TW201709993A - Temperature control device for rolled material - Google Patents

Abstract

There is provided a temperature control device (11) for a rolled material (7) capable of reducing impacts of a model error value in a short time. The temperature control device (11) for a rolled material (7) includes: a controller (12) that uses a deviation between a target value and a feedback value of a temperature of the rolled material (7) as an input to calculate a control amount for a cooling device (5); a first feedback unit (13) that uses a temperature model (13a) including no dead time to calculate a predicted value of the temperature of the rolled material (7) based on the control amount, and feeds back the predicted value; and a second feedback unit (14) that uses a dead time model (14a) to calculate a value with a phase delayed by the dead time with respect to the predicted value of the temperature of the rolled material (7), calculates a deviation between a measured value of the temperature of the rolled material (7) and the value with the phase delayed by the dead time with respect to the predicted value of the temperature of the rolled material (7), and feeds back a value of the deviation having passed through a low pass filter (14b).

Description

Rolling and rolling material temperature control device

The present invention relates to a temperature control device for rolled and rolled materials.

Patent Document 1 discloses a temperature control device for a rolled product. The temperature control device controls the temperature of the rolled web using a control model. The temperature control device corrects the control model on-line when the actual control amount is stable. As a result, the influence of the model error value can be suppressed.

(previous technical literature) (Patent Literature)

Patent Document 1: Japanese Patent Publication No. 2011-008437

However, in the content described in Patent Document 1, the control model is not corrected when the actual control amount is not stabilized. Therefore, it takes much time until the influence of the error of the control model is suppressed.

The present invention has been made to solve the above problems. The object of the present invention is to provide a shadow that can suppress the model error value in a short time. The temperature control device of the rolling and rolling material.

The temperature control device for the rolled product of the present invention includes a controller that is disposed by the cooling device cooled by a cooling device disposed between the rolling mill and the winding machine of the hot rolling line. a deviation between a target value and a feedback value of the temperature of the rolled material at the time of the thermometer between the cooling device and the winding machine is input as an input, and a control amount for the cooling device is calculated; the first feedback portion is based on The control amount calculated by the controller uses a temperature model that does not include an invalid time, and calculates a predicted value of the temperature of the rolled material when the rolled material cooled by the cooling device reaches the thermometer, and The predicted value is fed back as part of the feedback value; and the second feedback unit calculates the predicted value of the temperature of the rolled material calculated by the first feedback unit using the invalid time model to delay the phase up to The value corresponding to the amount of the ineffective time is calculated, and the measured value of the temperature of the rolled material obtained by the thermometer and the predicted value of the temperature of the rolled product calculated by the first feedback unit are calculated. The phase delay reaches a deviation corresponding to the value after the amount of invalid time, and the value obtained by passing the deviation through the low-pass filter is fed back as another part of the feedback value.

The temperature control device for the rolled product of the present invention comprises: a controller that reaches the rolled material cooled by a cooling device disposed between a plurality of rolling stands of a finishing rolling mill of a hot rolling line And a deviation between a target value of the temperature of the rolled material and a feedback value when the thermometer on the exit side of the finishing rolling mill is provided as an input, and a control amount for the cooling device is calculated; the first feedback unit is Calculated according to the controller The control amount is calculated using a temperature model that does not include the ineffective time, and the predicted value of the temperature of the rolled product when the rolled material cooled by the cooling device reaches the thermometer is calculated, and the predicted value is used as the And the second feedback unit calculates the predicted value of the temperature of the rolled material calculated by the first feedback unit by using the invalid time model to make the phase delay equal to the invalid time. The measured value of the rolled product obtained by the thermometer and the predicted value of the temperature of the rolled product calculated by the first feedback unit are delayed by a factor corresponding to the invalid time. The deviation of the value after the amount, and the value obtained by passing the deviation through the low-pass filter as another part of the aforementioned feedback value is fed back.

