of a comparative example;
Fig. 11 is a diagram showing a control method of the plant control system according to the present embodiment.
Fig. 12 is a diagram showing an example of the configuration of multiple-frequency extension control of the plate thickness control device, the feed-forward control and adjustment device, and the multiple-frequency control and adjust device according to the present embodiment;
Fig. 13 is a diagram showing the configuration of an entry plate thickness deviation temporary value creation device;
Fig. 14 is a diagram showing the configuration of an entrance plate thickness deviation composite value creation device;
Fig. 15 is a diagram showing an example of a detailed configuration of a control gain/timing shift amount setting device;
16 is a view for explaining the outline of a frequency response method, (a) is a diagram showing a response model in time space, (b) is a diagram showing a response model in frequency space;
17 is a diagram showing an example of a frequency response simulation result by FFT. (a) is an example when the data collection time is 10.24 seconds, (b) is an example when the data collection time is 5.12 seconds.
18 is a view showing an example of a frequency response simulation result by FFT, (c) is an example when the data collection time is 2.56 seconds, (b), the input signal is a single frequency, and the data collection time is 2.56 seconds case example.
Fig. 19 is a diagram showing an example of a sampling period/data number search table;
Fig. 20 is a diagram showing an example of the configuration of a plate thickness disturbance measuring device;
Fig. 21 is a diagram showing an example of the frequency-dependent characteristics of an entry thickness deviation amplitude and an exit thickness deviation amplitude;
Fig. 22 is a diagram showing an example of the configuration of a frequency response estimation apparatus;
Fig. 23 is a diagram showing the configuration of an entrance plate thickness deviation synthesis correction value creation device according to the present embodiment;
Fig. 24 is a diagram showing an example of a hardware configuration of an information processing apparatus constituting a rolling control apparatus according to an embodiment of the present invention;
Fig. 25 is a diagram showing the relationship between the phase shift amount of the control output and the phase difference and amplitude of the control state amount before and after control in feedforward control, (a) is a diagram showing the relationship between the phase shift amount and the phase difference, (b) is a diagram showing the relationship between the phase shift amount and the amplitude of the control state amount after control.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment of this invention is described in detail with reference to drawings. In addition, in each figure, the same code|symbol is attached|subjected to common component, and the overlapping description is abbreviate|omitted. In addition, in this specification, the rolling control apparatus of the rolling mill which rolls to-be-rolled material, such as a metal, as a specific example of a plant control apparatus is demonstrated below.

«1. Basic Control Configuration»

1 is a diagram showing an example of the overall configuration of a rolling mill 1 and a rolling control device 2 according to an embodiment of the present invention. Here, the rolling mill 1 is a tandem rolling mill having a four-stand configuration, and the rolling control device 2 is mainly used to minimize plate thickness fluctuations caused by hardness non-uniformity when rolling the material 3 to be rolled. control for

As shown in FIG. 1 , the rolling mill 1 (tandem rolling mill) according to the present embodiment is configured by arranging four stand rolling mills 11 to 14 in series, and the material to be rolled 3 includes these four It is continuously rolled by the stand rolling mills 11 to 14. At this time, while the material to be rolled 3 is rolled, it moves from left to right in FIG. 1 .

The stand rolling mills 11-14 are each comprised by six rolls up and down, and the upper and lower six rolls are called a work roll, an intermediate|middle roll, and a backup roll from the inside with the to-be-rolled material 3 interposed between them. Further, plate thickness gauges 41 to 44 and tensiometers 51 to 54 are provided on the exit side of the stand rolling mills 11 to 14 and the like in order to acquire a control state amount necessary for control in the rolling control device 2 .

In addition, the rolling control device 2 is configured by the electric motor speed control devices 21 to 25, the roll gap control devices 31 to 34, the plate thickness control devices 61 to 64, the tension control devices 71 to 74, and the like. is composed In this embodiment, although the plate|board thickness control apparatuses 61-64 and the tension control apparatuses 71-74 play an important role, the detail is demonstrated sequentially below.

First, before demonstrating the detail of plate|board thickness control, the rolling phenomenon of the to-be-rolled material 3 is demonstrated.

FIG. 2 : is a figure which showed the example of the parameter concerning the rolling phenomenon of the to-be-rolled material 3 by the rolling mill 1, and rolling control. As shown in FIG. 2, rolling is performed by crushing the to-be-rolled material 3 between the upper and lower work rolls of the rolling mill 1. As shown in FIG. At this time, the material to be rolled 3 is pulled by the entry tension T _b and the exit tension T _f , and crushed by the rolling load P, so that the entry plate thickness H becomes the exit plate thickness h. The advance rate f and the retreat rate b are generated by such a rolling phenomenon, and when the work roll speed is _VR , the entry speed _{Ve and the exit speed V o are} obtained by using the advance rate f and the retreat rate b, respectively. It is expressed in the formula shown in 2.

Fig. 3 is a diagram showing an example of a control model of the rolling phenomenon. In the case of a tandem rolling mill, the input tension T _b and the exit tension T _f change depending on the input speed _Ve , the exit speed _Vo of the own stand rolling machine, the entry speed of the rear-end stand rolling machine, and the exit speed of the front-end rolling mill. When these tensions change, the rolling load P, exit side plate|board thickness h, entry side velocity _Ve , and exit side velocity _Vo change.

As shown in FIG. 3 , the rolling load P, the advance rate f, and the retreat rate b are all the entry plate thickness H, exit plate thickness h, entry tension T _b , exit tension T _f , deformation resistance k and friction coefficient μ. It is expressed as a function that depends on In addition, the parameter L included in the formula described in the lower right of FIG. 3 represents the distance between the adjacent stands of the stand rolling mills 11-14. In addition, input V _-1 is the exit speed from an adjacent front stage stand rolling machine, and V ₊₁ shows the entrance speed with respect to an adjacent rear stage stand rolling machine.

As described above, the rolling phenomenon is a phenomenon in which the input thickness H, the work roll speed V _R , and the roll gap S are input and the input tension T _b , the exit tension T _f , and the exit plate thickness h are output. It is a complex phenomenon that is also related to the rolling phenomenon in the front and rear stand rolling mills.

1, to correspond to each of the four stand rolling mills 11 to 14, the electric motor speed control device 21 to 24 for controlling the work roll speed V _R and the roll gap S, which is the gap between the work rolls. Roll gap control devices 31 to 34 are provided. In rolling processing, since the plate thickness of the material to be rolled 3 as a product is particularly important in terms of product quality, on the exit side of the stand rolling mills 11 to 14, a plate thickness gauge for measuring the plate thickness of the rolled material 3 ( 41 to 44) are installed. In addition, the tension applied to the material to be rolled 3 is important for the stability of the rolling operation, and is also related to the plate thickness accuracy. . In addition, on the exit side of the #4 stand rolling mill 14, the exit bridle roll 15 to control the tension on the exit side, and a motor speed control device for controlling the speed of the motor for driving the exit bridle roll 15 ( 25) is installed.

In the rolling mill 1 and the rolling control device 2 configured as described above, the plate thickness control device 61 of the #1 stand rolling machine 11 is configured to the #1 stand rolling machine 11 via the roll gap control device 31 . ) to control the roll gap S. In addition, the plate thickness control devices 62 to 64 of the #2 to #4 stand rolling mills 12 to 14 set the working roll speed _VR of the front end, that is, the #1 to #3 stand rolling mills 11 to 13, the motor speed. It is controlled through the control devices (21 to 23).

At this time, in the plate thickness control devices 62 to 64 after the #2 stand rolling mill 12, feed-forward control using the detection result of the plate thickness gauges 41 to 43 on the entry side is performed, and further, the plate thickness gauges on the exit side ( The feedback control using the detection results of 42 to 44) is implemented. For example, in the plate thickness control device 62 , feed-forward control using the detection result of the plate thickness gauge 41 on the entry side is performed, and feedback control using the detection result of the plate thickness gauge 42 on the exit side is performed. do.

In addition, the tension control devices 71 to 73 of the stand rolling mills 11 to 13 of #1 to #3, based on the tension detected by the tensiometers 51 to 55 on the exit side, 14) to find the roll gap S. The roll gap control apparatuses 32-34 operate the position of a work roll according to the calculated|required roll gap S. For example, the tension control device 71 obtains the roll gap S of the #2 stand rolling mill 12 based on the tension detected by the tensiometer 51 on the exit side of the #1 stand rolling mill 11, and the roll gap The control device 32 operates the position of the work roll of the #2 stand rolling mill 12 based on the result.

In addition, the tension control device 73 of the #4 stand rolling mill 14 operates the speed of the exit bridle roll 15 via the electric motor speed control device 25 to thereby control the tension of the exit side of the #4 stand rolling mill 14 . to control

4 is a diagram showing an example of the basic control configuration of the plate thickness control in the plate thickness control device 64 . As shown in FIG. 4 (refer also to FIG. 2), the plate thickness control device 64 sets the input thickness deviation ΔH measured by the plate thickness gauge 43 on the exit side of the #3 stand rolling machine 13, A transfer process is performed to delay the time T _FF until the measurement position of the extension material 3 reaches just below the #4 stand rolling mill 14 . Here, the measurement result of the standing plate|board thickness deviation (DELTA)H is a control state quantity before rolling, and it can be said that it is a so-called state quantity before control.

Next, the plate|board thickness control apparatus 64 multiplies the said _feed process result by the control gain GFF, and obtains a feed-forward control amount. Further, the plate thickness control device 64 multiplies the exit plate thickness deviation Δh measured by the exit plate thickness gauge 44 of the #4 stand rolling mill 14 by the control gain G _FB to perform the integral process to obtain the feedback control amount. The plate thickness control device 64 outputs, to the motor speed control device 23 of the #3 stand rolling mill 13 , an amount obtained by adding the feed forward control amount and the feedback control amount obtained in this way. Here, the measurement result of the exit thickness deviation Δh is a controlled state quantity after rolling, and can be called a so-called state quantity after control.

In addition, plate thickness fluctuations due to hardness non-uniformity cannot be detected directly below the #4 stand rolling mill 14 at the occurrence position, but are detected with a plate thickness gauge 44 provided at a position away from the #4 stand rolling mill 14 . Therefore, since there is wasted time from occurrence of plate thickness fluctuation to detection, the control amount of integration is included in the calculation of the feedback control amount.

The structure of the plate thickness control devices 62 and 63 is the same as that of the plate thickness control device 64 , and therefore the description thereof will be omitted below. On the other hand, since the plate thickness control device 61 is for controlling the roll gap S of the #1 stand rolling mill 11, the configuration and control method thereof are different from those of the plate thickness control device 64 . However, in this embodiment, description of the structure and control method of the plate|board thickness control apparatus 61 is abbreviate|omitted.

FIG. 5 is a diagram showing an example of a basic control configuration of tension control in the tension control device 73 . As shown in FIG. 5 (refer also to FIG. 2), the tension control device 73 is measured with a tensiometer 53 installed between the #3 stand rolling mill 13 and the #4 stand rolling mill 14. It has a structure in which proportional integral control is performed using the deviation ΔT ₃₄ between the actual tension value T _34FB and the tension command value T _34ref . In this integral control, since the control output is out of phase by 90 degrees with respect to the controlled state amount, in the resulting sheet thickness h of the #4 stand rolling mill 14 obtained as a result, the sheet thickness deviation Δh with respect to the original hardness non-uniformity position. is out of position

≪2. Simulation based on basic control configuration»

Next, the simulation result of the rolling phenomenon in the tandem rolling mill of a 4-stand structure as shown in FIG. 1 is demonstrated using FIGS. 6-8. In the simulation, it was calculated how the plate thickness fluctuations, tension fluctuations, and load fluctuations of the #4 stand rolling mill 14 fluctuate with the passage of time due to fluctuations in deformation resistance that are non-uniform in hardness.

6 is a diagram showing an example of a simulation result in the case where neither the plate thickness control nor the tension control is controlled. 7 shows a case in which only the feedback control of the plate thickness control of the exit side of the #4 stand rolling mill 14 is implemented by performing the tension control on the input side and the exit side of the #4 stand rolling mill 14 by proportional integral control. It is a figure which shows the example of a simulation result. In addition, FIG. 8 shows an example of simulation results when feedback control of the plate thickness control on the exit side of the #3 stand rolling mill 13 at the front end of the #4 stand rolling mill 14 is performed in addition to the conditions in the case of FIG. the drawing shown.

