TW200924372A - Driving apparatus for rolling mill roll electric motor - Google Patents

Abstract

There is provided a driving apparatus for rolling mill roll electric motor that corrects asymmetry between upper and lower mill roll driving systems of a twin-drive rolling mill in which upper and lower mill rolls are driven by upper and lower electric motors, respectively, so that torque is transmitted to the upper and lower mill rolls simultaneously. To this end, an upper and lower shaft system imbalance correcting element that corrects asynchronism between torque transmissions to the upper and lower mill rolls is provided in one or both of an upper electric motor controller 1 controlling an upper electric motor 5 and a lower electric motor controller 8 controlling a lower electric motor 12 in a driving apparatus for a rolling mill roll electric motor used in a rolling mill in which the upper and lower mill rolls are driven by the upper and lower electric motors 5 and 12, respectively, and one of the upper and lower electric motors 5 and 12 is disposed closer to a material to be rolled 20 than the other. Thus, torque is transmitted to the upper and lower mill rolls simultaneously.

Description

200924372 - IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a driving device for a calendering roller motor, and more particularly to a method for driving an upper rolling by a separate electric shovel & A driving device for a calender roll motor of a twm drive type calender. [Prior Art] In the above-mentioned motor and lower motor to drive the double-drive calenders of the upper and lower kiln, respectively, since the electric electric machines are controlled by independent control systems, the load of the upper and lower motors becomes 猂.π ^ ^ ^ ^ ^ The war cricket is not uniform, and there is a lingering entanglement due to the difference between the heat of the motor and the difference between the upper and lower moments. Therefore, there is known a load balance control method in which the load of the upper and lower motors is monitored and the reference value of the load current of the upper and lower motors is monitored and uniformized, and the load of the upper and lower motors is prevented. '(See makeup example, for example, Patent Document 1). In addition, the electric motor for rolling is known to have a mechanical load of a multi-mass spring system composed of a spindle, a coupling, a roller, a tooth, and an ω wheel, but when it is included : ^ The number of natural vibrations of the anti-delay drive system of the machine is connected with the hum of the motor for calendering. When the speed response frequency of the control device is close, ^, the calender containing the control system and the mechanical system will be made. Drive... unstable system' and produce excessive torsional vibration. And the lower face! The torsional vibration of 1 is generally the value of the upper gap in the design phase, and the two are designed to have resonance. In addition, there is also a speed response of the system; the model of the mechanical system is installed in the control system, and the torque reference is corrected by the action of 319808 200924372 '^ machine (four) system, thereby suppressing the vibration Technology (refer to, for example, Patent Document 2). Patent Document 1: Japanese Laid-Open Patent Publication No. Hei 09-295016 (Patent Document 2): JP-A-H06-98580 (Summary of the Invention) (The problem to be solved by the invention) Do not drive the upper and lower calender rolls to drive the double-drive type of extension machine, such as the 5th, connect the calendering light 50 fish on the electric on the construction of the door due to the shame of the 53 door and the lower calender roll 52 There is a problem that the inclination of the lower motor universal joints 54, 55, 56, and 57 is not sufficient. The angle of inclination of the knots 54, 55 or the universal joint can not be increased, and it is necessary to: one of the main: 58 and the movable (four). The motor 51 is arranged or powered down to reduce the upper motor, p is spaced apart from the side of the rolled material 60 59, and the inclination angles of the shafts 58 and Μ are reduced. The front configurator says:: set: 'The upper motor 51 is stepped on -rf, the upper part is set to top (top f〇rward), and the lower motor 53 is turned up to the motor 51 before P _d) (bottom F0rward). The second is 5:: 'Do not put the upper motor 51 on the lower front side The upper squeezing method of the lower motor 53 is arranged in the squeaking squeaking mode. In the double-drive type continuation machine, the upper and lower parts are roughly configured. However, as shown in the figure, the transfer functions of the two are not the same. ==Axis:=:The mechanical control of the multiple-expansion light motor disclosed in Document 1 ^The patented torque is the same as the upper and lower sides' to control the motor output and propagate to the upper and lower moments of the rolled material 60 319808 6 200924372 There is still a transitional failure, and the possibility of warpage or damage of the rolled material 60 causes, for example, a 6-62 series of support rollers that respectively support the symbol of the upper calender roll $Fig. Mainly under the Liyan Roller 5 2] fork "Kun Fuyu 63 series represents the connection between the lower motor 53. "Universal coupling 57 In addition, in the load balancing control used for the purpose of solving the up-and-down performance of the double-acting calender, the up-and-down torque (load current) of = is made - :: depending on the motor motive, the calender is lightly propagated. The moment of the upper and lower moments generated by the torque is self-powered. In addition, the method of installing the mechanical system model disclosed in Patent Document 2 is used for the suppression control of torsional vibration as described above, and the behavior of the system is monitored. With the control, it is easy to straighten the disk to correct the error f, and also requires the mechanical system model and the control feedback value of the upper and lower sides, and the control system becomes complicated. The present invention is to