The temperature control device for the rolled product of the present invention, the plurality of controllers, when the rolled material cooled by the plurality of cooling devices reaches the thermometer disposed on the exit side of the finishing rolling mill of the hot rolling line The deviation between the target value of the temperature of the rolled material and the feedback value is input as an input, and the control amount for each of the plurality of cooling devices is calculated, wherein the plurality of cooling devices are respectively disposed in relation to the finishing a plurality of rolling stages of the rolling mill are adjacent to each other; and the plurality of first feedback units use a temperature model that does not include an invalid time based on a control amount calculated by each of the plurality of controllers. And calculating a predicted value of the temperature of the rolled material when the rolled material cooled by the plurality of cooling devices reaches the thermometer, and using the predicted value as a feedback value corresponding to each of the plurality of controllers Part of the feedback is performed; and the plurality of second feedback units use an invalid time model corresponding to each of the plurality of cooling devices Calculating a value obtained by predicting the temperature of the rolled material calculated by each of the plurality of first feedback units so that the phase delay is equal to the amount of invalid time corresponding to each of the plurality of cooling devices And calculating a measured value of the temperature of the rolled material obtained by the thermometer and a predicted value of the temperature of the rolled product calculated by each of the plurality of first feedback parts, and the phase delay is equivalent to the foregoing a deviation of a value after the amount of invalid time corresponding to each of the plurality of cooling devices, and a value obtained by passing the deviation through the low-pass filter as a feedback value corresponding to each of the plurality of controllers Part of it to give back.

According to the above inventions, the model error value is fed back to the controller in a range in which it is difficult to become unstable low frequency. Therefore, it is possible to eliminate a fixed deviation of the measured value of the temperature of the rolled web from the target value of the temperature of the rolled web in the low frequency range. As a result, the influence of the model error value can be suppressed in a short time.

1‧‧‧heating furnace

2‧‧‧Rough rolling extension

3‧‧‧Induction heating device

4‧‧‧Finishing rolling mill

4a‧‧‧ rolling table

5‧‧‧Cooling device

5a‧‧‧1st water injection equipment

5b‧‧‧2nd water injection equipment

6‧‧‧Winding machine

7‧‧‧Rolling material

8‧‧‧Speed detector

9‧‧‧Complete thermometer

10‧‧‧ Winding thermometer

11‧‧‧ Temperature control device

12‧‧‧PI controller

13‧‧‧1st Reward Department

13a‧‧‧Temperature model

14‧‧‧2nd Retribution Department

14a‧‧‧ Invalid time model

14b‧‧‧Low-pass filter

15‧‧‧1st block

16‧‧‧2nd block

17‧‧‧3rd block

18‧‧‧4th block

19a‧‧‧ Processor

19b‧‧‧ memory

20‧‧‧ Hardware

21‧‧‧Complete the entrance side thermometer

22‧‧‧Finished export side thermometer

23a to 23f‧‧‧Cooling device

24‧‧‧5th block

25‧‧‧6th square

26‧‧‧7th block

27‧‧‧8th block

Fig. 1 is a configuration diagram of a hot rolling line to which a temperature control device for a rolled material according to Embodiment 1 of the present invention is applied.

Fig. 2 is a view showing the configuration of an important part of a hot rolling pass of a temperature control device for a rolled product according to a first embodiment of the present invention.

Fig. 3 is a block diagram showing the feedback control by the temperature control device of the rolled product according to the first embodiment of the present invention.

Figure 4 is a view showing the temperature of the rolled product according to Embodiment 1 of the present invention. A diagram of the simulation results of the control performed by the degree control device.

Fig. 5 is a view showing the hardware configuration of the temperature control device for rolled products according to the first embodiment of the present invention.

Fig. 6 is a block diagram showing the feedback control by the temperature control device of the rolled material according to the second embodiment of the present invention.

Fig. 7 is a view showing the configuration of an important part of a hot rolling pass of a temperature control device for a rolled product according to a third embodiment of the present invention.

Fig. 8 is a block diagram showing the feedback control by the temperature control device of the rolled product according to the third embodiment of the present invention.

Fig. 9 is a block diagram showing the feedback control by the temperature control device of the rolled product according to the fourth embodiment of the present invention.

Hereinafter, the form for carrying out the invention will be described in accordance with the accompanying drawings. In addition, in the respective drawings, the same symbols are assigned to the same or equivalent parts. The repeated description of this part is simplified or omitted as appropriate.

Embodiment 1

Fig. 1 is a configuration diagram of a hot rolling line to which a temperature control device for a rolled material according to a first embodiment of the present invention is applied.

In Fig. 1, the heating furnace 1 is placed on the inlet side of the hot rolling pass. The rough rolling extension 2 is disposed on the outlet side of the heating furnace 1. The induction heating device 3 is disposed on the outlet side of the rough rolling mill 2. The finishing rolling mill 4 is disposed on the outlet side of the induction heating device 3. The finishing rolling mill 4 has a plurality of stands 4a. For example, the finishing rolling mill 4 has 5 to 7 rolling stands 4a. The finishing rolling mill 4 of Fig. 1 has six rolling stands 4a. The cooling device 5 is disposed on the outlet side of the finishing rolling mill 4. The winder 6 is disposed on the outlet side of the cooling device 5.