6 to 8, in the "plate thickness variation", the variation in the entry thickness H (the variation in the entry thickness ΔH) is indicated by a solid line, and the variation in the exit thickness h (the variation in the exit thickness Δh) is represented by the broken line. is shown. Similarly, in "tension fluctuation", the fluctuation of the input tension is indicated by a solid line and the fluctuation of the exit tension is indicated by a broken line, and in "Load fluctuation", the fluctuation of the rolling load is indicated by a solid line and the deformation resistance fluctuation is indicated by a broken line.

In addition, time flows from the left side to the right side of the drawing, and the left end represents the present and the right end represents the most past state.

In the simulation in the case of FIG. 6, hardness nonuniformity appears as plate|board thickness fluctuation|variation as it is. Therefore, the variation of the deformation resistance and the variation of the entry plate thickness H and the variation of the exit plate thickness h in the #4 stand rolling mill 14 coincide with the peak positions of the waveforms, and there is no shift in the mutual phase relationship (for example, For example, see the position of the vertical solid line).

On the other hand, in the simulation in the case of FIG. 7, the phase advance in which the phase of the fluctuation|variation of the exit side plate|board thickness h of the #4 stand rolling mill 14 becomes earlier than the plate|board thickness fluctuation|variation of the entry side has occurred. Since the integral control is performed in the plate thickness control device 64 of the #4 stand rolling mill 14, this is a control output of a phase delay of 90 degrees, and is shown in equations (1) to (3) and Fig. 25 . It is because the phase shift amount (DELTA) becomes negative from the relationship as described above. As a result, the phase shift δ of the variation in the exit thickness h of stand #4 as a result of the plate thickness control becomes positive.

In addition, in the simulation in the case of FIG. 8, since feedback control is also implemented by the plate thickness control of the #3 stand rolling mill 13 at the front stage of the #4 stand rolling mill 14, the standing plate of the #4 stand rolling mill 14 The fluctuation of the thickness H is in a forward phase rather than the deformation resistance.

As described above, when a predetermined control is performed on a fluctuation factor originally possessed by the control target, such as hardness non-uniformity, other variation factors with different phases occur, and the phase relationship between the control state quantities of the control target may fluctuate. . The change in this phase relationship differs depending on the frequency of occurrence of the control state quantity because the predetermined control response is different. In addition, in the rolling mill, not only the hardness non-uniformity, but also variations in the mechanical conditions due to variations in the plate thickness of the base material or the eccentricity of rolls used in the rolling mill, and variations in the plate thickness due to variations in the surface state of the material to be rolled occur. In addition, even if the hardness is non-uniform, it occurs at various length cycles due to a plurality of factors such as non-uniform cooling or annealing non-uniformity in the upper process of the rolling mill. The attenuation amount and phase difference of the incoming plate thickness deviation and the exit plate thickness deviation, which is the state amount after control, are different.

Usually, in the tandem rolling mill, since plate thickness control is performed by each stand rolling mill 12 to 14 including the #1 stand rolling mill 11, the variation in deformation resistance and the resulting exit plate thickness h The fluctuation (the deviation Δh in the thickness of the exit side) is out of phase. And the phase shift differs with the frequency of plate|board thickness fluctuation|variation. Therefore, when the feed-forward control is performed using the standing plate thickness deviation ΔH of the stand rolling mill, a sufficient control effect cannot be obtained due to the deformation resistance fluctuation and the influence of the phase shift of the standing plate thickness deviation ΔH.

Conventionally, as a method of adjusting the control parameters of the feedforward control, the control output timing shift amount ΔT _FF for the feedforward control in FIG. 4 is set in consideration of the waste time and response from the control output to the control operation stage, and the control result The control gain G was changed according to the lead-out-side plate thickness deviation ?h. However, in the case of using this method, there are many cases where sufficient control effect cannot be obtained because there is a phase difference between the vertical plate thickness deviation ΔH, which is the controlled state quantity, and the deformation resistance fluctuation, which is the hardness non-uniformity.

In addition, although the input thickness deviation ΔH is a complex waveform containing various frequency components, only one control output timing shift amount ΔT _FF and control gain G can be set each, so that the degree of effect varies depending on the frequency component. was the result

As shown in the above formulas (1), (2-1), (2-2) and Fig. 25, in the feed-forward control, the control output timing shift amount ΔT _FF corresponding to the control gain G and the phase shift amount Δ needs to be set appropriately. And it is necessary to determine this setting in consideration of a rolling speed and what kind of control is implemented, and it becomes complicated adjustment. In the case of a rolling speed, since the frequency of a plate|board thickness fluctuation|variation changes, the response from a control output to a control operation stage operation|movement changes. In addition, in the case of a tandem rolling mill, the response differs depending on which mill stand and which plate thickness control and tension control are being implemented.

In addition, since the above differs depending on the type of control disturbance, it is not sufficient to change the control gain G and the phase shift amount Δ by one each.

A specific frequency component is selected from a plurality of incoming plate thickness fluctuation frequency components on a certain basis, and the control gain G and control of the feed forward control using the entry plate thickness deviation of the frequency component, the attenuation amount of the exit plate thickness deviation, and the phase relationship Patent Document 3 describes a method for adjusting the output timing shift amount ?T _FF . Therefore, it is possible to adjust the feed-forward control for each frequency component, but the problem will be how to adjust them when there are a plurality of entry thickness deviation frequency components.

9A, 9B, 9C, and 9D show simulation results for the case where the vertical thickness deviation has three types of frequency components. The upper figure of each figure shows the waveform in the time domain, and the lower figure shows the waveform in the frequency domain.

Fig. 9A is a case in which the control gain and the control output timing shift amount set by the feed-forward control using the entry thickness deviation detection value in a normal rolling mill are set in the state before the feed-forward AGC adjustment. A sine wave having three frequency components: frequency (A), frequency (B), and frequency (C) is used as the thickness deviation at the entrance (time-series waveforms are displayed in the upper part of the figure). Although the FFT results of the entry thickness deviation and the exit thickness deviation are shown in the lower part of the figure, the plate thickness deviation amplitude is detected at the frequencies (A), (B) and (C).

9B is the result of adjusting the control gain and the control output timing shift amount using the single frequency shown in Patent Document 3 for the frequency component with the largest amplitude of the vertical thickness deviation at the entry side, as shown in the lower part of the figure. Similarly, it can be seen that the adjustment of the frequency component (C) is insufficient, so that the thickness variation of the exit plate remains. Although the time series data of the plate thickness deviation are displayed in the upper part of the drawing, it can be seen that a single frequency component remains in the exit thickness deviation.

Fig. 9C is the result of adjusting the control gain and the control output timing shift amount using the single frequency shown in Patent Document 3 for the frequency component having the largest amplitude of the exit thickness deviation as the control result. As shown in the lower part of the drawing of FIG. 9C , it can be seen that the adjustment of the frequency component (A) and the frequency component (C) is insufficient, so that the outgoing plate thickness variation remains.

Although the time series data of the plate thickness deviation are displayed in the upper part of the drawing of FIG. 9C , it can be confirmed that a plurality of frequency components remain in the exit thickness deviation. When the frequency component (A) of the exit plate thickness deviation is reduced by the adjustment of the feed-forward control, the control system is adjusted with respect to the frequency component (C) of the exit plate thickness deviation, and if the resulting frequency component (C) decreases, the frequency The adjustment of the frequency component (A) and the frequency component (C) is repeated each other, in which the component (A) is maximized as a frequency component of the outgoing plate thickness deviation, and the control system is adjusted with respect to the frequency component (A). As a result, it is a result that the deviation of the exit thickness of the frequency component (A) and the frequency component (C) remains substantially the same.

Fig. 9D is a result when the control gain and the control output timing shift amount are adjusted for a plurality of frequency components of the present embodiment. Although the time series data of the plate thickness deviation are displayed in the upper part of the drawing of FIG. 9D, it can be seen that the deviation in the thickness of the exit side is mostly suppressed. In addition, looking at the frequency response waveform in the lower part of the drawing of FIG. 9D , it can be seen that the frequency components (A), (B) and (C) are sufficiently adjusted to suppress variations in the thickness of the exit side.

As described above, when the feed-forward control is performed using the detection value of the input thickness deviation including a plurality of frequency components, only one control gain and one control output timing shift amount changeable by adjustment of the control system are each, and all of the frequency components It is impossible to make adjustments to

In addition to hardness non-uniformity, there are also plate thickness fluctuations due to mechanical vibrations (roll eccentricity, etc.) in the upper process of the rolling mill, and plate thickness fluctuations due to surface treatment unevenness, as factors of actual deviation in the thickness of the risers. The plate thickness fluctuations are characterized by these occurrence factors. For example, hardness nonuniformity is that the hardness of a to-be-rolled material fluctuates periodically in the longitudinal direction of a to-be-rolled material, and a control gain larger than a normal feed-forward control gain is needed. Plate thickness fluctuations due to mechanical fluctuations in the upper process can be suppressed by normal feed-forward control gains, unlike hardness non-uniformity. Due to the uneven surface treatment, plate thickness fluctuations occur during the first rolling, but after that, it can be basically suppressed by a feed-forward control gain for normal plate thickness fluctuations in the same way as plate thickness fluctuations due to mechanical vibration. .

As described above, when there is a frequency component of the input thickness deviation caused by a plurality of factors, the optimum control gain and control output timing shift amount are different. It is impossible to adjust, and a means for enabling setting of a control gain and a control timing shift amount for each frequency component is required.

For that purpose, by using the input thickness deviation detection value is a combination of the plate thickness deviations of a plurality of frequency components, a plurality of plate thickness deviation frequency components are separated, and the control gain and control timing shift amount for each frequency component are determined. By setting, correcting the plate thickness deviation waveform of each frequency component, and finally synthesizing it, an estimated waveform of the input thickness deviation used for feed-forward control is created. By doing in this way, it becomes possible to separately adjust the control gain of the feedforward control and the control output timing shift amount for each frequency component.

The way of thinking of the plant control system for realizing the above will be described with reference to FIGS. 10 and 11 . Fig. 10 is a diagram showing a control method of a plant control system of a comparative example. 11 is a diagram showing a control method of the plant control system according to the present embodiment.

Here, the case where the feedback control 306 and the feed-forward control 307 are implemented with respect to the control object 300 is shown. In the control target 300, the control disturbance d(t) 301 is input through the disturbance transfer 305, which is the time at which the influence is transmitted from the disturbance generating position to the control target. Further, a control manipulation amount 309 that is an output of various controls is also input to the control target 300, and as a result of these, the control target state amount 302 changes. The state quantity 302 to be controlled is detected as the observation quantity 303 by the detector after the detection waste time 304, and feedback control 306 is performed on it. In addition, for the control disturbance d(t) 301, if observable, using the control disturbance transfer value d'(t) 310, which has the same delay time as the disturbance transfer 305 with the control disturbance transfer 308, , control to suppress the influence on the control target state quantity 302 is performed by the feed-forward control 307 .

The feed-forward control 307 has a large disturbance suppression effect, but since it is impossible to remove the offset error from the control target value that occurs in the controlled state quantity 302, the feedback control 306 eliminates the offset error. do.

In the plant control system of the comparative example as shown in FIG. 10 , the control disturbance 301 is transferred to the control disturbance transfer 308 , and the feed-forward control is performed in synchronization with the time when the control disturbance 301 affects the control object 300 . Since 307 is controlled, when a plurality of frequency components are included in the control disturbance 301, it is impossible to separately adjust the control gain and control output timing for them. Incidentally, the control gain described above corresponds to G _FF in the feed forward control 307 in FIG. 10 , and the control output timing corresponds to Δ _FF in the control disturbance feed 308 .

11 is a diagram showing a control method of the plant control system according to the present embodiment. In Fig. 11, the difference from the plant control system of the comparative example of Fig. 10 is that the control disturbance 301 is controlled disturbance transfer 308, and the control disturbance transfer value d'(t) 310 is used to control the feed forward control 307 ) is not implemented, but the disturbance frequency components included in the control disturbance d(t) 301 are corrected for each frequency, and the control disturbance synthesis correction value d _FFEST (t) 350 obtained by synthesizing them is used for feed-forward control. (307) is being implemented. Therefore, it can be said that it is possible to implement the method of adjusting the control gain/timing shift amount with respect to an arbitrary frequency component, and the control precision of the feed-forward control 307 can be improved.