solve the above problems. The researcher, the purpose is to mention, the kind of propagation roller torque that will be transmitted to the double-drive type of the elevator, the propagation torque of the upper and lower extensions = inconsistency, and the simultaneous transfer of the torque transmitted to the upper and lower rollers is performed. Driving device. (Mechanism for solving the problem) A driving device for a rolling roller motor according to the present invention is for driving the upper and lower rolling rolls by the upper motor and the lower motor, respectively, and the above The electric motor or the upper motor is disposed such that the dust is arranged closer to the μ extension side than the other side, and one or both of the upper motor control unit for controlling the upper motor and the lower motor control unit for controlling the lower motor are provided. It is useful to use 319808 7 200924372 to extend the above-mentioned up-and-down propagation force - the up-and-down axis system imbalance correction section. The correction is performed in unison (the effect of the invention) According to the present invention, the transfer function including the system can be made the same: It is possible to transmit. 1 The warpage of the Yancun and the mode of the damage of the j. The application of the drawing shows the driving device of the light-duty motor. Referring to Figure 1, the star-shaped extension of the first embodiment of the present invention will be described. The light machine is also shown in the first figure, and shows an example of a schematic control method of the drive device. In the front of the lower motor, the front part is configured. ==::::3, and the upper motor current control. The rotation speed of the upper motor 5: The upper part 1 controls the upper motor 5, and detects. Further, the upper motor torque motor speed sensor 6 is controlled by the controller "the speed at which the deviation between the upper motor force 3 and the two motor current speed reference becomes zero and the torque of the motor 5 on the upper motor control. 319808 8 200924372 - In addition, the lower motor control unit 8 is composed of a -9, a lower motor torque current limiter: a degree controller, 11. The lower motor speed is driven by the lower motor speed of the lower motor control unit From the lower motor core 2, the detection. Also, the lower motor torque is:; sense: the controller 13 to the controller 11 constitutes the lower motor torque control; = the lower motor current machine torque control means u is the lower electric motor speed reference The deviation is (four) the speed and the lower moment, the torque. In addition, the symbolic control of the motor 12 between the upper light motor 5 to the upper roll (not, 丄 early ^ by the 糸, symbol Μ 表 under the table The lower roller shaft system between the rollers (not shown). The lower motor 12 to ° has the upper motor control _ the motor catching reference portion is not the motor 5 12 speed production noise: sighs the lower motor control unit 8 refers to the upper motor speed two::: = machine speed reference (four). And the upper and lower shaft system imbalance correction section... 'configured to be described later The motor control: the part i, :::: and the lower motor 12 are respectively controlled by independent δ, and each of the snaking moments is transmitted to the upper light shaft system 15 and the output power material 2 下 of the lower electric power. Material 2〇_^ = 16: and reaches the rolling system unbalance correction part 19, the upper motor control is controlled by the upper and lower shaft motor speed sensor 6, the upper light shaft motor 5, the upper 21 ' and controlled by the motor (4) δ... The lower J constitutes the upper roller drive system degree sensor 13 and the lower light shaft system motor speed to form the lower roller drive system 22. 319808 9 200924372 II! (4) The drive of the Wei motor is assembled, and the receiver describes the action. First of all, in the upper light drive system 21, Jiang Gu·ρ, 击危, 隹 and the real motor sp3M^ of the upper motor 5 will correct the speed reference fertilizer 2, thereby obtaining the difference between the power and the power Input to the upper motor speed control, and the motor torque current reference TA, 苴中,卜, +- quasi-SP2 system by taking the upper motor speed reference part two from the top: the upper thunder T wheel to the upper and lower shaft system unbalance correction part 19, the real speed of the motor 5 is on the SP3 Wei Meng by the thunder It is detected by the private detector 6. Then, the electric motor is supplied to the upper motor 5 by the upper motor speed sensor, the second motor torque current limiter 3, ===; Thereby, the difference between the deviation A A , the difference between the 3 and the upper motor speed reference SP1 is controlled to control the torque of the upper motor 5 . "The other aspect" in the lower roller drive system 22 will be from the lower motor 嫱 SP5 Further, the speed reference of the reference portion 18 and the real speed of the lower motor U are: the deviation wheel is driven to the lower motor speed controller 9' by the torque current reference ΤΒ, wherein the lower motor 12 = taek motor speed sensing The device 13 detects it. Then, through ^: several torque current limiter 10, the lower motor current controller power is supplied to the lower mine broadcast]9. μ & will only capture the torque of the electric oil at the actual speed SI>5 of the lower (four) machine U and the lower motor speed base. The way the deviation becomes zero is controlled. The torque supplied from the upper motor 5 and the lower motor 12 is divided by the upper roller shaft system 15 and the lower light shaft system 16 to the dust material = below. As explained in the prior art, the upper shaft system 15 = 319808 10 200924372 function GT (s) and the lower roller system 16 type calender mechanical limit @ k port B (s) due to double drive 丨1. The city J m is different, even if the torque of the whole motor 12 is supplied, the rotor motor 5 and the tool moment are the same, and the upper and lower surfaces of the rolled material 20 are controlled to be transmitted to

