KR20090030561A - Control method for cast roll speed in strip caster - Google Patents

Control method for cast roll speed in strip caster Download PDF

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Publication number
KR20090030561A
KR20090030561A KR1020070095945A KR20070095945A KR20090030561A KR 20090030561 A KR20090030561 A KR 20090030561A KR 1020070095945 A KR1020070095945 A KR 1020070095945A KR 20070095945 A KR20070095945 A KR 20070095945A KR 20090030561 A KR20090030561 A KR 20090030561A
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casting roll
casting
roll
value
sheet
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KR1020070095945A
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Korean (ko)
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KR100944436B1 (en
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이대성
황석균
김윤하
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주식회사 포스코
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/16—Controlling or regulating processes or operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/06—Continuous casting of metals, i.e. casting in indefinite lengths into moulds with travelling walls, e.g. with rolls, plates, belts, caterpillars
    • B22D11/0622—Continuous casting of metals, i.e. casting in indefinite lengths into moulds with travelling walls, e.g. with rolls, plates, belts, caterpillars formed by two casting wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
    • B22D41/50—Pouring-nozzles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Continuous Casting (AREA)

Abstract

A method for controlling speed of a casting roll of a twin roll typed strip caster is provided to reduce an measurement error and to control uniformity of a casting roll force. A method for controlling speed of a casting roll of a twin roll typed strip caster comprises the following steps of: storing a measurement value of thickness of a thin plate in a buffer of a real time main controller after delay of time; measuring a mean value of a measurement value in thin plate thickness and a measurement value of roll force of the casting roll; measuring an error value of the thin plate thickness and an error value of the roll force of the casting roll; and controlling a command value of the speed of the casting roll.

Description

쌍롤식 박판주조기의 주조롤 속도 제어방법{CONTROL METHOD FOR CAST ROLL SPEED IN STRIP CASTER}Casting roll speed control method of twin roll sheet casting machine {CONTROL METHOD FOR CAST ROLL SPEED IN STRIP CASTER}

본 발명은 쌍롤식 박판제조공정에서 제조되는 박판의 품질 및 주조 안정성에 직접적인 영향을 미치는 주조롤의 속도를 용이하게 제어하여 박판의 응고 균일도를 얻을 수 있도록 한 쌍롤식 박판주조기의 주조롤 속도 제어방법에 관한 것이다.The present invention provides a method of controlling the casting roll speed of a twin roll sheet casting machine to easily control the speed of the casting roll directly affecting the quality and casting stability of the sheet produced in the twin roll sheet manufacturing process. It is about.

일반적으로, 쌍롤식 박판제조공정에서 제조되는 박판의 품질은 박판의 두께 적중률과 박판의 응고 균일도에 의해 판단된다.In general, the quality of the thin plate produced in the twin-roll thin plate manufacturing process is judged by the thickness hit ratio of the thin plate and the solidification uniformity of the thin plate.

이와 같이, 제조되는 박판의 두께와 응고 균일도는 밀접한 상호연관성을 가지고 있다.Thus, the thickness and solidification uniformity of the produced thin plate have close correlation.

따라서, 제조되는 박판 두께가 가변되면, 제조되는 박판의 응고 균일도도 달라지는 것이 쌍롤식 박판제조공정의 주조기 특징이다.Therefore, when the thickness of the thin plate to be manufactured is varied, the uniformity of the solidification of the thin plate to be produced is also a feature of the casting machine of the twin-roll thin plate manufacturing process.

그러므로, 제조되는 박판의 품질면에서 요구되는 상기 두 가지 사항을 만족시키기 위해 쌍롤식 박판제조기의 주조롤은 두 가지 제어 가능한 인자를 가지고 있다.Therefore, in order to satisfy the above two requirements in terms of the quality of the sheet to be manufactured, the casting roll of the twin roll type sheet maker has two controllable factors.

그것은 주조롤 갭과 주조롤 속도이다.It is the casting roll gap and casting roll speed.

통상, 주조롤 갭은 제조되는 박판 두께의 적중률을 향상하기 위해 제어되고, 주조롤 속도는 제조되는 박판의 응고 균일도를 제어하기 위한 것이다.Usually, the casting roll gap is controlled to improve the hit ratio of the thin sheet thickness to be produced, and the casting roll speed is to control the solidification uniformity of the thin sheet to be manufactured.