From the control disturbance d(t) 301, frequency analysis is performed using FFT (Fourier transform), frequency components with large amplitudes are extracted, and to the control disturbance temporary value generating device 320, their synthesized waveforms are A control disturbance temporary value d _DUMMY (t) 321 is created. Here, it is assumed that the control disturbance d(t) 301 has n frequency components ωi, and the amplitude of the frequency component ωi is A(ωi). The control disturbance temporary value d _DUMMY (t) 321 does not include the phase difference of each frequency component. By FFTing the control disturbance d(t) 301, it is also possible to obtain the phase difference of each frequency component. However, since FFT is actually performed by DFT (digital Fourier transform), the frequency component ωi contains a quantization error, so the control disturbance temporary value d _DUMMY (t)(321) is different from the control disturbance d(t)(301). It becomes a slightly different waveform.

Therefore, in order to approximate the control disturbance feed value d'(t) 310 as much as possible, in the control disturbance composite value creation device 325, the FFT result of the control disturbance feed value d'(t) 310, D '(ω) and the response B(ω) of D _DUMMY (ω) which is the FFT result of the control disturbance temporary value d _DUMMY (t)(321) (the attenuation rate GB(ω) of the amplitude in each frequency component, and the phase difference δB(ω)) is obtained, and the control disturbance temporary value d _DUMMY (t) (321) is corrected with the response B (ω) to obtain a control disturbance composite value d′ _DUMMY (t) (326).

By doing as described above, the control disturbance composite value d' _DUMMY (t)326 becomes an approximate waveform of the control disturbance feed value d'(t)310. The degree of approximation changes depending on the number of n frequency components of the control disturbance d(t) 301, but the value of n is, for example, the control disturbance composite value d' _DUMMY (t) 326, It is possible to determine by judging by the correlation coefficient of the disturbance feed value d'(t) 310, or the like.

In the feedforward control adjustment apparatus 101, the control gain timing is determined from the control disturbance d(t) 301 and the observation amount 303 of the control object state amount x(t) 302 of the control object 301 . Execute the method of adjusting the amount of shift.

As a result of the adjustment, the control gain G _FF (?i) of each frequency component ?i and the control output timing shift amount ? _FF (?i) are obtained. In the control disturbance synthesis correction value generating device 330, the control disturbance synthesis value d' _DUMMY (t)326 is corrected using these values, and the control disturbance synthesis correction value _dFFEST (t)(350) is obtained. write The control disturbance synthesis correction value d _FFEST (t) 350 is the control gain G _FF (ωi) and the control output timing so that the feed-forward control effect is maximized for the typical frequency component ωi of the control disturbance d(t) 301 . The shift amount δ _FF (ωi) is corrected. By implementing the feed-forward control 307 using this, it becomes possible to exhibit the control effect of the feed-forward control to the maximum.

Hereinafter, the case where the control method of this embodiment is applied to the feed-forward control of the tandem rolling mill demonstrated by the Example of patent document 3 is demonstrated.

<Adjustment of control gain/timing shift amount>

It is important to appropriately set the control output timing shift amount ΔT _FF (phase shift amount Δ) and the control gain G in the feedforward control, but both are expressed in equations (1), (2-1), (2-2) It is connected by the relationship described using . For example, when the control gain G is changed, the phase difference δ between the control state quantities before and after control also varies. Conversely, when the control output timing shift amount ΔT _FF is changed, the amplitude X of the control state amount also fluctuates. Therefore, it is practically difficult to adjust so that both are set appropriately.

As shown in the above equation (2-2), since the phase difference δ between the control state quantities before and after control is an inverse tangent function, -90 degrees to +90 degrees with respect to -∞ to +∞ are defined as positive regions. In addition, as is clear from Formula (2-2), when it exceeds +∞ and becomes -, it becomes larger than 90 degrees. Therefore, as shown in Fig. 25, the phase difference ? exceeds 90 degrees for convenience. Further, according to Equation (2-2), when the control gain G is not greater than 1, the phase difference δ between the control state quantities does not exceed 90 degrees. Therefore, when the phase difference δ between the control state quantities exceeds 90 degrees, it can be predicted that the control gain G is too large.

In addition, since the phase difference δ between the phase shift amount Δ and the control state amount before and after control is opposite to each other, knowing the phase difference δ between the control state amounts can predict how to change the phase shift amount Δ, in other words, the control output timing shift amount ΔT _FF have. For example, when the phase difference δ between the control state quantities is in the + direction, the phase shift amount Δ may be changed in the increasing direction, that is, in the direction from the negative side to the positive side. In addition, in the opposite case, what is necessary is just to change the phase shift amount (DELTA) to a decreasing direction, ie, from a plus side to a minus side.

As described above, in the case of feed-forward control in plate thickness control, the phase relationship between the entry plate thickness deviation ΔH detected by the entry thickness gauge 43 and the exit plate thickness deviation Δh detected by the exit plate thickness gauge 44 . can be regarded as the phase difference δ between the control state quantities. Similarly, the control output timing shift amount ΔT _FF from the entry thickness deviation ΔH to the control output can be regarded as the phase shift amount Δ. Therefore, the control output timing shift amount ΔT _FF and the control gain G _FF in the feed forward control can be adjusted by using these control state amounts.

Therefore, a configuration in which a function for adjusting the control output timing shift amount ΔT _FF and the control gain G _FF is added to the basic control configuration of the plate thickness control device 64 shown in FIG. 4 will be hereinafter referred to as the plate thickness control device 64 . ) is called the extended control configuration. In addition, the structure in which the function of adjusting the control output timing shift amount ΔT _FF and the control gain G _FF with respect to the plurality of frequency components, which is a feature of the present embodiment, is added is hereinafter referred to as the multi-frequency expansion control of the plate thickness control device 64 . It is called composition.

≪3. Multi-Frequency Extended Control Configuration»

<3.1 Feedforward Control Adjustment Device>

12 : is a figure which shows the example of the multiple frequency expansion control structure of the plate|board thickness control apparatus 64, the feed-forward control adjustment apparatus 101, and the multiple frequency control adjustment apparatus 400 which concern on embodiment of this invention. Here, the feedforward control adjustment apparatus 101 is an apparatus which calculates|requires the control output timing shift amount ΔT _FF and the control gain G _FF for the feedforward control performed by the multiple frequency control adjustment apparatus 400 . That is, the multiple frequency control adjustment apparatus 400 is an apparatus which implement|achieves the multiple frequency expansion control structure of the plate|board thickness control apparatus 64, and is a major feature of this embodiment.

As shown in FIG. 12 , in the feedforward control adjustment device 101, the entry plate thickness deviation ΔH detected by the entry thickness gauge 43 of the #4 stand rolling mill 14 is directly below the #4 stand rolling mill. The transfer processing is performed until the _{timing passing} through 410 is used to perform feed-forward control. Here, the input thickness deviation composite correction value ΔH _4FFEST (0) is used.

Multiple frequency control adjustment device 400, the input thickness deviation detection value ΔH ₄ , and the #4 stand input thickness deviation mill direct value ΔH _4MILL that transferred it to just below the #4 stand rolling machine 14 , and feed forward control adjustment From the control output timing shift amount ΔT _FF obtained from the device 101 and the control gain G _FF , the input thickness deviation composite correction value ΔH _4FFEST (tcal) 410 is created and output to the plate thickness control device 64 .

The multiple frequency control adjustment device 400 is a standing plate having the same functions as the control disturbance temporary value creation device 320, the control disturbance composite value creation device 325, and the control disturbance synthesis correction value creation device 330 of FIG. 11 . It is comprised from the thickness deviation temporary value creation apparatus 420, the standing board thickness deviation composite value creation apparatus 425, and the standing board thickness deviation synthesis correction value creation apparatus 430.

13 : is a figure which shows the structure of the entry-side plate|board thickness deviation temporary value creation apparatus 420. As shown in FIG. Taking the input thickness deviation detection value ΔH ₄ as an input, sampling is performed at the sampling period Δt of the calculator, and the entry thickness deviation table 4201 is created. It is assumed that the standing plate thickness deviation table 4201 stores m pieces of data, and the m pieces are set in a timely manner according to the expected frequency component of the standing plate thickness deviation.

The entry thickness deviation FFT device 4202 uses the data of the entry thickness deviation table 4201 to perform FFT processing to calculate the entry thickness deviation amplitude H _4G (f) in frequency space. In the entry thickness frequency selection device 4203, the frequency component fi (selected entry thickness frequency fi (i=1, n) to be controlled in the feed-forward control using the entry thickness deviation amplitude H _4G (f)) (4206)). Although the selection method is arbitrary, for example, n pieces (predetermined arbitrary values) are selected in the order of the largest input thickness deviation amplitude H _4G (f), or by setting a threshold value in advance, the entrance thickness deviation from the threshold value A method such as selecting the one having the large amplitude H _4G (f), performing FFT of the exit plate thickness deviation, and selecting n pieces in the order of the attenuation rate, can be considered. According to the selected entry thickness frequency fi(i=1, n) 4206, the temporary time-series data generating device 4204 calculates for each sampling period Δt based on the formula of ΔH _4DUMMY (t), m The calculation result is set in the table of ΔH _4DUMMY (j) (4205) for the temporary value table of the thickness deviation of the entry side. Here, t=0 is stored sequentially at the beginning of the table, and the value of (m-1)×Δt is stored at the end of the table.

14 : is a figure which shows the structure of the entry-side plate|board thickness deviation composite value creation apparatus 425. As shown in FIG. Sampling processing of the entry plate thickness variation mill direct value ΔH _4MILL is performed, and a table ΔH _4MILL (j) (4251) having m storage areas is created. By storing the current sampling value at the head of the table and sequentially shifting the stored data, the data of (m-1) x ?t seconds before is stored in the last table. As a result, in the side plate thickness deviation temporary value table ΔH _4DUMMY (j) 4205 (see Fig. 13) and the entry plate thickness deviation table directly under the mill ΔH _4MILL (j) 4251, the time series with the starting point immediately below the mill The sorted data is stored.

Using these two tables, each of the frequency spatial values X(ω) and Y(ω) is obtained by the entrance plate thickness deviation temporary value FFT device 4252 and the entry plate thickness deviation mill direct FFT device 4253, By obtaining their responses with the entrance deviation temporary value correcting device 4254, the attenuation ratio H _B (fi) and the phase difference Δ _B (fi) at the selected entrance thickness frequency fi 4206 are obtained, and using them, the temporary time series data ΔH _4DUMMY (t) is corrected, and the combined value ΔH' _DUMMY (t) of the thickness deviation at the entry side is obtained.

Through the above processing, the combined value of the entry thickness deviation ?H' _DUMMY (t) is reproduced in the range of the selected frequency component in which the entry thickness deviation mil direct value ΔH _4MILL (t) is selected.

The FFT used here is DFT (Digital Fourier Transform), and since the frequency of the calculation result is also discretized, it is strictly different from the frequency component included in the value ΔH _4MILL (t) directly under the entry plate thickness deviation mil. Therefore, the processing of the entry plate thickness deviation temporary value creation device 420 (refer to Fig. 13) and the entry plate thickness variation composite value creation device 425 is always performed, and there is a problem in the feed-forward control in the immediate vicinity of the mill. In the range where there is no value, it is necessary to match the composite value of the vertical thickness deviation ΔH' _DUMMY (t) to the value ΔH _4MILL (t) directly below the entry thickness deviation mill.

In addition, in FIG. 12, although the feed-forward control adjustment apparatus 101 and the multiple frequency control adjustment apparatus 400 are drawn as other apparatus provided outside the plate|board thickness control apparatus 64, they are included in the plate|board thickness control apparatus 64. It may be a device that can be

<3.2 Control gain/timing shift amount setting device>

FIG. 15 is a diagram showing an example of the detailed configuration of the control gain/timing shift amount setting device 102 . As shown in Fig. 15, the control gain/timing shift amount setting device 102 includes a frequency response measuring device 201, three membership functions 105, 106, 107, a fuzzy inference device 108, and a parameter change. A device 109 and the like are provided.

As described above, the control gain/timing shift amount setting device 102 receives the input thickness deviation ΔH _TRK , the exit thickness deviation Δh , the rolling load P _TRK and the exit thickness deviation Δh as inputs, and The control gain G _FF (fi) for feed-forward control and the control output timing shift amount ΔT _FF (fi) at the plate thickness frequency fi 4206 are calculated. The calculated control gain G _FF (fi) and the control output timing shift amount ΔT _FF (fi) are output to the entry thickness deviation synthesis correction value generating device 430 (refer to FIG. 12 ).