^ 5, ^ ^ ^ # 20 ^ ^ ^ ", J In this embodiment, the purpose of seeking for the DPRK is to solve the problem, for the purpose of time, and the same time in the upper and lower axis Li torque transmission is not the same Balance the positive part 1 9 φ, < — Transfer function (^(4) is (:!〇) = 〇Γς, /~, medium 5 and 疋 釭 釭 from t) B(S)/Gt(S). Thereby, the upper and lower shaft system imbalance correction portion 19, the upper motor control portion 5, the upper motor speed sensor 6, and the upper light shaft system roller drive system 21 and the lower motor, the motion speed sensor can be enabled. 13. The lower and lower electric motors 12 and the lower electric trains are 27 Μ楂, and the transfer function of the lowering drive is selected to be the same ', and the inconsistency of the upper and lower moments transmitted to the rolled material 2〇 can be solved. As described above, according to the embodiment, the ι king pressure I material can achieve the simultaneity of the torque transmission to the upper and lower rolling, and can be transmitted to the upper and lower moments of the rolled material 2〇. The effect of no longer having the possibility of causing a bell or damage of the rolled material 20 is obtained. Embodiment 2: Next, a second embodiment of the present invention will be described. In the first embodiment, the embodiment in which the vertical shaft system imbalance adjusting unit 19 is disposed in the subsequent stage of the upper motor speed reference SP1 has been described. However, by providing the correction unit 19 in the speed control circuit, the correction unit can be provided. 19 is close to the machine side, and the inconsistent correction effect of the propagation torque propagating toward the upper and lower calender rolls is π 319808 200924372 - can be further improved. Fig. 2 is a schematic block diagram showing the driving device of the dust roller motor of the second embodiment. It can be understood from the figure that the up and down (four) = ΓΓ speed control in the upper motor speed feedback loop: the rear & Further, the transfer function of the vertical axis system imbalance correction unit 19 is set to c2(s) = c 1 1 + Gl(s)} {1_c] (s)}. Here, the single-pass transfer function of the speed (four) loop of the real 丨 state wipe. Also: 'In the configuration i, the transfer function is set to c1(s)=Gb(s)/Gt(8) because the upper motor speed feedback circuit is set to the upper and lower axis system imbalance correction unit]9. In the second embodiment, the upper motor speed is returned to the loop, so that the transfer function is set to c2(s) = c 1 1 + Gl(s)} {1_Ci(s)}. Incidentally, the configuration of i is the same as that of the embodiment i, and thus the description thereof is omitted. According to the second embodiment, in addition to the effect of the first embodiment, the upper and lower shaft system unbalance correction unit 19 is brought closer to the machine side, so that the correction effect of the father's propagation torque can be advanced. f Stereo Bear 3 3 Embodiment 3 of the present invention will be described. EMBODIMENT: Only the vertical axis system imbalance correction portion 19 of the form 2 and the negative == combined use' are used to further increase the torque of the upward and downward rolling. OVERVIEW = A block diagram showing the driving device of the rolling motor of the third embodiment. The driving roller of the calender roll motor of the third embodiment is 319808 12 200924372. The system sets the respective torques of the upper and lower thunders* I.·隹rp Λ „ 俺, 番^J knife 罨 machine base D and TB input to the load level: The different 4 3G' is the correction amount directly added to the upper torque current reference, and the borrower quickly adjusts the torque current reference of the upper motor 5 and the lower motor 12 to the correction. Also, (10) the remaining wire is the same as 2 Therefore, the description will be omitted. ~ : Fig. 4 shows the torque control current reference block 1 of the load balancing calculation unit 3, the deviation of the torque current reference 乘, the deviation of the 乘 multiplied by the negative θ _ _ and the load balancing operation rate rule, and the proportional control 3 0 c, added to the current reference 上 叙 她 & & & 二 二 二 二 二 二 二 二 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱 邱Further, the simultaneity of the torque transmission transmitted to the upper and lower rolling rolls is further improved. As described above, according to the third embodiment, the force transmitted to the upper and lower rollers can be increased in the actual effect of the second state: Simultaneous progress提升 提升 矩 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外 此外朗. The second embodiment of the second embodiment; the upper and lower 嶋 system of the third embodiment is represented by the physical parameters of the sixth Si number yellow mass system of the upper and lower axis system imbalance correction unit 19 : In Figure 6, improperly, it will be equivalent to the motor step ~ the motor that supplies the double drive calender == 319808 13 200924372 • When it is rolled into the extension material, the upper and lower dust extension light end torque waveform blood up and down :: Simulated by a 5-mass spring-mass system, the number of human torsional natural vibrations is approximately 13 for the upper (four) system, and the lower is reported by ΠΓ.8Ηζ. The time from the application of the step load is 〇.2 seconds. Start, :::Electrical: machine rated torque reference) torque difference two =: ....