반대로, 주조롤 갭이 박판의 응고 균일도를 만족하기 위해 제어되기도 하고, 주조롤 속도도 박판 두께 적중률을 향상하기 위해 사용되는 경우도 있다.On the contrary, the casting roll gap may be controlled to satisfy the solidification uniformity of the thin plate, and the casting roll speed may also be used to improve the thin film thickness hit ratio.

한편, 제조되는 박판의 응고 균일도를 측정하는 장치로는 주조롤 압하력 측정장치가 일반적으로 사용된다.On the other hand, as a device for measuring the uniformity of the solidification of the thin plate produced is a casting roll reduction force measuring device is generally used.

이러한 쌍롤식 박판제조공정에 있어, 제조되는 박판의 품질향상을 위해 주조롤갭 및 압하력을 제어하는 방법에 관해서는 많은 선행기술들이 개시된 바 있다.In this twin roll type sheet manufacturing process, many prior arts have been disclosed regarding a method of controlling the casting roll gap and the reduction force for improving the quality of the sheet produced.

예컨대, 쌍롤식 박판제조장치의 주조롤 압하력 제어방법(출원번호 2002- 0037958)는 주조롤 사이의 움직임이 압하력을 일정하게 유지하기 위해 인공지능형 제어기인 퍼지 제어기를 도입하는 것을 제안하였다.For example, a casting roll reduction force control method (application number 2002-0037958) of a twin roll sheet metal manufacturing apparatus proposed to introduce a fuzzy controller, an artificial intelligence controller, in order to keep the reduction force constant between the casting rolls.

그리고, 쌍롤식 박판주조 공정에서의 주조롤의 반발력 및 속도 제어방법(출원번호 2004-0048906)에서는 주조롤의 압하력을 일정하게 제어하여 주조롤의 속도를 조절하도록 한 것에 관한 것을 제안하였다.In addition, in the rebound force and speed control method (application number 2004-0048906) of a casting roll in a twin-roll type sheet casting process, the control of the rolling force of a casting roll was proposed to adjust the speed of a casting roll.

또한, 쌍롤식 박판제조장치에서 주조롤 속도에 의한 주조롤 압하력 제어방법(출원번호 2006-0133442)도 주조롤 속도가 주조롤 압하력을 일정하게 제어되도록 하는 것에 관한 것이다.In addition, the casting roll reduction force control method (application number 2006-0133442) by the casting roll speed in the twin-roll thin plate manufacturing apparatus is also related to the casting roll speed is to control the casting roll pressing force constant.

그런데, 주조롤 갭이 제조되는 박판의 두께 적중률을 높이기 위해 사용된다면 주조롤 속도는 제조되는 박판의 응고 균일도(=주조롤 압하력 균일도)를 만족시키도록 제어되어야 하고, 반대로 주조롤갭이 제조되는 박판의 응고 균일도(=주조롤 압하력 균일도)를 만족하기 위해 제어된다면 주조롤 속도는 제조되는 박판의 두께 적중률을 높이도록 제어되어야 한다.By the way, if the casting roll gap is used to increase the thickness hit ratio of the thin plate to be manufactured, the casting roll speed should be controlled to satisfy the solidification uniformity (= casting roll rolling force uniformity) of the thin plate to be manufactured, on the contrary, the thin plate on which the casting roll gap is manufactured The casting roll speed should be controlled to increase the thickness hit ratio of the sheet to be manufactured, if it is controlled to satisfy the solidification uniformity (= casting roll pressing force uniformity) of the thin plate to be manufactured.

따라서, 주조롤 속도는 제어기 구성에 따라 어떨 때는 제조되는 박판의 두께 적중률을 높이도록 제어되어야 하고, 어떨 때에는 제조되는 박판의 응고 균일도(=주조롤 압하력 균일도)를 만족시키도록 제어되어야 하는 것이다.Therefore, the casting roll speed should be controlled to increase the thickness hit ratio of the thin plate to be manufactured at some time, and at times to satisfy the solidification uniformity (= casting roll rolling force uniformity) of the thin plate to be manufactured.