The input thickness deviation synthesis correction value generating device 430 (refer to FIG. 12 ) uses the control gain G _FF (fi) to adjust the control output timing shift amount ΔT _FF (fi). Write ΔH _4FFEST (0) (410). In the plate|board thickness control apparatus 64 (#4 stand plate|board thickness control), feed-forward control is performed by multiplying the input thickness deviation synthesis correction value ΔH _4FFEST (0) 410 by the control gain G _FF . That is, the control gain/timing shift amount setting device 102 sets and adjusts the control parameters at the time of the feed-forward control in the plate thickness control device 64 . This is one of the big features of this embodiment which is not present in the prior art.

The purpose of the feed-forward control in the plate thickness control device 64 is to make the exit thickness deviation Δh smaller than the entry thickness deviation ΔH. Therefore, when the feed-forward control acts appropriately, the exit thickness deviation ?h becomes small. However, when the exit thickness deviation Δh becomes small, it becomes difficult to determine the phase relationship between the entry thickness deviation ΔH and the exit thickness deviation Δh. In that case, it may be difficult to obtain the control gain G _FF (fi) for feed-forward control and the control output timing shift amount ΔT _FF (fi). Then, in the control gain/timing shift amount setting apparatus 102 which concerns on this embodiment, the control gain G for feed-forward control also uses the phase relationship of the rolling load P _TRK which is affected by hardness non-uniformity, and the standing plate thickness deviation ΔH _TRK . _FF (fi) and the control output timing shift amount ?T _FF (fi) are found. This is also one of the big characteristics of this embodiment.

Therefore, the control gain/timing shift amount setting device 102 determines the amount of attenuation and phase relationship of signals between the input thickness deviation ΔH _TRK and the exit thickness deviation Δh, the entry thickness deviation ΔH _TRK and the time series signals such as the rolling load P _TRK . It becomes necessary to save

In the invention disclosed in Patent Document 2, the "squares error for one period" is calculated while shifting the phases of the two time series signals, and the phase at which it is minimized is the phase difference between the two time series signals. In addition to the need to recognize one cycle of the reference signal, this method becomes difficult to apply when the amplitudes of the reference signal and the comparison signal are significantly different due to control effects or when a plurality of frequency components overlap. there was a case Therefore, in this embodiment, the frequency response method which can obtain|require the attenuation amount and phase relationship of the signal between two time series signals comparatively easily is used.

(Note 1: About the frequency response method)

Fig. 16 is a diagram for explaining the outline of the frequency response method. (a) is a diagram showing an example of a time response model, (b) is a diagram showing an example of a frequency response model. In the rolling control, for example, the material to be rolled 3 enters from the entry side of the #4 stand rolling mill 14, reduces the plate thickness by the rolling phenomenon, and then comes out from the exit side of the #4 stand rolling mill 14. That is, the entry thickness deviation ΔH of the rolled material 3 changes to the exit thickness deviation Δh due to the rolling phenomenon.

Here, as shown in Fig. 16(a), if the time change of the entry thickness deviation ΔH is represented by x(t) and the time change of the exit thickness deviation Δh is represented by y(t), the rolling phenomenon is, It can be expressed as a time response function g(t) satisfying y(t)=g(t)·x(t). That is, the input thickness deviation x(t), which is a signal in time space (time-series signal), is converted into an exit thickness deviation y(t), which is a signal in time space, by the time response function g(t) of the rolling phenomenon.

The rolling phenomenon represented by such a time response function g(t) can be displayed using the frequency response function G(ω) shown in FIG. 16(b). That is, if the entry thickness deviation ΔH and the exit thickness deviation Δh are expressed as the input thickness deviation X(ω) and the exit thickness deviation Y(ω), which are signals (values of frequency components) in frequency space, the relationship between the two , Y(ω)=G(ω)·X(ω). That is, the input thickness deviation X(ω), which is a signal in the frequency space, is converted into an exit thickness deviation Y(ω), which is a signal in the frequency space, by the frequency response function G(ω) of the rolling phenomenon.

The entry thickness deviation x(t) and exit thickness deviation y(t) in time space are calculated by, for example, the plate thickness gauge 43 on the entry side and the plate thickness gauge 44 on the exit side of the #4 stand rolling mill 14 . It can be obtained as a time-series signal to be detected. On the other hand, the entry thickness deviation X(ω) and the exit thickness deviation Y(ω) in frequency space are obtained by Fourier transforming x(t) and y(t) obtained in time space, respectively.

The advantage of expressing the rolling phenomenon using the input signal X(ω), the output signal Y(ω) and the frequency response function G(ω) in frequency space is that the relationship between the amplitude and phase of the input signal and the output signal is expressed for each frequency. It's about making comparisons easier. That is, in frequency space, the attenuation amount and phase difference of the plate|board thickness deviation signal by a rolling phenomenon can be calculated|required easily.

That is, in the present embodiment, the entry thickness deviation x(t) and the exit thickness deviation y(t) are obtained as detection values by the plate thickness gauges 43 and 44 . In addition, the entry thickness deviation X(ω) and exit thickness deviation Y(ω) in the frequency space are obtained by Fourier transforming the entry thickness deviation x(t) and the exit thickness deviation y(t), respectively. And the frequency response function G(ω) can be calculated|required by the following formula (3).

는,

의 복소 공역이다.here,

Is,

is the complex conjugate of

Moreover, from this frequency response function G(ω), the attenuation amount gain and phase difference phase in frequency (omega) can be calculated|required by following Formula (4-1) and Formula (4-2).

Here, arg(c) represents the declination of the complex number c.

(Note 2: About Discrete Fourier Transform and FFT)

Here, the Fourier transform (discrete Fourier transform) of discrete data used to obtain the inlet thickness deviation X(ω) and the exit thickness deviation Y(ω) in the frequency space will be described. In general, when a time series signal f(t) including sampling data having N of one period is expressed using a sine wave signal having N independent frequencies of k, it is expressed as the following Equation (5).

Here, j is an imaginary unit.

Here, the number n = 0, 1, ... indicating the sequence of sampling data for one period. , N can be expressed as t=2π·n/N by making it correspond to time t representing a phase of 0 to 2π. Therefore, Equation (5) can be expressed as the following Equation (6).

And by discrete Fourier transform of Formula (6), the following Formula (7) is obtained.

where m=0, 1, 2 ... , is N-1 .

Here, the coefficient c _m is a complex number. In addition, in Formula (7), 2πm/N corresponds to a frequency. In other words, the coefficient c _m represents the frequency component of the time series signal f(t) expressed by the formula (5) when the frequency is 2πm/N. Accordingly, the absolute value and the declination angle of the coefficient c _m represent the amplitude and phase of the frequency component of the time series signal f(t) when the frequency is 2πm/N, respectively.

In addition, when the discrete Fourier transform is processed by a computer, a Fast Fourier Transform (hereinafter, abbreviated as 'FFT') is usually used. Although FFT requires that the number of data to be transformed be a power of two as a condition to be applied, FFT has a great advantage in that the amount of computation is significantly reduced compared to a normal discrete Fourier transform.

In general, when performing Fourier transform of N pieces of data, it is known that a calculation amount proportional to N ² is required in a normal discrete Fourier transform, but what is necessary is just to set a calculation amount proportional to N·log ₂ N in FFT. For example, in the case of performing Fourier transform of 1024 pieces of data, the amount of FFT calculation is that of a normal discrete Fourier transform,

ｌｏｇ _２ 1024/1024 = 10/1024

becomes That is, the amount of computation of the FFT is limited to about 1/100 of that of a normal discrete Fourier transform.

<3.3 Frequency resolution and data acquisition time of FFT>

As described above, since the FFT requires the number of data to the power of 2, there is also a restriction on the data sampling time interval (sampling interval). Here, if the sampling frequency, which is the reciprocal of the sampling interval, is f _s and the number of sampling (number of data) is N, the frequency resolution Δf can be calculated by Δf = f _s /N, and the data collection time MT is, It can be calculated by MT=N/f _s =1/Δf.

Here, the data collection time MT refers to the time from the start to the end of sampling of data as input to the FFT, and the frequency resolution ?f refers to the resolution in the frequency axis direction when performing the FFT. In addition, the theoretical maximum frequency f _r at which two frequency components can be resolved in data sampled at the sampling frequency f _s is given by f _r =f _s /2. That is, the two frequency components cannot be separated unless they are separated by two or more times the frequency resolution ?f.

It is preferable that both the frequency resolution Δf and the data acquisition time MT are smaller. However, since there is a relationship of MT=1/?f as described above, both cannot be made small at the same time. Therefore, in using the FFT, it becomes important to set the frequency resolution ?f and the data acquisition time MT to practically appropriate values.

By the way, the objective of the feed-forward control of the plate|board thickness control which concerns on embodiment of this invention is to adjust the control gain G and phase shift amount (DELTA), and to improve a control effect. For that purpose, it is necessary to perform the calculation at a time interval as short as possible, and it is also necessary to make the data collection time MT as short as possible.

On the other hand, if a plurality of frequency components are included in the disturbance to the entrance thickness, that is, the deviation ΔH in the entrance thickness, if the frequency of each disturbance cannot be separated, the attenuation gain and phase difference in the frequency component of each disturbance cannot be calculated Therefore, it is necessary to select a data collection time that satisfies these conditions.

17 and 18 are diagrams showing examples of frequency response simulation results by FFT. The simulation result of FIG. 17A is a case where the data collection time MT is 10.24 seconds and the frequency resolution Δf is about 0.1 Hz. In this simulation, 0.5 Hz, 1.0 Hz, 2.0 Hz, and 3.0 Hz sine waves were mixed as an input signal as the input thickness deviation ΔH, which means disturbance to the plate thickness. At this time, the input sine wave is set so that the attenuation gain and phase difference phase of the outgoing plate thickness deviation Δh, which is the output signal, are as follows at each of the above frequencies.

(Frequency) (Attenuation gain) (Phase difference)

0.5㎐ -6.0㏈ 60 degrees

1.0㎐ -4.4㏈ -45 degree

2.0㎐ -3.1㏈ -30 degrees

3.0㎐ -1.9㏈ 30 degrees

In addition, in Fig. 17 (a), the upper graph shows the temporal change of the entry thickness deviation ΔH and the exit thickness deviation Δh in time space, and the lower graph shows the frequency space after FFT. It is a graph showing the frequency characteristics of the input thickness deviation ΔH and the exit thickness deviation Δh (output signal) of . Also, in the lower graph, the attenuation gain and the phase difference phase are shown together.

As can be seen from the frequency space graph at the bottom of Fig. 17(a), the four frequency components are clearly separated even by the outgoing plate thickness deviation Δh, and the attenuation gain and phase difference phase are also accurately obtained. However, if the minimum value of the frequency of disturbance, that is, the deviation ΔH in the inlet thickness, is judged from 0.5 Hz, it can only be said that the data collection time of 10 seconds is long. That is, in this case, in order to adjust the AGC (Automatic Gain Control) of the feed forward, it takes more than 5 cycles of the plate thickness fluctuation period (2 seconds).

The simulation result of FIG. 17(b) is a case where the data collection time MT is 5.12 seconds and the frequency resolution Δf is about 0.2 Hz. The input thickness deviation ΔH in the simulation of this case is the same as in the case of FIG.

As can be seen from the frequency space graph at the bottom of Fig. 17 (b), the four frequency components included in the input signal are almost clearly separated even with the exit plate thickness deviation Δh, and both the attenuation gain and the phase difference phase are approximately are being saved accurately. In addition, in this figure, if the minimum separation width (0.5 Hz) of any two frequencies included in the input signal is more than twice the frequency resolution Δf (0.2 Hz), the attenuation gain and phase difference phase can be obtained almost accurately. is also provided as an example.

The simulation result in FIG. 18C is a case where the data collection time MT is 2.56 seconds and the frequency resolution Δf is about 0.4 Hz. In the simulation of this case, the input thickness deviation ΔH is the same as in the case of FIG.

As can be seen from the frequency space graph at the bottom of FIG. 18(c), in this case, the frequencies of 0.5 Hz and 1.0 Hz included in the input signal, the entry thickness deviation ΔH, are the entry thickness deviation ΔH and Any of the deviation Δh in the exit thickness is not sufficiently separated. Therefore, both the obtained attenuation gain and the phase difference phase are inaccurate.

