200848175 九、發明說明： 【發明所屬之技術領域】 本發明係有關於-種邊導器之控制方法，f羊言之，係關 於-種邊同時控制位置及力量參數之邊導器之控制系統及 其方法。 【先前技術】 習知熱軋製程中的邊導器（Side Guide)控制方法，主要 依控制任務的需求分為力量控制與位置控制兩種模式，並 分別由獨立的力量控制器（Force Regulator)與位置控制器 (Position Regulator)依據力量或是位置的目標值，進行單 一控制參數的閉迴路控制。但在實際的熱軋製程中，位置 與力量這兩個控制變數是會互相影響的，若未能適當的加 以考慮此一物理現象，就會非常容易造成製程生產的中斷 或是產出捲形不良的鋼捲。 圖1顯示習知邊導器開度之控制系統之方塊示意圖。該 4知邊導器開度之控制系統1包括··一設定裝置1 1、一控 制裝置12、一油/氣壓裝置13及一邊導器14。其中，該控 制裝置12具有一力量控制器121及一位置控制器122，該邊 導器14則具有一力量感測器141及一位置感測器142。該設 定裝置11用以設定一目標力量及一目標位置分別至該力量 控制器121及該❿置控㈣器122，@該力量控制器121及該 位置控制器122再分別依據該目標力量及該目標位置，以 控制4油/氣壓裝置13，以控制該邊導器丨4之夾摯力量及 該邊導器14之開度。 119510.doc 200848175 該力量感測器141及該位置感測器142分別用以偵測作業 線上實際之該邊導器14之夾摯力量及該邊導器14之開度。 該邊導器I4之夾摯力量及該邊導器之開度資訊則分別回饋 至該力量控制器12 1及該位置控制器丨22。因為該習知控制 ，系統1係為單一控制參數的閉迴路控制方法，因此僅可單 . 獨地調整該邊導器14之夾摯力量或該邊導器14之開度。 以單獨的該位置控制器122而言，因為未考慮鋼帶彎曲 （Camber)、寬度偏寬的影響，以致於即使該邊導器14之該 力i感測器141已經檢測出異常偏高的力量，但系統仍舊 以固定的目標位置去調控該邊導器14之開度。因此，鋼帶 會被過度的夾緊，除了會產生挫曲（Bucknng)變形，甚至 會因夾緊力過大使得鋼帶被側邊翻起以及產生摺疊。 當實際的鋼帶寬度與該邊導器丨4之開度差異太大時，例 如··當鋼帶在精軋區發生尾部翹曲及軋輥印痕（Tail pinch) 時’鋼帶已經受損、破裂，其寬度也會變得較小，若是在 〇 此時該邊導器14仍依據該力量控制器141之要求夾緊鋼帶 至目標力量’則鋼帶非常容易被夾碎，其碎片可能傷到夾 . 棍（Pinch Roll)的輥面，造成後續盤捲鋼捲的表面問題，並 • 且也有可能因碎片而造成製程的生產中斷。 此外’ ¥鋼帶端部異常偏寬時，雖然該已彳貞測到異常的 回授力量，但因該力量控制器m反應不及，會使得鋼帶 形成夾拱及挫曲變形，該位置控制器122才開始放大開 度。上述之情形有時還會造成該邊導器14將鋼帶單邊夾鍾 並逼上該邊導器14 ,因此該力量感測器141所偵測的力量 119510.doc 200848175 會誤判為夾緊力不 續縮小，最後造成 更會瞬間變小，造成該力量控制器ΐ2ι 夠，並錯誤的命令該邊導器14之開度持 鋼帶被夹死或是夾斷。 因此，有必要提供一創新且旁 ^ 1田有進步性之邊導器之控制 系統及其方法，以解決上述問題。 【發明内容】 本發明之—目的在於提供—種邊導器之控制方法，其包 括：⑷設定-目標力量及一目標位置；⑻設定一目標挫 曲力及取得一鋼帶之-實際寬度；⑷取得-實際回授力量 或-實，回授開度；⑷依據該實際回授力f及該目標挫曲 力。十算挫曲力差值，及依據該實際回授開度及該鋼帶 之》亥實際寬度’汁算一寬度差值；及⑷依據該目標位置、 該挫曲力差值或該實際回授開度’以控制該邊導器之一開 度，或依據該目標力i、該寬度差值或該實際回授力量， 以控制該邊導器之一夾摯力量。 本發明之另一目的在於提供一種邊導器之控制系統，其 包括：一設定裝置、一製程/電控裝置、一感測裝置、一 鋼帶挫曲檢測裝置、一鋼帶寬度異常檢測裝置、一控制裝 置及一位移裝置。該設定裝置用以設定一目標力量及_目 標位置。该製程/電控裝置用以設定一目標挫曲力及取得 一鋼帶之實際寬度。該感測裝置設置於該邊導器，具有一 力量感測器及一位置感測器，用以量測該邊導器之一實際 回授力量及一實際回授開度。該鋼帶挫曲檢測裝置用以依 據該實際回授力量及該目標挫曲力計算_挫曲力差值。該 119510.doc 200848175 鋼帶寬度異常檢測裝置用以依據該邊導器之該實際回授開 度及4鋼帶之3實際寬度計算一寬度差值。該控制裝置具 有力畺控制器及一位置控制器，該力量控制器依據該目 標力量、該實際回授力量或該寬度差值，產生一力量控制 訊號，該位置控制器依據該目標位置、該實際回授開度或 該挫曲力差值，產生一位置控制訊號。該位移裝置依據該 力量控制訊號或該位置控制訊號，以控制該邊導器之一失 摯力量或該邊導器之一開度。 本發明邊導器之控制系統及其方法中，利用該鋼帶挫曲 檢測裝置及該鋼帶寬度異常檢測裝置互相配合，以動態地 控制該邊導器。並且，在該挫曲力差值大於該挫曲力差設 定值或該鋼帶寬度差值大於該寬度差設定值時，該鋼帶挫 曲檢測裝置及該鋼帶寬度異常檢測裝置會自動地互相切 換，以動態地控制及調整該邊導器之開度及夾摯力量，以 防止鋼帶產生挫曲變形或鋼帶側邊翻起及產生折疊，故能 有效降低因邊導器開度控制不佳而造成熱軋製程生產中斷 以及捲形不良的問題。 【實施方式】 圖2顯示本發明邊導器之控制系統之方塊示意圖。圖3顯 示本發明實際線上之邊導器控制系統示意圖。該邊導器控 制系統2可依製程之需求，選擇性地應用於粗軋至精軋之 製程中，或應用於精軋至盤捲之製程中。 配合參考圖2及圖3，該邊導器之控制系統2包括：一設 定裝置21、一控制裝置22、一位移裝置23、一製程/電控 119510.doc 200848175 裝置24、一感測裝置25、一鋼帶挫曲檢測裝置26及一鋼帶 寬度異常檢測裝置27。該設定裝置21用以設定一目標力量 及一目標位置。其中，該目標力量係為該邊導器2〇較佳之 設定夾摯力量，該目標位置係為該邊導器2〇較佳之設定開 度，以防止鋼帶28被過度夾緊而產生挫曲變形，或該鋼^ 帶側邊翻起及產生折疊。 該控制裝置22具有一力量控制器22丨及一位置控制器 222，該力量控制器221及該位置控制器222分別依據該目 標力量及該目標位置以產生一控制訊號。該位移裝置23依 據該控制訊號以調整控制該邊導器20之一夾摯力量及該邊 導器20之一開度。較佳地，該位移裝置23可為一油壓控制 A置’或者，该位移裝置23亦可為一氣壓控制裝置。 該感測裝置25設置於該邊導器20，其具有一力量感測器 2 5 1及位置感測器2 5 2 ’ s亥力量感測器2 5 1及該位置感測 器252分別用以量測該邊導器20之一實際回授力量及一實 際回授開度。 該製程/電控裝置24，用以設定一目標挫曲力及取得該 鋼帶28之一實際寬度。其中，該目標挫曲力係以一理想目/ 標鋼帶之厚度、寬度、楊氏係數及慣性力矩等參數計算而 得。另外，在本實施例中該製程/電控裝置24可另包括一 寬度感測器24 1，用以量測該鋼帶28之該實際寬度。 該鋼帶挫曲檢測裝置26依據該實際回授力量及該目標挫 曲力計算一挫曲力差值。該鋼帶寬度異常檢測裝置27依據 該實際回授開度及該鋼帶之該實際寬度計算一寬度差值， 119510.doc -10- 200848175 並依據忒挫曲力差值或該寬度差值，以動態地調整該邊導 器。 其中，該鋼帶挫曲檢測裝置26係以方程式（丨）計算出使鋼帶 產生挫曲變形時，該邊導器需輸出的單位長度力量尸·· W2 (1) 其中，W代表鋼帶的寬度，五是鋼帶材質的楊氏係數 (Young’s Modulus)，J為慣性矩（Moment 〇fInertia)。