Gt(S))) ^ ^ it = The imbalance correction of the peak is set on the upper motor or the lower motor or both, so that the inconsistency of the upper and lower moments can be solved. The number of particles used for the transfer function of the upper and lower light shaft system is 14 Γ mechanical (four) system, as long as the (four) system model, when the quality (four) ^ is applied to the control system, so that the two will become larger and become very complex The number of adjustment parameters of the item will also increase: two: the block diagram of the roller system when 卜 is set to η as a reference. It is not to be the number of questions::: To be: 2:: In the actual operation, it will not cause the inconsistency elimination by reducing the particle's short force. Therefore, it is possible to simplify the system. . Here, the ups and downs, the ancient sounds, and the syllabary are simulated separately, so that the low-order element of the correction term is only available for the current control system, and the most significant number of torsional vibrations of 319808 14 200924372 is sought. Q闰咭- The upper and lower moments of the hall k are not flat. The figure is not reduced by the 2 points + balance. In the 9th figure, the roller shaft is smashed, j, the square of the turtle shaft of the spoon is conceived by the system to the 2 mass point system rituals > ',, the torque transfer function of the roller end is: From the motor to the f! Equation j ' τ T^八2 ^ +(Jl +J^' c · s+(^ +J2y κ Therefore, if the transfer function of the correction term is obtained from the number shown in the equation, then: ', ', , Point system transfer letter [Type 2],