The simulation result of Fig. 18(d) is a case where the data collection time MT is 2.56 seconds and the frequency resolution Δf is about 0.2 Hz, but as the entrance plate thickness deviation ΔH, a single sine wave with a frequency of 0.5 Hz is input. . In this case, as shown in the graph at the bottom of (d) of FIG. 18, the frequency of 0.5 Hz is accurately separated even with the exit plate thickness deviation Δh, and both the attenuation gain and the phase difference phase are obtained almost accurately.

In addition, the data collection time MT in this case is 2.56 seconds, the frequency of 0.5 Hz of the exit thickness deviation Δh is 2 seconds + α time, and the fact that the feed-forward AGC can be adjusted in almost the minimum time. Able to know.

However, in FFT, the calculation time is greatly reduced by limiting the number of data to be processed to a power of two. Therefore, the number of input data to the FFT cannot be an arbitrary number. Therefore, the data collection time MT changes significantly depending on the combination of the data sampling period and the number of data.

For example, consider a case where the frequency resolution ?f is 0.1 Hz (period is 10 seconds). In this case, if the sampling period is 10 ms and the number of data is 1024, the data collection time MT is 10.24 seconds. This data collection time MT becomes substantially equal to 10 seconds of the period obtained from the frequency resolution ?f = 0.1 Hz. On the other hand, if the sampling period is 8 ms and the number of data is 2048, the data collection time MT is 16.384 seconds, which is significantly larger than that of 10 seconds in the period.

Next, consider a case in which the frequency resolution ?f is 0.5 Hz (period is 2 seconds). In this case, when the sampling period is 10 ms and the number of data is 256, the data collection time MT is 2.56 seconds, which is larger than that of 2 seconds in the period. Therefore, if the sampling period is 8 ms and the number of data is 256, the data collection time MT is 2.048 seconds, which is almost equal to 2 seconds of the period.

19 is a diagram showing an example of a sampling period/data count search table. As shown in Fig. 19, the sampling period/data number search table is a table storing the sampling period and the number of data in which the actual data collection time most suitable for the minimum data collection time can be obtained according to the frequency resolution ?f. "Most suitable" here means that it is larger than the minimum data collection time and is closest to the minimum data collection time.

In order to adjust the control parameters of feed-forward control by the frequency response method using FFT, the attenuation gain and phase difference phase of the exit plate thickness deviation Δh with respect to the entry plate thickness deviation ΔH of the corresponding frequency are adjusted as quickly as possible (short time). ) needs to be obtained. For that purpose, it becomes important to minimize the data acquisition time MT used for the FFT. As for the data collection time MT, the minimum data collection time is determined based on the minimum resolution required according to the plate thickness deviation (entry-side plate thickness deviation ?H) that is actually occurring, and the number of samples and data required therefor are set.

<3.4 Frequency response measuring device>

Next, using the frequency response method, the control gain G _FF (fi) and the control output timing shift amount ΔT _FF (fi) at the selected entry thickness frequency fi 4206 in the feed-forward control of the plate thickness control are calculated A method for obtaining it will be described. According to the frequency response method, the amplitude at the data collection time MT can be obtained by setting the data collection time MT and performing FFT processing of the entry thickness deviation ΔH and the exit thickness deviation Δh. As described above, the hardness non-uniformity is a variation in hardness in the longitudinal direction of the material to be rolled 3 and occurs every rolling. The outgoing plate thickness deviation Δh, which is a plate thickness variation, has substantially the same frequency. In addition, unlike the normal entry plate thickness deviation ΔH, it is expected that the attenuation amount is small for the exit plate thickness deviation Δh due to hardness non-uniformity.

Therefore, by obtaining the control gain G _FF (fi) and the control output timing shift amount ΔT _FF (fi) in the feed-forward control by the following procedure, it is possible to efficiently adjust the control parameters of the feed-forward control. have. Incidentally, in the following description, the standing plate thickness deviation ΔH often means the standing plate thickness deviation ΔH _TRK after the transfer process, but even in that case, it is simply described as the standing plate thickness deviation ΔH.

(Procedure 1) FFT process the inlet thickness deviation ΔH _TRK and exit thickness deviation Δh. In addition, this FFT process is performed at a period according to the frequency resolution ?f required for the detection of a predetermined plate thickness disturbance.

The frequency at which the deviation of the selected vertical plate thickness frequency fi4206 is the smallest is obtained, and the disturbance identification frequency resolution is defined as Δf _c .

(Procedure 2) A minimum data collection time is obtained based on the disturbance identification frequency resolution Δf _c , and the number of samplings and a sampling period in consideration of the FFT are set.

(Procedure 3) FFT is performed at the sampling number and sampling period set above, and the attenuation amount and phase relation at the selected entry thickness frequency fi4206 are obtained with respect to the entry thickness deviation ΔH _TRK and the exit thickness deviation Δh.

(Procedure 4) Based on the phase relationship, the control gain G _FF (fi) for feed-forward control and the control output timing shift amount ΔT _FF (fi) are obtained, and these are output to the input thickness deviation synthesis correction value creation device 430 .

The above steps 1 to 4 are implemented by the control gain/timing shift amount setting device 102 shown in FIG. 15 . That is, the plate thickness disturbance measuring device 202 constituting the frequency response measuring device 201 executes Step 1, the plate thickness disturbance estimating device 203 performs Step 2, and the frequency response estimating device 204 ) performs Step 3 and Step 4. In addition, Step 4 is implemented by the membership functions 105 to 107 , the fuzzy reasoning device 108 , and the parameter changing device 109 . Then, by repeating the above steps 3 and 4, the control parameter (i.e., the side plate thickness variation composite correction value ΔH _4FFEST (0) 410) in the input thickness variation composite correction value creation device 430 (that is, Adjust the feed-forward control of the plate thickness control device 64 (#4 stand plate thickness control) by adjusting the control gain G _FF (fi) and the feed time ΔT _FF (fi)) of the input thickness deviation ΔH do.

Hereinafter, the detailed configuration and control contents of the frequency response measuring device 201 constituting the control gain/timing shift amount setting device 102 will be described. As shown in FIG. 15 , the frequency response measuring device 201 includes a plate thickness disturbance measuring device 202 , a plate thickness disturbance estimating device 203 , and a frequency response estimating device 204 .

20 is a diagram showing a configuration example of the plate thickness disturbance measuring device 202 . As shown in Fig. 20, the plate thickness disturbance measuring device 202 includes an entry plate thickness deviation table 2021, an exit plate thickness deviation table 2022, an entry plate thickness deviation FFT device 2023, and an exit thickness deviation table. The FFT device 2024 and the like are included.

In general, the frequency of disturbance (hereinafter referred to as 'plate thickness disturbance') that causes plate thickness deviation differs depending on the type of plate thickness disturbance as well as the rolling speed. Here, it is considered that the plate|board thickness disturbance of the frequency of 0.5 Hz or more is removed from plate|board thickness deviation, and frequency resolution (DELTA)f is made into 0.1 Hz. In addition, it is assumed that these values can be set and changed by a user suitably according to the situation of an actual plate|board thickness disturbance, or an operation state.

When the frequency resolution ?f is 0.1 Hz, the minimum data collection time becomes 10 seconds. Then, referring to the sampling period/data number search table shown in Fig. 19, the sampling period = 0.01 second and the number of data = 1024 are obtained. Subsequent processings such as FFT in the plate thickness disturbance measuring device 202 are performed using these numerical values.

In the storage device (not shown) of the plate thickness disturbance measuring device 202, an entry plate thickness deviation table 2021 and an exit plate thickness deviation table 2022 capable of storing 1024 pieces of data, respectively, are prepared. Then, into the plate thickness disturbance measuring device 202, ΔH _TKR , which is the input thickness deviation ΔH, and the exit plate thickness deviation Δh after the transfer process are input at every 0.01 second sampling period, respectively, from address 0 to 1023 in the table above in order. is entered

When data writing into the entry thickness deviation table 2021 and the exit thickness deviation table 2022 is finished, the entry thickness deviation FFT device 2023 inputs the data written in the entry thickness deviation table 2021 As data, FFT processing is performed. Similarly, the exit thickness deviation FFT apparatus 2024 uses the data written in the exit thickness deviation table 2022 as input data, and performs FFT processing. Then, as a result of these FFT processing, an entry thickness deviation frequency component H(f) and an exit thickness deviation frequency component h(f) are obtained.

Here, the value when the frequency f = m·Δf (Δf is the frequency resolution) of the inlet thickness deviation frequency component H(f) and the exit thickness deviation frequency component h(f) is expressed by the above-described Equation (7) It is obtained by calculating the defined c _m . In addition, at that time, the data of the time series signal f(n) included in the formula (7) is provided by the entry thickness deviation table 2021 and the exit thickness deviation table 2022, respectively.

Accordingly, the attenuation amount and phase difference of the amplitudes of the time series signal f(n), that is, the entry thickness deviation ΔH and the exit thickness deviation Δh at the frequency f=m·Δf, are calculated by the above equations (4-1) and (4-2) ), it can be expressed as Equations (8-1) and (8-2).

As a result of the above processing, in the plate thickness disturbance measuring device 202 , the rising plate thickness variation amplitude Hg(m) and the rising plate thickness variation phase Hp(m) are output from the standing plate thickness variation FFT device 2023 . Similarly, the exit thickness deviation amplitude hg(m) and the exit thickness deviation phase hp(m) are output from the exit thickness deviation FFT device 2024 .

Fig. 21 is a diagram showing an example of the frequency-dependent characteristics of the entry thickness deviation amplitude Hg(m) and the exit thickness deviation amplitude hg(m). That is, in FIG. 21, the horizontal axis is the frequency, and the vertical axis is the value of the input thickness deviation amplitude Hg(m) and the exit thickness deviation amplitude hg(m) for each frequency. to be. Hereinafter, with reference to FIG. 21, the process content performed by the plate|board thickness disturbance estimation apparatus 203 is demonstrated.

In the example of FIG. 21 , the graph of the broken line indicating the entry thickness deviation amplitude Hg(m) shows the frequency positions of (A), (B) and (C), that is, the frequencies are m _A Δf, m _B Δf and m _C Δf, which is a large value. This indicates that the vertical plate thickness deviation ΔH is fluctuated by plate thickness disturbances having these frequencies.

Normally, the actually measured entry thickness deviation ΔH and exit thickness deviation Δh include a noise component (actual noise or a portion that can be regarded as noise), so the entry thickness deviation amplitude Hg(m) and the exit thickness deviation amplitude Hg(m) The noise component is also included in hg(m). Therefore, here, the noise level Ln is previously determined for the entry thickness deviation amplitude Hg(m) and the exit thickness deviation amplitude hg(m). And it is judged that adjustment of the control parameter of a feed-forward control is necessary about the frequency when the outgoing board|board thickness deviation amplitude hg(m) exceeds the noise level Ln.

In this embodiment, the selected entrance plate thickness frequency fi is referred to as the disturbance frequency fc _i .

In the example of FIG. 21 , m _A ·Δf, m _B ·Δf, and m _C ·Δf are obtained as disturbance frequencies fc _i . where i = 1, 2.... , and is an identification number when there are a plurality of disturbance frequencies fc _i .

As can be seen from the above description, in the present embodiment, the frequency to be adjusted fc is the selected entry thickness frequency fi. Accordingly, it is necessary to appropriately adjust the control gain G _FF and the control output timing shift amount ΔT _FF that are control parameters of the feedforward control for the adjustment target frequency fc obtained in this way. In addition, although the selective entry plate|board thickness frequency fi is an adjustment target frequency fc, the frequency of plate|board thickness fluctuation|variation which arises due to non-uniformity in hardness is also included.

Further, the plate thickness disturbance estimation device 203 obtains the minimum value of the difference between the adjustment target frequency fci and the adjustment target frequency fcj obtained by subtracting the adjustment target frequency fci. Then, a value multiplied by 1/2 of the minimum is calculated as disturbance identification frequency resolution Δf _c required for adjustment of the control parameter of the feedforward control. That is, the plate thickness disturbance estimation device 203,

Δｆ ＝（1/2）·mｉｎ｛｜ｆｃ _{ｉ －ｆｃj} ｜：ｆｃ ≠ _ｆｃj ｝

to calculate

The plate thickness disturbance estimation device 203 estimates the adjustment target frequency fci obtained in the above process as the frequency of plate thickness deviation resulting from the hardness non-uniform disturbance. Then, the obtained adjustment target frequency fci and disturbance identification frequency resolution Δf _c are output to the frequency response estimation device 204 .