而^可 以方程式（2)計算得出： j^Wh3 (2)200848175 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a method for controlling a side guide, which is a control system for a side guide for simultaneously controlling position and force parameters. And its method. [Prior Art] The Side Guide control method in the conventional hot rolling process is mainly divided into two modes of force control and position control according to the requirements of the control task, and is separately controlled by a Force Regulator. With the Position Regulator, the closed loop control of a single control parameter is performed based on the target value of the force or position. However, in the actual hot rolling process, the two control variables of position and force will affect each other. If this physical phenomenon is not properly considered, it will easily cause the interruption of the process production or the output roll. Bad steel coils. Figure 1 is a block diagram showing a conventional control system for the edge guide opening. The control system 1 for the four-way guide opening includes a setting device 1 1 , a control device 12 , an oil/pressure device 13 and a side guide 14 . The control device 12 has a power controller 121 and a position controller 122. The side guide 14 has a power sensor 141 and a position sensor 142. The setting device 11 is configured to set a target power and a target position to the power controller 121 and the control unit (four) 122, respectively, and the power controller 121 and the position controller 122 respectively according to the target strength and the The target position is to control the 4 oil/pneumatic device 13 to control the clamping force of the side guide 丨4 and the opening of the side guide 14. 119510.doc 200848175 The force sensor 141 and the position sensor 142 are respectively configured to detect the clamping force of the side guide 14 and the opening of the side guide 14 on the working line. The clamping force of the side guide I4 and the opening information of the side guide are fed back to the force controller 12 1 and the position controller 22, respectively. Because of this conventional control, System 1 is a closed loop control method with a single control parameter, so the clamping force of the side guide 14 or the opening of the side guide 14 can only be adjusted individually. In the case of the position controller 122 alone, since the influence of the bending of the steel strip and the width of the width is not considered, even if the force i of the side guide 14 has detected an abnormally high Power, but the system still regulates the opening of the side guide 14 with a fixed target position. As a result, the steel strip is over-clamped, in addition to buckling deformation, and even the clamping force is too large, causing the strip to be turned upside down and folded. When the actual width of the steel strip differs greatly from the opening of the side guide 丨4, for example, when the steel strip is subjected to tail warpage and Tail pinch in the finishing section, the steel strip is damaged. If the rupture, the width thereof will become smaller, if the edge guide 14 still clamps the steel strip to the target force according to the force controller 141 at this time, the steel strip is very easily crushed, and its fragments may be The roll surface of the pinch (Pinch Roll) causes surface problems in subsequent coiled coils, and may also result in production interruption of the process due to debris. In addition, when the end of the steel strip is abnormally wide, although the abnormal feedback force has been detected, the force controller m may not react, which will cause the steel strip to form a bow and