그럼에도 불구하고, 앞선 기술들에서는 이처럼 쌍롤식 박판제조공정에서 주조롤 속도에 의해 제조되는 박판의 두께 적중률을 높이거나 박판의 응고 균일도(=주조롤 압하력 균일도)를 만족시키도록 제어하는 두 가지 제어방안이 개시된 바 없었다.Nevertheless, in the above techniques, in the twin roll sheet metal manufacturing process, two kinds of controls to increase the thickness hit rate of the sheet produced by the casting roll speed or to satisfy the solidification uniformity of the sheet (= casting roll rolling force uniformity) No solution has been disclosed.

본 발명은 상술한 바와 같은 종래 기술상의 제반 문제점들을 감안하여 이를 해결하고자 창출된 것으로, 특히 주조롤 속도를 어떻게 조절하여, 쌍롤식 박판제조공정에서 요구되는 박판의 품질을 향상시킬 것인가에 촛점을 맞추어 두 가지 제어기, 즉 주조롤 갭 제어기 및 주조롤 속도 제어기를 이용하여 주조롤 1회전당 주조롤 압하력 오차값과 박판 두께 오차값을 계산하는데 나타나는 노이즈를 효과적으로 제거할 수 있고, 또한 주조롤 사이에서 발생하는 사건과 박판 두께 측정장치에서 그 사건이 측정되는데까지 걸리는 시간지연의 불확실성에 따른 측정오차도 효과적으로 감소시켜 보다 고품위의 박판 제품을 생산할 수 있도록 한 쌍롤식 박판주조기의 주조롤 속도 제어방법을 제공함에 그 주된 해결 과제가 있다.The present invention was created in view of the above-mentioned problems in the prior art, and focuses on how to improve the quality of the sheet required in the twin roll type sheet manufacturing process by adjusting the casting roll speed. The two controllers, namely, the casting roll gap controller and the casting roll speed controller, can effectively remove noise appearing in calculating the casting roll reduction force error and sheet thickness error value per revolution of the casting roll. Provides a method of controlling the casting roll speed of a twin roll sheet casting machine to produce a higher quality sheet product by effectively reducing the measurement error caused by the occurrence of the event and the uncertainty of the time delay until the event is measured in the sheet thickness measuring device. There is a major challenge.

본 발명은 상기한 해결 과제를 달성하기 위한 수단으로, 쌍롤식 박판주조공정에서 두 개의 주조롤 회전속도를 제어하기 위해 유압실린더 전단에는 주조롤 압하력 측정장치, 주조되는 박판두께 측정장치를 구비하고, 주조롤 중심축에는 모터와 모터제어기를 구비하여, 주조롤 압하력 측정값은 실시간 주제어기의 버퍼에 저장하고, 박판두께 측정장치는 주조롤 사이에서 발생된 사건을 측정하는데 걸리는 시간지연을 계산하여 계산된 시간지연 후부터 박판두께 측정값을 실시간 주제어기의 버퍼에 저장하는 제1단계와; 상기 주조롤 회전속도로부터 주조롤의 1회전 완료를 판단하고, 주조롤 1회전당 주제어기에 저장된 주조롤 압하력 측정값과 박판두께 측정값의 평균값을 계산하는 제2단계와; 상기 계산된 주조롤 압하력 평균값과 박판두께 평균값을 각 목표값과 비교하여 목표 대비 주조롤 압하력 오차값과 박판두께 오차값을 계산하는 제3단계와; 조업자의 선택에 따라 상기 제3단계에서 계산된 주조롤 압하력 오차값 또는 박판두께 오차값을 주제어기의 입력으로 선택하여 주조롤 속도 명령값을 피드백 제어하는 제4단계로 구성된 것을 특징으로 하는 쌍롤식 박판주조기의 주조롤 속도 제어방법을 제공한다.The present invention is a means for achieving the above-described problems, in order to control the rotational speed of the two casting rolls in the twin-roll thin plate casting process, the hydraulic cylinder front end is provided with a casting roll reduction force measuring device, the sheet thickness measuring device to be cast In the central axis of the cast roll, a motor and a motor controller are provided, and the casting roll pressing force measurement value is stored in the buffer of the real-time main controller, and the sheet thickness measuring device calculates the time delay for measuring the events occurring between the casting rolls. A first step of storing the thin plate thickness measured value in a buffer of the real-time main controller after the calculated time delay; A second step of determining the completion of one rotation of the casting roll from the casting roll rotational speed, and calculating an average value of the casting roll reduction force measurement value and the sheet thickness measurement value stored in the main controller per one rotation of the casting roll; A third step of calculating the casting roll pressing force error value and the sheet thickness error value compared to the target by comparing the calculated casting roll pressing force average value and the sheet thickness average value with each target value; A pair consisting of a fourth step of feedback control of the casting roll speed command value by selecting the casting roll pressing force error value or the sheet thickness error value calculated in the third step according to the selection of the operator as the input of the main controller. Provided is a casting roll speed control method for a roll type sheet casting machine.