22 is a diagram showing an example of the configuration of the frequency response estimation apparatus 204. As shown in FIG. The frequency response estimator 204 performs FFT based on the disturbance identification frequency resolution Δf _c obtained by the plate thickness disturbance estimator 203 . Therefore, the frequency response estimator 204 first refers to the sampling period/data number search table shown in FIG. 19 , and based on the disturbance identification frequency resolution Δf _c , the sampling period (1/Δf _s ) and the number of data Determine N _c .

As shown in Fig. 22, the frequency response estimation device 204 has an entry plate thickness deviation table 2041, an exit plate thickness deviation table 2042 and a rolling load table 2043 capable of storing N _c pieces of data, respectively. Ready. Then, the input thickness deviation ΔH _TRK , the exit thickness deviation Δh and the rolling load P _TRK input to the frequency response estimation device 204 for each sampling period Δf _s are from address 0 in the table corresponding to each address N _c -1 are entered in order.

When writing of data up to each N _c -1 address is finished, the entry thickness deviation FFT device 2044 performs FFT processing on the data written in the entry thickness deviation table 2041 . Similarly, the exit plate thickness deviation FFT device 2045 executes FFT processing of the data written in the exit plate thickness deviation table 2042, and the rolling load FFT device 2046 writes in the rolling load table 2043. Executes FFT processing of data.

In addition, the data number Nc of data used in the FFT process of the frequency response estimation device 204 is usually sufficiently smaller than the data number N of data used in the FFT process of the plate thickness disturbance estimation device 203, e.g. For example, it becomes a value of about 1/10. Therefore, the FFT processing of the plate thickness disturbance estimation device 203 is completed in a short time.

As a result of these FFT processing, the entry thickness deviation FFT apparatus 2044, the exit thickness deviation FFT apparatus 2045, and the rolling load FFT apparatus 2046, respectively, the entry thickness deviation frequency component Hc(f), the exit plate A thickness deviation frequency component hc(f) and a rolling load frequency component Pc(f) are obtained.

The entry thickness to exit thickness response measuring device 2047 is based on the entry thickness deviation frequency component Hc(f) and exit thickness deviation frequency component hc(f) obtained as described above, the entry thickness to exit thickness Calculate the plate thickness response Gh(f). Similarly, the entry plate thickness thru|or rolling load response measuring apparatus 2048 is based on the entry plate thickness deviation frequency component Hc(f) and rolling load frequency component Pc(f), the entry plate thickness thru|or exit plate thickness response GP(f) ) is calculated.

Here, the entry thickness to exit thickness response Gh(f) and the rolling load frequency component Pc(f) are calculated according to the following formulas (9-1) and (9-2), respectively.

Next, the entry plate thickness to exit thickness response measuring device 2047 substitutes the adjustment target frequency fci obtained by the plate thickness disturbance estimation device 203 to the frequency f of the equation (9-1), and obtains the declination angle. By doing so, the phase difference ΔT _ED between the entry thickness and the exit thickness is calculated. Similarly, the standing plate thickness or rolling load response measuring device 2048 substitutes the adjustment target frequency fci into the frequency f of Equation (9-2), and obtains the declination, so that the phase difference ΔT _EP between the standing plate thickness and the rolling load calculate In addition, the exit thickness deviation FFT device 2045 substitutes the adjustment target frequency fci into the frequency f of the exit thickness deviation frequency component hc(f), and obtains the absolute value, thereby obtaining the exit thickness deviation PP value Δh _PP . Calculate.

That is, the phase difference ΔT _ED between the entry thickness and the exit thickness, the phase difference ΔT _EP between the entry thickness and the rolling load, and the exit thickness deviation PP value Δh _PP are expressed in the following equations (10-1) to (10-3). is calculated by

In the above description, the plate thickness disturbance measuring device 202 and the frequency response estimating device 204 perform FFT after acquiring, for example, N pieces of performance data for one cycle. It is also possible to perform an FFT every time it is acquired. To this end, in tables storing performance data such as the standing plate thickness deviation tables 2021 and 2041, when new performance data is written in address 0, the data of addresses 0 to N-1 are shifted to addresses 1 to N. to be entered later. By doing in this way, the latest performance data is always written in tables, such as the standing plate|board thickness deviation tables 2021 and 2041. Therefore, it becomes possible for the vertical thickness deviation FFT apparatuses 2023 and 2044 etc. to perform FFT in the shortest performance data acquisition period.

<3.5 Membership function and fuzzy reasoning device>

By the way, in feed-forward control, it aims at making small the exit plate|board thickness deviation (DELTA)h using the entry thickness deviation (DELTA)H. Therefore, the control target is the exit thickness deviation Δh. Since the influence of deformation resistance fluctuations due to hardness non-uniformity is indicated at the entrance of stand #4 as the deviation ΔH in the standing plate, the plate thickness control device 64 of the stand #4 performs feed-forward control using the deviation ΔH in the standing plate thickness. do. And the feed-forward control adjustment apparatus 101 adjusts feed-forward control from the phase relationship of the entry-side plate thickness deviation ΔH and the exit-side plate thickness deviation Δh.

As a result, when the effect of the feed-forward control appears appropriately, the detected value of the exit thickness deviation ?h becomes small, and ideally becomes zero. In this case, it becomes difficult to obtain the phase relationship between the entry thickness deviation ΔH and the exit thickness deviation Δh. On the other hand, since the rolling load P fluctuates greatly as a result of removal of the exit thickness deviation Δh due to hardness non-uniformity, this can be used as a substitute for the exit thickness deviation Δh. Therefore, in the present embodiment, the feed-forward control adjustment device 101 has a function of adjusting the control output timing shift amount ΔT _FF of the feed-forward control from the phase relationship between the standing plate thickness deviation ΔH and the rolling load P, have.

As shown in Fig. 15, the control gain/timing shift amount setting device 102 includes membership functions 105, 106, 107 and a fuzzy reasoning device 108, thereby realizing the above adjustment function. do.

First, the membership function 105 receives the exit thickness deviation PP value Δh _PP as input, and calculates the values of SHS and SHB. Here, SHS is a value indicating the degree when the exit thickness deviation Δh is small, and SHB is a value indicating the degree when the exit thickness deviation Δh is large.

Similarly, the membership function 106 obtains the values of TEDB, TEDM, TEDZ, TEDP, and TEDT by inputting the phase difference ΔT _ED between the entry thickness and the exit thickness.

Here, TEDB is a value indicating the degree when the negative value of the phase difference ΔT _ED between the entry thickness and the exit thickness is large, and TEDM is the degree when the phase difference ΔT _ED between the entry thickness and the exit thickness is negative. is a value representing In addition, TEDZ is a value indicating the degree to which the phase difference ΔT _ED between the entry thickness and the exit thickness is zero. In addition, TEDP is a value indicating the degree when the phase difference ΔT _ED between the entry thickness and the exit thickness is on the positive side, and TEDT is the degree when the positive value of the phase difference ΔT _ED between the entry thickness and the exit thickness is large. is a value representing

In addition, the membership function 107 takes as an input the phase difference ΔT _EP between the entry thickness and the rolling load, and obtains the values of TEPM, TEPZ, and TEPP.

Here, TEPM is a value indicating the degree when the phase difference ΔT _EP between the standing plate thickness and the rolling load is on the negative side. TEPZ is a value indicating the degree when the phase difference ΔT _EP between the standing plate thickness and the rolling load is zero. TEPP is a value indicating the degree when the phase difference ΔT _EP between the standing plate thickness and the rolling load is on the positive side.

In addition, in FIG. 15, each threshold value provided on the horizontal axis in the membership functions 105, 106, 107 uses a predetermined thing. SB in the membership function 105 is a threshold value used for determining whether or not to perform the adjustment of the feed forward control using the exit thickness deviation Δh. For example, when the exit thickness deviation Δh is 1 µm or less, SB = 1 µm if the exit thickness deviation Δh is not used in the adjustment of the feed forward control. As described above, the control gain/timing shift amount setting device 102 according to the present embodiment determines the phase of the fluctuation of the rolling load P, not the exit thickness deviation Δh, when the fluctuation range of the exit thickness deviation Δh is within a predetermined range. see

DB and DT in the membership function 106 are threshold values used for determining that the control gain is too high. For example, when the phase difference ΔT _ED between the entry thickness and the exit thickness exceeds 90 degrees, it is determined that the control gain is high. In this case, DB = -90 degrees and DT = 90 degrees are set, and control for lowering the control gain is performed.

DM and DP in the membership function 106 and PM and PP in the membership function 107 are threshold values used for determining that adjustment of the output timing shift amount is unnecessary. For example, when the phase difference ΔT _ED between the entry thickness and the exit thickness is within ±20 degrees, it is determined that the adjustment of the output timing shift amount ΔT _FF is unnecessary. In this case, DM=-20 degrees and DP=20 degrees are set similarly, PM=-20 degrees and PP=20 degrees. In addition, these values are an example, and can be suitably changed according to a rolling condition and the characteristic of an installation.

Further, for DZ and PZ, the phase difference ΔT _ED between the entry thickness and the exit thickness when the exit plate thickness deviation Δh is minimized and the effect of the feed forward control is maximized, and the phase difference ΔT _EP between the entry plate thickness and the rolling load is set In addition, it is assumed that the value of these phase difference is predetermined based on the performance data at the time of manual adjustment in rolling simulation or actual rolling, etc., for example. The control gain/timing shift amount setting device 102 determines the output timing shift amount ΔT _FF by comparing the input phase difference, such as the phase difference ΔT _ED between the input thickness and the exit thickness, with a predetermined value.

The fuzzy reasoning device 108 uses the SHS, SHB, TEDB, TEDM, TEDZ, TEDP, TEDT, TEPM, TEPZ, TEPP obtained by the membership functions 105, 106, 107 to TFFP, TFFM, GFFP, and GFFM. save Here, TFFP and TFFM are values indicating the degree to which the control output timing shift amount ΔT _FF for feedforward control is changed to the increasing side and the degree to which the control output timing shift amount ΔT FF is changed to the decreasing side, respectively. In addition, GFFP and _GFFM are values which show the degree to which the control gain GFF is changed to the increasing side and the degree to which the control gain GFF is changed to the decreasing side, respectively.

In general, various inference rules exist, but the fuzzy inference apparatus 108 according to the present embodiment performs the processing indicated under the following conditions.

For IF (A and B) then C: C=min(A, B)

IF (A or B) then for C: C=max(A, B)

When the exit plate thickness deviation Δh is large and the phase difference ΔT _ED between the entry plate thickness and the exit plate thickness is zero, the control gain G _FF of the feed forward control is considered to be small, so the following reasoning rule is applied.

IF (SHB and TEDZ) then GFFP

Further, when the exit plate thickness deviation Δh is large and there is a phase difference ΔT _ED between the entry plate thickness and the exit plate thickness, it is determined that the control output timing shift amount ΔT _FF is shifted. Therefore, since it is expected that the exit thickness deviation Δh becomes small by eliminating this deviation, the following reasoning rule is applied.

IF (SHB and TEDP) then TFFP

IF (SHB and TEDM) then TFFM

In addition, when the exit plate thickness deviation Δh is large and the phase difference between the entry plate thickness and the exit plate thickness exceeds 90 degrees, it is determined that the control gain G _FF of the feed forward control is too large. In this case, it is considered that it is better to first lower the control gain G _FF and adjust the control output timing shift amount ΔT _FF after it becomes an appropriate control gain. Therefore, in this case, the following inference rule applies.

IF (SHB and TEDT) then GFFM

IF (SHB and TEDB) then GFFM

Further, when the exit thickness deviation Δh is small and the phase difference ΔT _EP between the entry thickness-rolling load is large, it is expected to further reduce the exit thickness deviation Δh by adjusting the control output timing shift amount ΔT _FF . Therefore, in this case, the following inference rule applies.

IF (SHS and TEPP) then TFFM

IF (SHS and TEPM) then TFFP

According to the simulation of the rolling phenomenon, when the phase difference ΔT _EP between the standing plate thickness and the rolling load is on the negative side, if the control output timing shift amount ΔT _FF is changed to the increasing side, the phase difference ΔT _EP between the standing plate thickness and the rolling load becomes small. In addition, when the control output timing shift amount ΔT _FF is changed to the decreasing side when the phase difference ΔT _EP between the entry thickness and the rolling load is on the positive side, the phase difference ΔT _EP between the entry thickness and the rolling load decreases. The reasoning rules shown above are determined based on the simulation results.