Ci(s) = Gb(s) / gt(s)

r i 2. I, D' itu -3⁄4. (—), KT is reported to the shafting system: two:: electricity: machine side and _ inertia

Reduction coefficient, JB1, /B2 system _ system motor 0 system elastic constant, CB These coefficients can be adjusted. The deviation of the ’, and first suffix coefficients is . The correction factor is used in the following formula to make the supplement [3rd] 319808 15 200924372

Ac〇m =~^Ά1£β2) T2, Figure 10 shows the difference between the upper and lower moment waveforms and the upper and lower moments when the second formula is used as the correction term. The simulation of the waveform contains the correction term H and the gain characteristics of the correction term. It can be seen from the above that by the unevenness =: the number of primary torsional vibrations of the roller system is approximately the same as the phase finding, the upper and lower rolling can be reduced to [ -3 [PU] 〇, „ the maximum value of the difference is reduced to the quarter Mr^ will be up and down The _ line has a correction effect of (4) at the 2nd point (4). In this way, the correction is calculated in advance. When the adjustment of the thread is performed, the above-mentioned parameters are finely adjusted, thereby: sufficient = high-precision correction, and adjustment as a correction in the field Considering/measuring the light-end transmission torque with a strain gauge or adjusting the parameters by the transfer function, the actual measurement of the thief-input lamp transfer function. As described above, according to this embodiment 4, in addition to the implementation form The effect obtained by the application of the mode 3 is further improved by the pre-evaluation of the correction wire (4) obtained by the transfer function of the correction term by the simulation and the correction effect of the propagation torque of the light propagation under the verification. Further, in the embodiment, the performance of the vertical system imbalance correction unit 19 is arranged in the latter stage of the upper motor speed reference SP1, and in the second embodiment, the upper and lower shaft systems are not shown. Although the correction unit 19 is disposed in the upper motor speed feedback circuit, the present invention may be arranged in the same manner as described above in the lower roller drive system 319808 16 200924372. In the case of the upper hand system 22 ifi · # tb a ' than '······························ The calendering of the machine is illustrated for the lower front square tir state, but it can also be used in the x, I, and the extension of the furnace and can include various design changes. (4) (4) Device, (Industrial use possibility) The present invention can be used for driving and mounting with a separate electric drive type _ machine _ extension roller motor [ [Simple description of the drawing] Fresh display A schematic control block diagram of a drive device for a reciprocating light motor according to the first embodiment of the present invention. Fig. 2 is a schematic block diagram showing the control of the pressing device according to the second embodiment of the present invention. The present invention is a schematic control block diagram of the driving device of the embodiment of the present invention. Fig. 4 is a schematic control block diagram of the load balancing calculation unit. Fig. 5 is a schematic view showing a schematic configuration of a conventional double drive calender. Fig. 6 is a view showing an analog waveform of a calender roll transmission in a state where no correction is performed. Fig. 7 is a graph showing the gain characteristics of the upper and lower rollers in the state where the correction is not performed. Fig. 8 is a block diagram showing a roller shaft system 319808 17 200924372 represented by a multi-mass system (particle number η). Block 9 Figure 2 shows the mirror axis system shown by the 2-point system. Figure 10 shows the simulated torque waveform. The calender roll transfer gain in the positive state: the second figure shows the state in which the correction is performed. [Main component symbol description] The motor current on the motor speed controller on the upper motor control part of the lower roller shaft Controller 51 upper motor

10 11 12, 53 13 14 15 16 Upper motor speed sensor on motor torque control means motor control part motor speed controller motor torque current limiter motor current controller motor T motor speed sensor lower motor torque Control means on the light vehicle system under the roller system 319808 18 200924372 17 Upper motor speed reference portion 18 Lower motor speed reference portion 19 Upper and lower shaft system imbalance correction portion 20, 60 Rolled material 21 Upper roller drive system 22 Lower roller drive system 30 Load balance calculation unit 30a Load balance calculation limiter 30b Load balance calculation rate 30c Proportional control 50 Upper calender roll 52 Lower calender roll 58, 59 Main shaft 54, 55, 56, 57 Universal joint -61, 62 Support roll 63 Joint portion 19 319808