이때, 상기 제3단계에서 계산된 오차값들을 주제어기의 입력으로 사용하여 노이즈로 인한 센서들의 측정오차를 감소시키고, 주조롤 사이에서 발생하는 사건과 박판두께 측정장치에서 그 주조롤에서 발생된 사건이 측정되는데까지 걸리는 시간지연의 불확실성에 따른 측정오차를 감소시키도록 한 것에도 그 특징이 있다.At this time, by using the error values calculated in the third step as the input of the main controller to reduce the measurement error of the sensors due to noise, and the event occurring between the casting rolls and the event occurred in the casting roll in the sheet thickness measuring device It is also characterized by reducing the measurement error caused by the uncertainty of the time delay to the measurement.

본 발명은 쌍롤식 박판제조공정에서 주조롤 갭 제어기 및 주조롤 속도 제어기를 이용하여 주조롤 속도에 의해 제조되는 박판의 두께 적중률을 향상시키거나 또는 제조되는 박판의 응고 균일도(=주조롤 압하력 균일도)를 만족하도록 제어할 수 있으면서, 주조롤 사이에서 발생하는 사건과 박판 두께 측정장치에서 그 사건이 측정되는데까지 걸리는 시간지연의 불확실성에 따른 측정오차도 효과적으로 감소시켜 보다 고품위의 박판 제품을 생산할 수 있도록 한 효과를 제공한다.The present invention improves the thickness hit ratio of the thin plate produced by the casting roll speed using the casting roll gap controller and the casting roll speed controller in the twin-roll thin plate manufacturing process, or the solidification uniformity (= casting roll rolling force uniformity of the thin plate produced) In order to produce high quality sheet products, it is possible to effectively control the measurement error due to the uncertainty between the events occurring between the casting rolls and the time delay from the sheet thickness measuring device. Provides an effect.

이하에서는, 첨부도면을 참고하여 본 발명에 따른 바람직한 실시예를 보다 상세하게 설명하기로 한다.Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment according to the present invention.

도 1은 본 발명과 관련된 쌍롤식 박판주조시 주조롤 부분의 개략도이고, 도 2는 본 발명을 설명하기 위한 주조롤 속도제어기의 구성도이며, 도 3은 본 발명에 따른 주조롤 속도제어를 위한 로직을 보인 플로우챠트이다.1 is a schematic view of a part of a casting roll during twin roll type sheet casting related to the present invention, Figure 2 is a block diagram of a casting roll speed controller for explaining the present invention, Figure 3 is for the casting roll speed control according to the present invention This is a flowchart showing the logic.

도 1에 도시된 바와 같이, 먼저 제강공장에서 용해된 용강은 턴디쉬(1)로 유입된다.As shown in FIG. 1, molten steel first melted in a steel mill is introduced into the tundish 1.

이 경우, 턴디쉬(1)로 유입된 용강의 양은 턴디쉬스토퍼(2)의 유량제어장치를 통해 제어된다.In this case, the amount of molten steel introduced into the tundish 1 is controlled by the flow control device of the tundish stopper 2.

따라서, 턴디쉬(1)에서 공급되는 용강은 턴디쉬노즐(3)을 통해서 주조롤(10) 사이의 섬프(4)로 공급된다.Therefore, the molten steel supplied from the tundish 1 is supplied to the sump 4 between the casting rolls 10 through the tundish nozzle 3.

이때, 상기 주조롤(10)는 주조기프레임(5) 위에 견고히 설치되어 있고, 또한 순환되는 냉각수에 의해 냉각되면서 용강을 주조하여 박판(13)을 제조하게 되며, 제조되는 박판(13)이 코일러로 인발되기 위해 주조롤(10)은 상호 반대 방향으로 회전하게 된다.At this time, the casting roll 10 is firmly installed on the casting machine frame (5), and is also produced by the molten steel while being cooled by the circulating cooling water to produce a thin plate 13, the thin plate 13 is manufactured coiler The casting rolls 10 are rotated in opposite directions to be drawn out.