The relationship in FIG. 25 shows how the control state quantities such as the entry thickness deviation ΔH and the exit thickness deviation Δh change before and after the control. Since the rolling load P is determined by the entry and exit plate thickness fluctuations and the entry and exit tensions, the relationship between the phase difference ΔT _EP between the entry thickness and the rolling load and the control output timing shift amount ΔT _FF is the same as in FIG. become something else However, if the change tendency of the phase difference ΔT _EP between the standing plate thickness and the rolling load when the control output timing shift amount ΔT _FF is changed is known, as in the present embodiment, the phase difference ΔT _EP between the standing plate thickness and the rolling load is known. can be used to adjust the control output timing shift amount ΔT _FF .

By using the above inference rule, TFFP which is the degree to which the control output timing shift amount ΔT _FF for feedforward control is changed to the increasing side and FFM which is the degree to which it is changed to the decreasing side can be obtained. Moreover, GFFP which is the degree to which the control gain G _FF for feedforward control is changed to an increasing side, and GFFM which is a degree to which it changes to a decreasing side can be calculated|required.

In addition, the inference rule described above is an example, and is not limited to this inference rule. For example, any inference rule may be used as long as the output thickness deviation Δh is reduced by changing the control state amount in the feedforward control, the control gain G _FF for the feedforward control, the control output timing shift amount ΔT _FF , and the like. In addition, an inference rule is not based on the simulation of a rolling phenomenon, WHEREIN: In an actual rolling operation, what was determined with the performance data adjusted manually may be sufficient as it. In many cases, this side becomes the thing which coincided with the real rolling phenomenon.

The parameter change device 109 uses the change degree TFFP, TFFM, GFFP, and GFFM obtained above, and according to the following formulas (11-1) and (11-2), the control gain G _FF for feed-forward control and control Change the output timing shift amount ΔT _FF .

Here, C _TFFP , C _TFFM , C _GFFP , and C _GFFM are parameters for adjustment. C _TFFP is a value indicating the amount of change on the increasing side per one time of the control output timing shift amount ΔT _FF , and C _TFFM is a value indicating the amount of change on the decreasing side. In addition, C _GFFP is a value indicating the amount of change on the increasing side per one time of the control gain G, and C _GFFM is a value indicating the amount of change on the decreasing side.

By performing the above processing for each selected entry thickness frequency fi 4206, the control gain G _FF (fi) and the control output timing shift amount ΔT _FF (fi) can be obtained, respectively.

As described above, the feed-forward control adjustment device 101 always optimizes the control gain G _FF (fi) and the control output timing shift amount ΔT _FF (fi) in the input thickness deviation synthesis correction value creation device 430 . It becomes possible to adjust the state of As a result, the control effect of the feed-forward control is greatly improved.

The control gain G _FF (fi) and the control output timing shift amount ΔT _FF (fi) for each selected entry thickness frequency fi (4206) obtained by the feed-forward control and adjustment device 101 are created as an entry thickness deviation composite correction value input to device 430 .

23 : is a figure which shows the outline|summary of the entry-side plate|board thickness deviation synthesis correction value creation apparatus 430. As shown in FIG. In the entry thickness deviation synthesis correction value calculation formula creation device 4301 , the entry plate thickness variation composite value 4255 created by the entry thickness variation composite value creation device 425 is used in the feed-forward control adjustment device 101 . By correcting the obtained control gain G _FF (fi) and the control output timing shift amount ΔT _FF (fi) for each selected entry thickness frequency fi (4206), the entry thickness deviation composite correction value calculation expression ΔH _4FFEST (t) is is obtained Here, t is the time at which the entry plate thickness deviation mil direct value is written in the head table of the entry plate thickness deviation mil directly below table 4251 in the input thickness deviation composite value creation device 425 is set to t = 0 becomes this The plate thickness control device 64 (#4 stand plate thickness control) performs control processing at a certain constant control period Δt, but since FFT or the like requires calculation time, the standing plate thickness deviation composite value creation device ( This is because 425) and the feed-forward control adjustment device 101 are executed asynchronously with Δt.

In the plate thickness control device 64 (#4 stand plate thickness control), since the control cycle Δt is used, the combined correction value ΔH _4FFEST for the vertical plate thickness deviation to be used needs to be obtained with the same control cycle Δt.

For this reason, the input thickness deviation synthesis correction value calculating device 4302 periodically executes the control cycle Δt, and the entry plate thickness deviation mil direct value is written in the leading table of the table 4251 directly below the entry thickness deviation mil. The elapsed time from time t = 0 is calculated as the plate thickness deviation calculation time tcal, the entry thickness deviation composite correction value ΔH _4FFEST (tcal) 410 is obtained, and the plate thickness control device 64 (#4 stand plate thickness) control) is output. Here, the plate thickness deviation calculation time tcal is assumed to be tcal = 0 when the entry plate thickness deviation mil direct value is written in the leading table of the entry plate thickness deviation mil directly below table 4251.

With the above configuration, it is possible to adjust the feed-forward control for a plurality of frequencies.

<3.5 Simulation Results>

As described above, Fig. 9D shows the results when the control gain and the control output timing shift amount are adjusted for a plurality of frequency components using the method of the present embodiment. It can be seen that the frequency component (A), the frequency component (B), and the frequency component (C) can all be adjusted, and almost no variation in the thickness of the exit plate remains. Although the time series data of the plate thickness deviation is displayed in the upper part of FIG. 9D, most of the deviation in the exit thickness is removed.

As mentioned above, by using the adjustment method of this patent, it was possible to adjust the feed-forward control for a plurality of frequency components.

As mentioned above, according to this embodiment, the control output timing shift amount ΔT _FF and the control gain G _FF in the feed-forward control while accepting the rolling performance data during the rolling operation even when there is a deviation in the entry thickness of a plurality of frequency components. By making modifications, the effectiveness of feed-forward control can be improved. In the present embodiment, the control output timing shift amount ΔT _FF and the control gain G _FF are basically obtained based on the results of FFT processing of the entry thickness deviation ΔH and the exit thickness deviation Δh. Therefore, even if many frequency components are included in the entry thickness deviation ΔH and the exit thickness deviation Δh, the frequency of plate thickness fluctuation due to hardness unevenness can be found among them, and the entry thickness deviation ΔH and It is easy to obtain the phase difference δ of the exit thickness deviation Δh. As a result, since the control output timing shift amount ΔT _FF and the control gain G _FF described above are more appropriately obtained, the effect of the feed-forward control can be greatly improved. That is, it can be said that it is possible to efficiently adjust the control output timing for feed-forward control in a short time from the frequency characteristic of the fluctuation|variation of the state quantity before control and the state quantity after control according to this embodiment.

≪4. Modifications of the embodiment≫

<Modification 1>

In the above embodiment, the control output timing shift amount ΔT _FF for feed-forward control and the control gain G _FF are adjusted using the phase difference ΔT _ED between the entry plate thickness and the exit plate thickness and the phase difference ΔT _EP between the entry plate thickness and the rolling load. it was made However, the method of adjusting the control output timing shift amount ΔT _FF for feed-forward control and the control gain G _FF is not limited to this method.

As shown in FIG. 22 , the entry plate thickness to rolling load response measuring device 2048 and the entry plate thickness to exit plate thickness response measuring device 2047 are, the entry plate thickness to the rolling load response GP(f) and the entry plate thickness. Thickness or exit plate thickness response GPh(f) is calculated. Accordingly, the attenuation factors |GP(fc)| and |Gh(fc)| at the adjustment target frequency fc can be calculated|required. Therefore, it is assumed that the control rule in the fuzzy reasoning device 108 is increased by using the data of these attenuation rates. For example, in the control rule called IF(SHB and TEDP) then TFFM, when |Gh(fc)| is large (the amount of attenuation is small), it is changed so that GFFP is also implemented simultaneously.

In this way, it is possible to adjust the control output timing shift amount ΔT _FF and the control gain G _FF for feed forward control. In this case, effects such as shortening of the response time required for adjustment can also be expected.

<Modification 2>

In the second modification, the database storing the performance values of the control output timing shift amount ΔT _FF and the control gain G _FF for feed-forward control when the exit plate thickness deviation Δh satisfying the predetermined manufacturing quality is obtained in the actual rolling process is A further provided embodiment is assumed. In this database, the control output timing shift amount ΔT under the rolling conditions such as the steel type, rolling speed, and target thickness of the material to be rolled 3 when the exit thickness deviation Δh satisfying the predetermined manufacturing quality is obtained in the rolling process. _FF and control gain G _FF are stored in association with each other.

In this case, the database is searched at the start of rolling, and when data under the same rolling condition is stored, the control output timing shift amount ΔT _FF and the control gain G _FF under the same rolling condition can be retrieved and used. . Therefore, in this modification, it becomes possible to use the control parameter of the feed-forward control which has a track record in the past rolling process, and to correct it further. As a result, the control effect in the feed forward control can be made larger.

<Modification 3>

The basic concept of adjusting the control gain and phase of the feed-forward control in the above embodiment is applicable also to the roll eccentric plate thickness control in a single-stand rolling mill, and the like. In this case, based on the entry plate thickness deviation detected by the entry plate thickness gauge of the single-stand rolling mill, the exit plate thickness deviation is controlled, for example, with a roll gap (interval between the upper and lower work rolls) as the operating end. Such rolling control is often called a gauge-meter type, and the basic expression of the rolling phenomenon is expressed as the following equation (12).

where, Δ h : deviation in the thickness of the exit side

ΔP : rolling load deviation

ΔS : roll gap deviation

M : Mill constant

Here, when only the entry thickness deviation ΔH and the exit thickness deviation Δh are considered as the rolling load deviation ΔP, the rolling load deviation ΔP can be expressed by the following formula (13).

Here, Δ H : Deviation of the thickness of the entrance

In Equation (13), in order to set the exit thickness deviation Δh = 0, when Equation (12) is taken into consideration, between the roll gap deviation ΔS and the entry thickness deviation ΔH, the following equation (14) is It can be seen that this is accomplished.

Equation (14) means that the exit plate thickness deviation Δh can be made zero by controlling the roll gap deviation ΔS in a feed-forward proportional manner based on the entry thickness deviation ΔH. That is, the roll gap deviation ΔS can be obtained by multiplying the vertical thickness deviation ΔH by the control gain expressed by the following formula (15).

In addition, when the hardness nonuniformity of the to-be-rolled material 3, ie, the deformation resistance fluctuation|variation Δk, is taken into consideration as the rolling load deviation ΔP, the rolling load deviation ΔP can be expressed by the following formula (16).

where, Δk : Variation in deformation resistance

In Equation (16), in order to set the exit thickness deviation Δh = 0, when Equation (12) is taken into consideration, the following equation ( It can be seen that the relationship of 17) is established.

Here, when the standing plate thickness deviation ΔH and the deformation resistance fluctuation Δk have the same frequency component, Equation (17) can be expressed as the following Equation (18).

In addition, Equation (18) can be modified as follows Equation (19).

The values of X and δ included in the formula (19) are given by the above formulas (2-1) and (2-2) when G and Δ are calculated by the following formula (20).

Equation (19) indicates that for feed-forward control of the roll gap deviation ΔS, it is necessary to adjust the control gain G to be multiplied by the entry thickness deviation ΔH and the phase shift of the entry thickness deviation ΔH. Therefore, the adjustment can be performed using the structure similar to the structure demonstrated in the said embodiment.

≪5. replenishment≫

24 is a diagram showing an example of the hardware configuration of the information processing device 500 constituting the rolling control device 2 according to the embodiment of the present invention. The rolling control apparatus 2 comprised including the plate|board thickness control apparatus 64, the feed-forward control adjustment apparatus 101, etc. used in embodiment of this invention and its modification is realized by the combination of software and hardware. . Such an information processing apparatus 500 has the same configuration as a general personal computer (PC), workstation, or the like.

That is, the information processing device 500 includes a so-called CPU (Central Processing Unit) 501 , RAM (Random Access Memory) 502 , ROM (Read Only Memory) 503 , and HDD (Hard Disk Drive) 504 . , I/F (Interface Circuits) 505 and the like are connected via a bus 508 . Further, to the I/F 505, a display unit 506 including a liquid crystal display (LCD) or the like, or an operation unit 507 including a keyboard, are connected.

The CPU 501 is not only an execution unit for a program, but also an arithmetic unit for executing various calculations. The RAM 502 is a volatile storage medium capable of high-speed read/write of information, and stores programs for execution by the CPU 501, and various information necessary for execution of the programs. The ROM 503 is a read-only nonvolatile storage medium, and programs such as firmware are stored therein.