The rolled web 7 is placed inside the heating stage 1. Then, the rolled material 7 is heated by the heating furnace 1. Then, the rolled material 7 is taken out from the heating furnace 1. Then, the rolled web 7 is rolled by the rough rolling mill 2. Then, the end portion of the rolled web 7 is heated by the induction heating device 3. Then, the rolled material 7 is rolled by the respective rolling stands 4a of the finishing rolling mill 4. Then, the rolled web 7 is cooled by the cooling device 5. Then, the rolled material 7 is wound by the winder 6.

Next, an important part of the hot rolling pass will be described using FIG. Fig. 2 is a view showing the configuration of an important part of a hot rolling pass of a temperature control device for a rolled product according to a first embodiment of the present invention.

In Fig. 2, the speed detector 8 is provided corresponding to the rolling stand 4a closest to the outlet side of the finishing rolling mill 4. The completion thermometer 9 is disposed between the rolling stand 4a closest to the outlet side in the finishing rolling mill 4 and the cooling device 5. The completion thermometer 9 is disposed on the outlet side of the rolling stand 4a closest to the outlet side in the finishing rolling mill 4. The winding thermometer 10 is disposed between the cooling device 5 and the winder 6. The winding thermometer 10 is provided on the inlet side of the winder 6.

The cooling device 5 includes a first water injection device 5a and a second water injection device 5b. The first water injection device 5a is disposed on the inlet side of the cooling device 5. The second water injection device 5b is disposed on the outlet side of the cooling device 5.

Input portion of temperature control device 11 and speed detector 8 The output unit is connected to the output unit of the completion thermometer 9 and the output unit of the winding thermometer 10. An output unit of the temperature control device 11 is connected to an input unit of the first water injection device 5a and an input unit of the second water injection device 5b.

The speed detector 8 detects the rotational speed ω _f (rad/s) of the rolling stand 4a closest to the outlet side in the finishing rolling mill 4. The completion thermometer 9 measures the completion temperature _Tf (° C.) of the rolled web 7 on the exit side of the rolling stand 4a closest to the outlet side in the finishing rolling mill 4. The winding thermometer 10 measures the winding temperature T _c (° C.) of the rolled web 7 on the inlet side of the winder 6.

The temperature control device 11 is rolled according to the rotational speed ω _f of the rolling stand 4a closest to the outlet side in the finishing rolling mill 4 and the exit side of the rolling stand 4a closest to the outlet side in the finishing rolling mill 4. The water injection amount required for the first water injection device 5a is calculated by the completion temperature _Tf of the elongated material 7. The temperature control device 11 performs feedforward control of the water injection valve of the first water injection device 5a by outputting a signal V _FWD corresponding to the amount of water injection required by the first water injection device 5a.

The temperature control device 11 calculates the second water injection based on the deviation between the target value T _target (° C) of the winding temperature of the rolled material 7 and the winding temperature T _c of the rolled material 7 on the inlet side of the winder 6 . The amount of water required for the device 5b. The temperature control device 11 performs feedback control on the water injection valve of the second water injection device 5b by outputting a signal V _FBK corresponding to the amount of water required for the second water injection device 5b.

Next, the feedback control by the temperature control device 11 will be described using FIG.

Figure 3 is a view showing the temperature of the rolled product according to Embodiment 1 of the present invention. A block diagram of the feedback control performed by the degree control device.

As shown in FIG. 3, the temperature control device 11 includes a PI controller 12, a first feedback unit 13, and a second feedback unit 14.

The transfer function of the PI controller 12 is represented by C _FBK . The first feedback unit 13 is provided with a temperature model 13a that does not include an invalid time. The second feedback unit 14 includes an invalid time model 14a and a low pass filter 14b. The transfer function of the invalid time model 14a is represented by the predicted value T' _ALL of the comprehensive invalid time and the Laplace operator s. The transfer function of the low pass filter 14b is represented by LPF.