한편, 상기 주조롤(10)의 회전은 주조롤(10) 중심축에 장착된 모터(11)에 의해 그 속도 및 방향이 제어되고, 주조롤 갭을 일정하게 유지하기 위해 주조롤척갭 측정장치(7)가 주조롤척(9)에 구비되며, 이 주조롤척갭이 요구된 목표값으로 제어되도록 하기 위해 주조기프레임(5)에는 유압실린더(6)가 구비된다.On the other hand, the rotation of the casting roll 10 is controlled by the motor (11) mounted on the central axis of the casting roll 10, the speed and direction is controlled, casting roll chuck gap measuring device (to maintain the casting roll gap constant ( 7) is provided in the casting roll chuck 9, and the casting machine frame 5 is provided with a hydraulic cylinder 6 so that the casting roll chuck gap is controlled to the desired target value.

또한, 상기 유압실린더(6)의 전단에는 주조롤(10)의 압하력을 측정하기 위한 주조롤 압하력 측정장치(8)가 구비되어 있어, 주조롤갭 또는 주조롤 속도에 의해 주조롤 압하력이 요구된 목표값으로 제어될 수 있도록 구성된다.In addition, the front end of the hydraulic cylinder (6) is provided with a casting roll reduction force measuring device (8) for measuring the reduction force of the casting roll 10, the casting roll reduction force by the casting roll gap or casting roll speed It is configured to be controlled to the required target value.

그리고, 주조롤(10)에서 제조되는 박판(13)의 두께를 측정하기 위해 박판두께 측정장치(14)도 마련된다.In addition, a thin plate thickness measuring device 14 is also provided to measure the thickness of the thin plate 13 manufactured by the casting roll 10.

한편, 도 2에서와 같이, 주조롤 속도는 주조롤 중심축에 장착된 모터(11)에 의해 구동되고, 상기 모터(11)는 전력신호전송선(16) 및 전력신호처리부(23)를 통해 모터제어기(22)와 연결된다.On the other hand, as shown in Figure 2, the casting roll speed is driven by a motor 11 mounted on the casting roll central axis, the motor 11 is a motor through the power signal transmission line 16 and the power signal processing unit 23 It is connected with the controller 22.

그리고, 상기 모터제어기(22)는 목표 주조롤 속도값을 주제어기(18)의 중앙연산기(19)로부터 받기 위해 디지털신호전송선(21)을 통해 주제어기(18)의 중앙연산기(19)와 연결된다.Then, the motor controller 22 is connected to the central operator 19 of the main controller 18 through the digital signal transmission line 21 to receive the target casting roll speed value from the central operator 19 of the main controller 18. do.

이때, 상기 주제어기(18)는 비례/적분/미분 제어기가 바람직하며, 또한 상기 모터제어기(22)와 주제어기(18)의 중앙연산기(19)는 디지털신호 통신을 위해 디지털통신처리부(20)를 각각 구비하게 된다.At this time, the main controller 18 is preferably a proportional / integral / differential controller, and the central controller 19 of the motor controller 22 and the main controller 18 is a digital communication processor 20 for digital signal communication. Each will be provided.

아울러, 상기 주제어기(18)에는 외부 센서로부터 피드백 데이터를 입력받기 위한 아날로그신호처리부(17)를 더 구비한다.In addition, the main controller 18 further includes an analog signal processor 17 for receiving feedback data from an external sensor.

따라서, 주조롤 압하력 측정장치(8)와 박판두께 측정장치(14)의 측정값은 아날로그신호전송선(15)과 아날로그신호처리부(17)를 통해 상기 주제어기(18)로 전송될 수 있게 된다.Therefore, the measured values of the casting roll pressing force measuring device 8 and the sheet thickness measuring device 14 can be transmitted to the main controller 18 through the analog signal transmission line 15 and the analog signal processing unit 17. .

이와 같이 구성된 박판주조기를 통해 본 발명 쌍롤식 박판주조기의 주조롤 속도 제어방법을 도 1,2,3에 의거하여 설명하면 다음과 같다.Referring to the casting roll speed control method of the twin roll type sheet casting machine of the present invention through the sheet casting machine configured as described above will be described below.