buckling deformation. The device 122 begins to amplify the opening. The above situation sometimes causes the side guide 14 to clamp the steel strip to the side guide 14 and force the side guide 14 , so the force detected by the force sensor 141 119510.doc 200848175 is misjudged as clamping. The force does not continue to shrink, and finally causes the moment to become smaller, causing the force controller to be ΐ2ι, and erroneously commanding the opening of the side guide 14 to hold or pinch off the steel strip. Therefore, it is necessary to provide an innovative and side-by-side control system and method for solving the above problems. SUMMARY OF THE INVENTION The present invention is directed to providing a method for controlling a side guide, comprising: (4) setting a target force and a target position; (8) setting a target buckling force and obtaining an actual width of a steel strip; (4) Acquire - the actual feedback power or - actual, feedback opening; (4) based on the actual reciprocal force f and the target frustration. 10 calculating the difference in the bending force, and calculating the width difference based on the actual feedback opening and the actual width of the steel strip; and (4) depending on the target position, the difference in the bending force or the actual return The opening degree 'is controlled to control the opening of one of the side guides, or according to the target force i, the width difference or the actual feedback force to control the clamping force of one of the side guides. Another object of the present invention is to provide a control system for a side guide, comprising: a setting device, a process/electric control device, a sensing device, a steel band buckling detecting device, and a steel strip width abnormality detecting device , a control device and a displacement device. The setting device is used to set a target power and a target position. The process/electric control device is used to set a target buckling force and obtain the actual width of a steel strip. The sensing device is disposed on the side guide, and has a force sensor and a position sensor for measuring an actual feedback force of the edge guide and an actual feedback opening. The steel band buckling detecting device is configured to calculate a _bending force difference value according to the actual feedback force and the target buckling force. The 119510.doc 200848175 steel strip width anomaly detecting device is configured to calculate a width difference according to the actual feedback opening of the side guide and the actual width of the 3 steel strips 3. The control device has a force controller and a position controller, and the power controller generates a power control signal according to the target strength, the actual feedback force or the width difference, and the position controller is configured according to the target position The actual feedback opening or the difference in the bending force produces a position control signal. The displacement device controls the signal of one of the side guides or the opening of one of the side guides according to the power control signal or the position control signal. In the control system and method of the edge guide of the present invention, the steel belt buckling detecting device and the steel strip width abnormality detecting device cooperate to dynamically control the side guide. And, when the buckling force difference is greater than the buckling force difference setting