The HDD 504 is a nonvolatile magnetic storage medium capable of reading and writing information, and stores an OS (Operating System), a control program necessary for plate thickness control, control information, a general application program, and the like. The I/F 505 connects the device constituting the display unit 506 and the operation unit 507 to the bus 508, and controls information exchange with the device. In addition, the I/F 505 is provided in the rolling mill 1 with various measuring instruments (for example, plate thickness gauge 41, tensiometer 51, etc.) and control devices of various equipment (for example, a roll gap). It is also used as an interface for exchanging information with the control device 31 or the like.

In the information processing apparatus 500 configured as described above, the CPU 501 executes a program read from a recording medium such as the ROM 503 and HDD 504 and developed in the RAM 502, so that the present invention The function of the rolling control device 2 according to the embodiment is realized. In this case, the function of the rolling control apparatus 2 may be realized by one information processing apparatus 500 or by a plurality of information processing apparatuses 500 .

The present invention is not limited to the embodiments and modifications described above, and various modifications are further included. For example, the above-described embodiments and modifications have been described in detail in order to facilitate understanding of the present invention, and are not necessarily limited to those having all the described configurations. In addition, it is possible to substitute a part of the structure of a certain embodiment or a modification with the structure of another embodiment or a modification, Furthermore, it is also possible to add the structure of another embodiment or modification to the structure of a certain embodiment or modification. . In addition, with respect to a part of the structure of each embodiment or a modification, it is also possible to add, delete, and replace the structure included in another embodiment or a modification.

1: rolling mill
2: Rolling control device
3: Rolled material
11, 12, 13, 14: stand rolling mill
15: exit bridal roll
21, 22, 23, 24, 25: motor speed control device
31, 32, 33, 34: roll gap control device
41, 42, 43, 44: succession
51, 52, 53, 54: tensiometer
61, 62, 63, 64: plate thickness control device
71, 72, 73, 74: tension control device
101: feed-forward control adjustment device (feed-forward control parameter adjustment means)
102: Control gain/timing shift amount setting device
105, 106, 107: membership function
108: fuzzy reasoning device (feed-forward control parameter adjustment means)
109: parameter changing device (feed-forward control parameter adjustment means)
201: frequency response measuring device (frequency response measuring means)
202: plate thickness disturbance measuring device (first frequency response measuring means)
2021: Table of thickness deviation at the entrance
2022: Deviation Table of Outgoing Plate Thickness
2023: FFT device for vertical plate thickness deviation
2024: FFT device for thickness deviation of the exit side
203: plate thickness disturbance estimation device (second frequency response measuring means)
204: frequency response estimating device (third frequency response measuring means)
2041: Inlet plate thickness deviation table
2042: exit plate thickness deviation table
2043: Rolling load table
2044: vertical plate thickness deviation FFT device
2045: FFT device for thickness deviation of the exit side
2046: Rolling load FFT device
2047: Inlet plate thickness to outlet plate thickness response measuring device
2048: device for measuring the thickness of the entrance plate or the rolling load response
300: control target
301: control disturbance
302: state quantity to be controlled
303: observable
304: detection wasted time
305: disturbance transfer
306: feedback control
307: feed-forward control (feed-forward control means)
308: control disturbance feed
309: control MV
310: control disturbance feed value
311: disturbance feed value
320: Control disturbance temporary value creation device (pre-control state quantity synthesizing means)
321: control disturbance temporary value
325: Control disturbance synthesized value creation device (pre-control state quantity synthesizing means)
326: Composite value of control disturbance
330: Control disturbance synthesis correction value creation device
350: control disturbance composite correction value
400: multi-frequency control adjustment device
410: Composite correction value of the plate thickness deviation at the entrance
420: device for creating a temporary value of the plate thickness deviation at the entrance
4201: Inlet plate thickness deviation table
4202: entrance plate thickness deviation FFT device
4203: entrance plate thickness frequency selector
4204: Temporary time series data writing device
4205: Temporary value table of plate thickness deviation at the entrance
425: Composite value creation device for vertical plate thickness deviation
4251: table thickness deviation mill directly below the entrance plate
4252: Temporary value FFT device for vertical plate thickness deviation
4253: FFT device directly under the plate thickness deviation mill
4254: entrance deviation temporary value correction device
4255: Composite value of plate thickness deviation at the entrance
430: Composite compensation value creation device for vertical plate thickness deviation
4301: Composite correction value calculation expression creation device for vertical plate thickness deviation
4302: Composite correction value calculation device for the thickness deviation of the entry side
500: information processing device (computer)
501: CPU
502: RAM
503: ROM
504: HDD
505: I/F
506: display unit
507: control panel
508: bus
δ: phase difference
δ _FF : Control output timing shift amount
Δ: amount of phase shift
Δf: frequency resolution
Δf _c : Disturbance identification frequency resolution
Δf _s : sampling period
ΔH: Deviation of the plate thickness at the entrance
ΔH _TRK : Deviation of plate thickness
Δh: Deviation of the thickness of the exit plate
Δh _PP : Deviation PP value of the thickness of the exit side
ΔT ₃₄ : tension deviation
ΔT _FF : Control output timing shift amount
ΔT _ED : Phase difference between the thickness of the entrance plate and the thickness of the exit plate
ΔT _EP : Phase difference between the standing plate thickness and rolling load
G, G _BF , G _FF : Control gain
T _34FB : Tension performance value
T _34ref : Tension command value
T _FF : traversing time
f _s : sampling frequency
f _r : maximum frequency (=f _s /2)
fc _i : disturbance frequency
fc: frequency to be adjusted
L _n : noise level
P _TRK : Rolling load
Hc(f): Frequency component of thickness deviation at the entrance
hc(f): frequency component of the thickness deviation of the outgoing side
Pc(f): rolling load frequency component
Hg(m): Deviation amplitude of plate thickness at the entrance
Hp(m): Deviation phase of the plate thickness at the entrance
hg(m): amplitude of deviation in the thickness of the exit plate
hp(m): Outgoing plate thickness deviation phase

Claims (8)

A plant control device for feed-forward control of a post-control state quantity that is a control state quantity after the control based on a pre-control state quantity that is a control state quantity before control when a workpiece is processed,
A pre-control state quantity for extracting a plurality of frequency components included in the pre-control state quantity based on a result of fast Fourier transform of the time series data of the pre-control state quantity and creating a pre-control state quantity synthesis waveform by synthesizing the extracted frequency components synthetic means;
frequency response measuring means for acquiring the phase difference and attenuation of the post-control state quantity with respect to the pre-control state quantity based on a result of fast Fourier transform of each time series data of the pre-control state quantity and the post-control state quantity;
For each of the plurality of frequency components, based on the acquired phase difference and attenuation amount, a control output timing shift amount that is a delay time until the pre-control state amount is reflected in the feed-forward control, and a feed for determining a control gain of the feed-forward control forward control parameter adjustment means;
Pre-control state quantity synthesized value correction means for correcting the pre-control state quantity synthesis waveform using the control output timing shift amount obtained by the feed-forward control parameter adjusting unit and the control gain of the feed-forward control, and determining the pre-control state quantity synthesized value correction value; ,
and feed-forward control means for performing feed-forward control using the pre-control state quantity composite value correction value;
Plant control device, characterized in that. According to claim 1,
The pre-control state quantity synthesizing means uses a result of fast Fourier transform of the time series data of the pre-control state quantity and a fast Fourier transform of the time series data of the pre-control state quantity synthesis waveform to determine the amplitude and phase difference between each frequency component
Plant control device, characterized in that. According to claim 1,
The feed forward control parameter adjustment means,
determining a control gain of the feed-forward control based on the phase difference and the attenuation amount acquired by the frequency response measuring means for each of the plurality of frequency components;
Plant control device, characterized in that. 4. The method of claim 3,
In the data of the processing condition during the processing of the workpiece when the state amount after the control falls within a predetermined range, the control output timing shift amount used for the feed-forward control at the time of the processing and the feed-forward control Further comprising a database storing data configured in correspondence with the control gain,
The feed forward control parameter adjustment means,
At the start of processing, the database is searched, and when data of the same processing conditions as those of the processing are stored, the control output timing shift amount for each of the plurality of frequency components based on the data stored in the database and determining a control gain of the feed forward control.
Plant control device, characterized in that. According to claim 1,
The frequency response measuring means,
Based on the result of fast Fourier transform of the time series data of the pre-control state quantity, a plurality of frequency components included in the pre-control state quantity are extracted, and the difference value between the plurality of extracted frequency components is greater than 1/2 of the minimum value. value is acquired as disturbance identification frequency resolution,
Fast Fourier transforms each time series data of the pre-control state quantity and the post-control state quantity obtained according to the sampling period and the number of data suitable for the fast Fourier transform determined by the disturbance identification frequency resolution, and to each fast Fourier transform result based on,
calculating the phase difference and attenuation amount of the state quantity after control with respect to the state quantity before control in the frequency to be adjusted of the plurality of extracted frequency components
Plant control device, characterized in that. A rolling control device for feed-forward control of an exit plate thickness deviation, which is a controlled state amount after the control, based on an entry plate thickness deviation that is a control state amount before control when rolling a material to be rolled,
Pre-control state quantity synthesis, which extracts a plurality of frequency components included in the pre-control state quantity based on the result of fast Fourier transform of the time series data of the pre-control state quantity, and creates a pre-control state quantity synthesis waveform by synthesizing the extracted frequency components means and
Frequency response measuring means for obtaining the phase difference and attenuation of the exit thickness deviation with respect to the entry thickness deviation based on the result of fast Fourier transform of each time series data of the entry thickness deviation and the exit thickness deviation; ,
For each of the plurality of frequency components, based on the acquired phase difference and attenuation amount, a control output timing shift amount, which is a delay time until the input thickness deviation is reflected in the feed-forward control, and a control gain of the feed-forward control are determined feed-forward control parameter adjustment means;
a state quantity synthesized value correction means before control for correcting a state quantity synthesized waveform before control using the control output timing shift amount and a control gain of the feedforward control and determining a state quantity synthesized value correction value before control;
and feed-forward control means for performing feed-forward control using the pre-control state quantity composite value correction value;
Rolling control device, characterized in that. A plant control device that feed-forwardly controls the post-control state quantity that is the control state quantity after the control based on the pre-control state quantity that is the control state quantity before the control at the time of processing the workpiece;
extracting a plurality of frequency components included in the pre-control state quantity based on a result of fast Fourier transform of the time series data of the pre-control state quantity, and creating a pre-control state quantity synthesis waveform obtained by synthesizing the extracted frequency components;
calculating a phase difference and attenuation amount of the pre-control state quantity with respect to the pre-control state quantity based on a result of fast Fourier transform of each time series data of the pre-control state quantity and the post-control state quantity;
For each of the plurality of frequency components, based on the acquired phase difference and attenuation amount, a control output timing shift amount that is a delay time until the pre-control state amount is reflected in the feed-forward control, and a control gain of the feed-forward control step of determining class,
correcting the pre-control state quantity synthesis waveform using the control output timing shift amount and the control gain of the feed-forward control, and determining a pre-control state quantity synthesis value correction value;
Executing a step of performing feed-forward control using the pre-control state quantity composite value correction value
Plant control method, characterized in that. To a computer constituting a plant control device for feed-forward control of a post-control state quantity that is a control state quantity after control based on a pre-control state quantity that is a control state quantity before control when processing a workpiece;
extracting a plurality of frequency components included in the pre-control state quantity based on a result of fast Fourier transform of the time series data of the pre-control state quantity, and creating a pre-control state quantity synthesis waveform obtained by synthesizing the extracted frequency components;
calculating a phase difference and attenuation amount of the pre-control state quantity with respect to the pre-control state quantity based on a result of fast Fourier transform of each time series data of the pre-control state quantity and the post-control state quantity;
For each of the plurality of frequency components, based on the acquired phase difference and attenuation amount, a control output timing shift amount that is a delay time until the pre-control state amount is reflected in the feed-forward control, and a control gain of the feed-forward control step of determining class,
correcting a state quantity synthesis waveform before control using the control output timing shift amount and a control gain of the feedforward control, and determining a pre-control state quantity synthesis value correction value;
Step of performing feed-forward control by using the pre-control state quantity composite value correction value
A plant control program stored in a computer-readable recording medium for executing

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