본 발명에 따른 박판주조기의 주조롤(10) 앞뒤 방향의 움직임은 도 1에서 알 수 있듯이, 오른쪽과 왼쪽 주조롤척(9)과, 오른쪽과 왼쪽 유압실린더(6)로 구성된다.As shown in FIG. 1, the movement of the casting roll 10 in the sheet casting machine according to the present invention is composed of right and left casting roll chucks 9 and right and left hydraulic cylinders 6.

따라서, 주조롤 압하력 측정장치(8)는 유압실린더(6) 전단에 존재하므로, 오른쪽과 왼쪽 주조롤 압하력 측정장치(8)로 구분된다.Therefore, the casting roll pressing force measuring device 8 is present in the front end of the hydraulic cylinder 6, it is divided into the right and left casting roll pressing force measuring device (8).

이 상태에서, 먼저 주조롤 압하력 측정장치(8)의 측정값은 주제어기(18)의 내부 버퍼에 100Hz 주파수로 저장된다.In this state, the measured value of the casting roll pressing force measuring device 8 is first stored in the internal buffer of the main controller 18 at a frequency of 100 Hz.

그리고, 주조롤(10)에 발생되는 사건이 박판두께 측정장치(14)에서 측정되기 위해서는 주조롤(10) 사이에서 제조되는 박판(13)이 박판두께 측정장치(14)로 인발되는 시간동안 기다려야 된다.Then, in order for the event occurring in the casting roll 10 to be measured in the sheet thickness measuring apparatus 14, the thin plate 13 manufactured between the casting rolls 10 must be waited for a time for drawing to the sheet thickness measuring apparatus 14. do.

결국, 박판두께 측정장치(14)에서 측정되는 값과 주조롤(10) 사이에서 발생되는 측정값들이 동기화될 수 있도록 시간지연을 계산하는 로직이 주조롤(10) 속도값으로부터 계산된다.As a result, the logic for calculating the time delay is calculated from the casting roll 10 speed value so that the value measured in the sheet thickness measuring device 14 and the measured values generated between the casting rolls 10 can be synchronized.

그래서, 박판두께 측정장치(14)의 측정값은 시간지연 대기가 완료된 시각부터 주제어기(18)의 내부 버퍼에 100Hz 주파수로 저장된다.Thus, the measured value of the sheet thickness measuring device 14 is stored in the internal buffer of the main controller 18 at a frequency of 100 Hz from the time when the time delay wait is completed.

그리고, 주조롤(10)의 회전 속도로부터 주조롤 1회전 완료 여부를 판단하고, 주조롤 1회전이 완료되면 주조롤 1회전당 압하력 평균값, 두께 평균값을 계산하게 된다.Then, it is determined whether one rotation of the casting roll is completed from the rotational speed of the casting roll 10, and when the one rotation of the casting roll is completed, the average rolling force average value per thickness of the casting roll and the thickness average value are calculated.

이후, 계산된 평균값들은 목표값들과 비교되고, 목표값 대비 압하력 오차와 두께 오차를 계산하게 된다.Then, the calculated average values are compared with the target values, and the rolling force error and the thickness error with respect to the target value are calculated.

결국, 계산된 오차들은 비례/미분/적분 제어기의 입력으로 사용되어 그 오차가 감소되는 방향으로 주조롤(10) 속도가 제어되게 된다.As a result, the calculated errors are used as inputs of the proportional / differential / integral controller so that the casting roll 10 speed is controlled in a direction in which the errors are reduced.

한편, 주조롤(10) 속도가 압하력 오차를 감소시키도록 동작할 것인지 또는 두께 오차를 감소시키도록 동작할 것인지는 조업자의 판단에 따라 선택된다.On the other hand, whether the speed of the casting roll 10 to operate to reduce the rolling force error or to reduce the thickness error is selected according to the judgment of the operator.

이와 같이, 쌍롤식 박판주조공정에서 주조롤 속도에 의해 주조되는 박판의 두께 적중률을 향상시키거나 혹은 제조되는 박판의 응고 균일도(주조롤 압하력 균일도)를 만족하도록 제어할 수 있게 된다.In this way, it is possible to improve the thickness hit ratio of the thin plate cast by the casting roll speed in the twin-roll thin plate casting process or to satisfy the solidification uniformity (casting roll reduction uniformity) of the thin plate to be manufactured.