value or the steel strip width difference is greater than the width difference setting value, the steel belt buckling detecting device and the steel strip width abnormality detecting device automatically Switching between each other to dynamically control and adjust the opening degree and clamping force of the side guide to prevent the steel strip from being deflected or the side of the steel strip is turned up and folded, so that the opening of the edge guide can be effectively reduced. Poor control results in interruption of production during hot rolling and poor roll shape. Embodiments Fig. 2 is a block diagram showing a control system of an edge guide of the present invention. Figure 3 shows a schematic diagram of the side guide control system on the actual line of the present invention. The side guide control system 2 can be selectively applied to the rough rolling to finishing process according to the requirements of the process, or can be applied to the process of finish rolling to coiling. Referring to FIG. 2 and FIG. 3, the control system 2 of the side guide includes: a setting device 21, a control device 22, a displacement device 23, a process/electric control 119510.doc 200848175 device 24, and a sensing device 25 A steel belt buckling detecting device 26 and a steel strip width abnormality detecting device 27. The setting device 21 is for setting a target power and a target position. Wherein, the target force is a preferred setting force of the edge guide 2, and the target position is a preferred opening degree of the side guide 2 to prevent the steel strip 28 from being over-clamped to cause a buckling Deformation, or the side of the steel strip is turned up and folded. The control device 22 has a power controller 22 and a position controller 222. The power controller 221 and the position controller 222 respectively generate a control signal according to the target power and the target position. The displacement device 23 adjusts and controls the clamping force of one of the side guides 20 and the opening degree of the side guide 20 according to the control signal. Preferably, the displacement device 23 can be an oil pressure control A or the displacement device 23 can also be a pneumatic control device. The sensing device 25 is disposed on the side guide 20, and has a power sensor 2 5 1 and a position sensor 2 5 2 s sea power sensor 2 5 1 and the position sensor 252 respectively The actual feedback force of one of the side guides 20 and an actual feedback opening are measured. The process/electric control unit 24 is configured to set a target buckling force and obtain an actual width of one of the steel strips 28. Among them, the target buckling force is calculated by parameters such as the thickness, width, Young's modulus and moment of inertia of an ideal mesh/standard steel strip. In addition, in the present embodiment, the process/electric control unit 24 may further include a width sensor 24 1 for measuring the actual width of the steel strip 28. The strip buckling detecting device 26 calculates a buckling force difference based on the actual feedback force and the target buckling force. The strip width abnormality detecting device 27 calculates a width difference according to the actual feedback opening degree and the actual width of the steel strip, 119510.doc -10- 200848175 and according to the 忒 deflection force difference or the width difference, To dynamically adjust the side guide. Wherein, the steel belt buckling detecting device 26 calculates the unit length of the side guide to output the corpse when the steel belt is subjected to the buckling deformation by the equation (丨) (1) where W represents the steel strip The width, five is the Young's Modulus of the steel strip material, and J is the moment of inertia (Moment 〇fInertia). And ^ can be calculated by equation (2): j^Wh3 (2)