Claims (1)

200924372 Patent application scope: It is used for the driving device of the above-mentioned electric motor and the above-mentioned upper motor or the pressing type rolling motor which is close to the side of the rolling material, and the lower motor drives the upper and lower calendering rolls, and one of the electric motors is arranged to be longer than the other one. The upper motor control unit for controlling the upper motor is controlled by the fish: The inconsistency of the propagation torque transmitted by the upper and lower calender rolls 2. The up-and-down axis system imbalance correction unit that corrects the correction. The above-mentioned upper motor control unit is configured to have a motor speed controller that sets the actual speed of the upper motor and the upper motor catching reference as described above. Motivating torque reference, the above-mentioned power-on motor torque control means is obtained, and the upper motor is controlled so that the upper motor 眚, #库淑, +, the motor's force, the motor speed, and the upper motor speed reference The deviation becomes zero; and the lower motor control unit is configured to have the lower motor speed control crying μ + and the lower motor speed base:: bias = lower = machine speed and motivation torque reference Obtaining the above-mentioned lower electric moment :: the two-machine torque control means 'controlling the torque of the lower motor 俾, so that the deviation between the real speed and the force of the lower motor becomes zero; (4) the machine speed reference 319808 20 200924372 and correcting the above-mentioned upper and lower shaft system imbalance The unit is provided in the front stage of the upper motor control unit and the lower motor control unit. There are two pairs of strengths. 3. = Please patent scope! In the driving device of the M rolling roller motor, the upper motor control unit is configured to have a motor speed controller, and the deviation of the upper motor real speed bauxite 2 motor speed reference is obtained. The above upper motor torque reference; and the electric moment 俥:? The motive torque control means controls the torque of the upper motor to cause the deviation of the upper motor real speed to become m & the upper motor control reference comprises the lower motor control unit having: a lower motor speed controller, the lower motor The real speed disk = the motor torque reference deviation input, and the motor torque reference is obtained; and the electric torque machine torque control means, the deviation of the force of the lower motor is controlled to become the sub-zero motor real speed and the lower motor speed reference snow also? The vertical axis system imbalance correcting unit is provided in the speed control circuit of any one or both of the upper motor control unit disk j φ b and the upper and lower motor control units. 4. If you are applying for the patent range, drive::! : The axis motor of the item is equipped with a load balancing calculation unit, which is based on the torque current reference calculation of the upper motor and the lower motor, and the imbalance compensation of 319808 21 200924372 - #),,,, The torque current reference is used to suppress the load imbalance of the upper and lower motors; the Hit load balance calculation unit is provided in the front stage of the vertical axis balance correction unit. ",, not 5. If the application of the patent scope of the drive device, the item of the item - the rolling light motor is good, ', ' 'The above-mentioned upper and lower shaft system imbalance correction department is broadcasted in the way of Wu The motor is applied to the above-mentioned upper dust roller seat 曰 (10) to take the physical parameters of the shaft 糸 system and the elastic _ mass system from the lower motor to the lower calender roller system, and the inconsistency of the propagation torque of the lower one is transmitted. 6. :: Please = the driving device of the rolling roller motor of the fourth item, i. The self-unbalanced correction part is used to simulate the upper light shaft system formed by the square machine to the above-mentioned Shangliyan roller, first and fore The above-mentioned lower motor to the lower roller system of the magazine 詈 詈 锑 amp amp amp 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 凊 凊 凊 凊 凊 凊 凊 凊 凊 凊 凊 凊 凊 凊 凊 凊 凊 凊 凊 凊The fifth item of the scope is light and light, and the above-mentioned upper and lower H drive devices are simulated in the same way. The quality system is the 2 mass point system. The above-mentioned system is the above-mentioned elastic yellow - :: Please ask for the patent range of the 6th. : In the second mode, the above-mentioned up and down (10)" system is used to set up the system. 2, ping _ 319808 22 8.