또한, 주조롤 속도를 제어하는 방안을 상술한 바와 같이 두 가지로 제어하도록 한 이유는 쌍롤식 박판주조시 주조 초반(주조롤 속도가 가속되고 섬프에 공급되는 용강이 목표값까지 도달하는 동안)에는 일반적으로 주조롤척갭이 주조롤 압하력을 균일하게 제어하게 되므로 주조 초반에는 주조롤 속도가 주조되는 박판의 두께 적중률이 향상되도록 제어하되어야 하며; 반면에 주조 중반에는 모든 조업변수들이 안정화되어 있으므로 주조롤척갭은 주조되는 박판의 두께 적중률을 향상되도록 제 어되고 주조롤 속도는 주주되는 박판의 응고 균일도를 만족하도록 제어되어야 하기 때문이다.In addition, the reason for controlling the casting roll speed in two ways as described above is that in the early stages of casting during twin roll sheet metal casting (while the casting roll speed is accelerated and the molten steel supplied to the sump reaches the target value), In general, since the casting roll chuck gap controls the casting roll reduction force uniformly, at the beginning of the casting, the casting roll speed should be controlled to improve the thickness hit ratio of the sheet to be cast; On the other hand, since all the operating variables are stabilized in the middle of casting, the casting roll chuck gap is controlled to improve the thickness hit ratio of the sheet to be cast, and the casting roll speed must be controlled to satisfy the solidification uniformity of the shareholder sheet.

다시 말해, 주조롤 속도는 필요에 따라 주주되는 박판의 두께 적중률을 향상시키도록 제어되기도 하고, 주조되는 박판의 응고 균일도를 만족하도록 제어되기도 하게 된다는 것이다.In other words, the casting roll speed may be controlled to improve the thickness hit ratio of the thin sheet to be cast as needed, or may be controlled to satisfy the solidification uniformity of the thin sheet to be cast.

따라서, 이 두 가지 제어모드가 쌍롤식 박판주조공정에서 반드시 필요하므로 본 발명에서는 이를 선택적으로 활용토록 한 것이다.Therefore, since these two control modes are necessary in the twin roll sheet metal casting process, the present invention is to utilize them selectively.

도 1은 본 발명과 관련된 쌍롤식 박판주조시 주조롤 부분의 개략도,1 is a schematic view of a part of the casting roll during twin roll sheet casting associated with the present invention,

도 2는 본 발명을 설명하기 위한 주조롤 속도제어기의 구성도,2 is a block diagram of a casting roll speed controller for explaining the present invention,

도 3은 본 발명에 따른 주조롤 속도제어를 위한 로직을 보인 플로우챠트.3 is a flow chart showing logic for casting roll speed control according to the present invention.

♧ 도면의 주요 부분에 대한 부호의 설명 ♧♧ description of the symbols for the main parts of the drawing ♧

6....유압실린더 7....주조롤척갭 측정장치6 .... Hydraulic cylinder 7 .... Cast roll chuck gap measuring device

8....주조롤 압하력 측정장치 9....주조롤척8 .... Casting Rolling Force Measuring Device 9 .... Casting Roll Chuck

10....주조롤 11....모터10 .... casting roll 11 .... motor

13....박판 14....박판두께 측정장치13 .... thin plate 14 .... thin plate thickness measuring device

18....주제어기 22....모터제어기18..Main controller 22 .... Motor controller

Claims (2)