其中，h為鋼帶的厚度度。 將上述（1)、（2)二方程式之計算結果代入方程式（3)中 即可什异出使鋼帶產生變形之挫曲力: r2Eh3LWhere h is the thickness of the steel strip. Substituting the calculation results of the above two equations (1) and (2) into equation (3) can be used to cause the deflection of the steel strip: r2Eh3L
FbU(FbU(
JCKLEJCKLE
PxL 12W 其中，Z代表邊導器之長度 (3) Ο 此外，由於熱軋製程所生產的鋼品種類非常的多，使得 各產品所要求的機械特性與盤捲溫度也不相同。因此，在 方程式（1)中之鋼帶材質的楊氏係數，可以方程式（4)加以 補償： E - EBASE + C腫£皿 X (TBASE - TR0LL1NG) (4) 其中，五/MM為特定盤捲溫度下的基底楊氏係數； 為一補償常數，用以補償各種不同熱軋產品間材 夤的差異性；為實際的盤捲溫度。 另外，該鋼帶寬度異常檢測裝置27係以方程式（5)計算 119510.doc -11 - 200848175 出該寬度差值 Terror : ^ERROR ~ ^RESPOSE ^^REAl\ (5 ) 其中’ 為實際回授開度寬度；為鋼帶實際 寬度。PxL 12W where Z represents the length of the edge guide (3) Ο In addition, the mechanical properties required for each product are different from the coil temperature due to the many types of steel produced by the hot rolling process. Therefore, the Young's modulus of the steel strip material in equation (1) can be compensated by equation (4): E - EBASE + C swollen dish X (TBASE - TR0LL1NG) (4) where five/MM is a specific disk The base Young's modulus at the coil temperature; is a compensation constant to compensate for the difference in the spacing between the various hot rolled products; the actual coil temperature. In addition, the strip width abnormality detecting device 27 calculates the width difference Terror by the equation (5) 119510.doc -11 - 200848175 : ^ERROR ~ ^RESPOSE ^^REAl\ (5 ) where ' is the actual feedback Degree width; the actual width of the steel strip.
ϋ 要注意的是，若以該目標力量進行該邊導器2〇之控制， 且違見度差值小於一寬度差設定值時，該力量控制器22 j 即依據該實際回授力量計算與該目標力量之一回授力量差 值’以调整该邊導器20之夾摯力量，但當該寬度差值大於 該寬度差設定值時，該鋼帶寬度異常檢測裝置27即傳送該 寬度差值至該設定裝置21或該力量控制器221，據以調整 該目標力量並改變該目標力量，或自動地切換至以該目標 位置進行該邊導器2 0控制之模式；若以該目標位置進行該 邊導器20之控制，且該挫曲力差值小於一挫曲力差設定值 時’忒位置控制器222即依據該實際回授開度計算與該目 才示位置之一回授開度差值，以調整該邊導器之開度，但當 該挫曲力差值大於該挫曲力差設定值時，該鋼帶挫曲檢測 裝置26即傳送該挫曲力差值至該設定裝置21或該位置控制 器222，據以調整該目標位置並改變該目標位置，或自動 地切換至以該目標力量進行該邊導器2〇控制之模式。 在本實施例中，其係依據該挫曲力差值及該寬度差值， 以決定該位移裝置23之移動速度。亦即，該移動速度之訊 息傳送至該力量控制器221及該位置控制器222，再控制該 位移裝置23以該移動速度移動。 本發明邊導器之控制系統2及其方法中，利用該鋼帶挫 119510.doc -12- 200848175 曲檢測裝置26及該鋼帶寬度異常檢測裝置27互相配合，以 動態地控制該邊導器20。並且，在該挫曲力差值大於該挫 曲力差叹定值或該鋼帶寬度差值大於該寬度差設定值時， 該鋼帶挫曲檢測裝置26及該鋼帶寬度異常檢測裝置27會自 動地互相切換，以動態地控制及調整該邊導器20之開度及 夾摯力S，以防止該鋼帶28產生挫曲變形或該鋼帶28側邊 翻起及產生折疊，故能有效降低因邊導器開度控制不佳而 造成熱軋製程生產中斷以及捲形不良的問題。 上述實k例僅為說明本發明之原理及其功效，並非限制 本發明。因此習於此技術之人士對上述實施例進行修改及 變化仍不脫本發明之精神。本發明之權利範圍應如後述之 申請專利範圍所列。 【圖式簡單說明】 圖1顯示習知邊導器開度之控制系統之方塊示意圖； 圖2顯示本發明邊導器之控制系統之方塊示意圖；及 圖3顯示本發明實際線上之邊導器控制系統示意圖。 【主要元件符號說明】 2 本發明邊導器控制系統 20 邊導器 21 設定裝置 22 控制裝置 23 位移裝置 24 製程/電控裝置 25 感測裝置 119510.doc -13- 200848175 26 鋼帶挫曲檢測裝置 27 鋼帶寬度異常檢測裝置 28 鋼帶 221 力量控制器 222 位置控制器 241 寬度感測器 251 力量感測器 252 位置感測器 ϋ 119510.doc -14-ϋ It should be noted that if the control of the edge guide 2 is performed with the target force, and the difference of the difference is less than a set value of the width difference, the force controller 22 j calculates and calculates the power according to the actual feedback force. One of the target forces returns a force difference ' to adjust the clamping force of the side guide 20, but when the width difference is greater than the width difference setting