쌍롤식 박판주조공정에서 두 개의 주조롤(10) 회전속도를 제어하기 위해 유압실린더(6) 전단에는 주조롤 압하력 측정장치(8), 주조되는 박판두께 측정장치(14)를 구비하고, 주조롤(10) 중심축에는 모터(11)와 모터제어기(22)를 구비하여, 주조롤(10) 압하력 측정값은 실시간 주제어기(18)의 버퍼에 저장하고, 박판두께 측정장치(14)는 주조롤(10) 사이에서 발생된 사건을 측정하는데 걸리는 시간지연을 계산하여 계산된 시간지연 후부터 박판두께 측정값을 실시간 주제어기(18)의 버퍼에 저장하는 제1단계와;In order to control the rotational speed of the two casting rolls 10 in the twin-roll thin sheet casting process, the front end of the hydraulic cylinder 6 is provided with a casting roll reduction force measuring device 8 and a sheet thickness measuring device 14 to be cast. The central axis of the roll 10 includes a motor 11 and a motor controller 22. The rolling force measurement value of the casting roll 10 is stored in a buffer of the real-time main controller 18, and the sheet thickness measuring device 14 is provided. The first step of storing the thin plate thickness measurement value in the buffer of the real-time master controller 18 after the calculated time delay calculated by calculating the time delay to measure the event occurred between the casting roll 10; 상기 주조롤(10) 회전속도로부터 주조롤(10)의 1회전 완료를 판단하고, 주조롤(10) 1회전당 주제어기(18)에 저장된 주조롤 압하력 측정값과 박판두께 측정값의 평균값을 계산하는 제2단계와;Determination of the completion of one rotation of the casting roll 10 from the rotational speed of the casting roll 10, and the average value of the casting roll rolling force measurement value and sheet thickness measurement value stored in the main controller 18 per one revolution of the casting roll 10 Calculating a second step; 상기 계산된 주조롤 압하력 평균값과 박판두께 평균값을 각 목표값과 비교하여 목표 대비 주조롤 압하력 오차값과 박판두께 오차값을 계산하는 제3단계와;A third step of calculating the casting roll pressing force error value and the sheet thickness error value compared to the target by comparing the calculated casting roll pressing force average value and the sheet thickness average value with each target value; 조업자의 선택에 따라 상기 제3단계에서 계산된 주조롤 압하력 오차값 또는 박판두께 오차값을 주제어기(18)의 입력으로 선택하여 주조롤 속도 명령값을 피드백 제어하는 제4단계로 구성된 것을 특징으로 하는 쌍롤식 박판주조기의 주조롤 속도 제어방법.A fourth step of feedback control of the casting roll speed command value by selecting the casting roll pressing force error value or the sheet thickness error value calculated in the third step according to the selection of the operator as the input of the main controller 18. Casting roll speed control method of twin roll sheet casting machine using. 청구항 1에 있어서;The method according to claim 1; 상기 제3단계에서 계산된 오차값들을 주제어기(18)의 입력으로 사용하여 노이즈로 인한 센서들의 측정오차를 감소시키고, 주조롤 사이에서 발생하는 사건과 박판두께 측정장치에서 그 주조롤에서 발생된 사건이 측정되는데까지 걸리는 시간지연의 불확실성에 따른 측정오차를 감소시키도록 한 것을 특징으로 하는 쌍롤식 박판주조기의 주조롤 속도 제어방법.By using the error values calculated in the third step as the input of the master controller 18, the measurement error of the sensors due to noise is reduced, and the event occurring between the casting rolls and the sheet thickness measuring device A method for controlling the casting roll speed of a twin roll sheet casting machine, characterized in that to reduce the measurement error caused by the uncertainty of the time delay until the event is measured.
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KR101243247B1 (en) * 2009-12-17 2013-03-13 주식회사 포스코 Method for controlling thickness of strip in twin roll strip casting process
KR101243203B1 (en) * 2009-12-17 2013-03-13 주식회사 포스코 A Method of Adjusting Strip Thickness Variance caused by Eccentricity of Roll
CN114713783A (en) * 2017-09-22 2022-07-08 纽科尔公司 Iterative learning control for periodic disturbances in twin roll strip casting with measurement delay

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Publication number Priority date Publication date Assignee Title
KR100882134B1 (en) * 2002-07-02 2009-02-06 주식회사 포스코 Control method for roll separation force in twin roll strip casting process
KR101059205B1 (en) * 2004-06-28 2011-08-24 주식회사 포스코 Repulsive Force and Speed Control Method of Casting Roll in Twin Roll Type Sheet Casting Process

Cited By (3)

* Cited by examiner, † Cited by third party
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KR101243247B1 (en) * 2009-12-17 2013-03-13 주식회사 포스코 Method for controlling thickness of strip in twin roll strip casting process
KR101243203B1 (en) * 2009-12-17 2013-03-13 주식회사 포스코 A Method of Adjusting Strip Thickness Variance caused by Eccentricity of Roll
CN114713783A (en) * 2017-09-22 2022-07-08 纽科尔公司 Iterative learning control for periodic disturbances in twin roll strip casting with measurement delay

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