value, the strip width abnormality detecting means 27 transmits the width difference a value to the setting device 21 or the force controller 221 to adjust the target force and change the target force, or automatically switch to the mode in which the side guide 20 is controlled at the target position; if the target position is When the control of the edge guide 20 is performed, and the difference in the buckling force is less than a set value of the buckling force difference, the position controller 222 calculates the feedback position according to the actual feedback opening degree. The opening difference is adjusted to adjust the opening of the edge guide, but when the buckling force difference is greater than the set value of the buckling force difference, the strip buckling detecting device 26 transmits the buckling force difference to The setting device 21 or the position controller 222 is adjusted accordingly Changing the target position and the target position, or be automatically switched to the side of the guide 2〇 control mode to the target power. In this embodiment, the difference between the buckling force and the width difference is used to determine the moving speed of the displacement device 23. That is, the information of the moving speed is transmitted to the force controller 221 and the position controller 222, and the displacement device 23 is controlled to move at the moving speed. In the control system 2 and method of the edge guide of the present invention, the steel belt set 119510.doc -12-200848175 curved detecting device 26 and the steel strip width abnormality detecting device 27 cooperate with each other to dynamically control the side guide 20. And, when the buckling force difference is greater than the buckling force difference sigh value or the steel strip width difference is greater than the width difference set value, the steel belt buckling detecting device 26 and the steel strip width abnormality detecting device 27 Automatically switching between each other to dynamically control and adjust the opening degree and clamping force S of the side guide 20 to prevent the steel belt 28 from being buckling deformation or the side of the steel strip 28 being turned up and folded. It can effectively reduce the production interruption of the hot rolling process and the problem of poor roll shape due to poor control of the edge guide opening. The above examples are merely illustrative of the principles and effects of the invention and are not intended to limit the invention. Therefore, those skilled in the art can make modifications and changes to the above embodiments without departing from the spirit of the invention. The scope of the invention should be as set forth in the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a control system of a conventional side guide opening; FIG. 2 is a block diagram showing a control system of the side guide of the present invention; and FIG. 3 is a view showing the side guide of the actual line of the present invention. Control system schematic. [Main component symbol description] 2 Side guide control system 20 side guide 21 setting device 22 control device 23 displacement device 24 process / electronic control device 25 sensing device 119510.doc -13- 200848175 26 steel band buckling detection Device 27 Strip width anomaly detection device 28 Steel strip 221 Power controller 222 Position controller 241 Width sensor 251 Power sensor 252 Position sensor 119 119510.doc -14-