The first block 15 indicates the response of the water injection valve of the second water injection device 5b. The transfer function of the first block 15 is expressed by the control delay T _SC (s) of the operation of the water injection valve of the second water injection device 5b, the time constant T _S (s) of the water injection valve, and the Laplace operator s. The second block 16 represents the cooling process. The second transfer function block 16 of the cooling system by the gain of the processing (gain) K _p, the cooling process time constant T _p (s) and the Laplace operator s of FIG. Block 3 represents the invalid time caused by the transfer delay. The transfer function of the third block 17 is represented by the invalid time T _t (s) caused by the transfer delay and the Laplacian operator s. The fourth block 18 represents the response of the winding thermometer 10. The fourth block 18 is expressed by the winding temperature T _c (s) of the rolled material 7 measured by the winding thermometer 10 and the Laplace operator s.

In the temperature control device 11, the PI controller 12 calculates the amount of control for the cooling device 5 by taking the deviation of the target value _Ttarget of the temperature of the rolled material 7 and the feedback value as an input. For example, the PI controller 12 calculates the required water injection amount of the second water injection device 5b by taking the deviation between the target value _Ttarget of the temperature of the rolled material 7 and the feedback value as an input. The signal V _FBK corresponding to the amount of water required for the second water injection device 5b passes through the first block 15 and the second block 16. As a result, the falling temperature T _D ^FBK (° C.) of the rolled web 7 can be obtained.

The falling temperature T _D ^{FBK of the} rolled material 7 is added to the falling temperature T _D ^FWD (°C) of the rolled material 7 caused by the first water injection device. The falling temperature T _D ^FWD of the rolled web 7 and the falling temperature T _D ^FBK of the rolled web 7 are added to the finished temperature T _{f of the} rolled web 7. As a result, the temperature of the rolled material 7 is (T _f + T _D ^FWD + T _D ^FBK ). The temperature (T _f + T _D ^FWD + T _D ^FBK ) of the rolled web 7 passes through the third block 17 and the fourth block 18. As a result, the winding temperature T _C of the rolled material 7 can be obtained.

The first feedback unit 13 calculates the temperature of the rolled material 7 when the rolled material 7 cooled by the cooling device 5 reaches the winding thermometer 10 by the temperature model 13a based on the control amount calculated by the PI controller 12. The predicted value. For example, the first feedback unit 13 calculates the predicted value T' _C of the temperature of the rolled material 7 based on the signal V _FBK corresponding to the amount of water required to be injected by the second water injection device 5b. The first feedback unit 13 returns the predicted value T' _C of the temperature of the rolled material 7 as a part of the feedback value. As a result, the responsiveness of the temperature control device 11 is determined.

The second feedback unit 14 calculates the value of the predicted value T' _C for the temperature of the rolled material 7 calculated by the first feedback unit 13 by the invalid time model 14a so that the phase is delayed by the amount corresponding to the invalid time. The second feedback unit 14 calculates the winding temperature T _{C of the} rolled material 7 measured by the winding thermometer 10 and the predicted value T' _C of the temperature of the rolled material 7 calculated by the first feedback unit 13 . The phase delay is delayed by a value equivalent to the amount of invalid time. The second feedback unit 14 returns the value obtained by passing the deviation through the low-pass filter 14b as another part of the feedback value.

Next, the simulation result of the control performed by the temperature control device 11 will be described using FIG.

Fig. 4 is a view showing simulation results of control by the temperature control device of the rolled material according to the first embodiment of the present invention. The horizontal axis of Fig. 4 represents time. The vertical axis of Fig. 4 indicates the temperature.

Regarding the simulation, the completion temperature T _f is set to 900 (° C.). The control delay T _SC of the operation of the water injection valve of the second water injection device 5b is set to 1.5 (s). The time constant T _S of the water injection valve of the second water injection device 5b is set to 0.5 (s). The time constant T _P of the cooling process is set to 2 (s). The falling temperature T _D ^FWD of the rolled material 7 caused by the first water injection device 5a is set at 100 (° C.). The invalid time T _t caused by the transfer delay is set to 3 (s).

Regarding the invalid time model 14a, the predicted value T' _SC of the control delay in the operation of the water injection valve of the second water injection device 5b is set to 0.5 (S). The estimated time constant of the fill valve of the second water injection device 5b value T _'S system is set to 0.3 (S). The estimated value T' _P of the time constant of the cooling process is set at 1.5 (S). The estimated value T' _D ^FWD of the falling temperature of the rolled material 7 caused by the first water injection device 5a is set to 200 (S). The invalid time T' _t caused by the transfer delay is set to 2.4 (s).

Regarding the low-pass filter 14b, the cut-off frequency is set to 0.12 (rad/s).

In Fig. 4, the target value T _target of the temperature of the rolled web 7 is set to 600 (°C). As shown in Fig. 4, no undershoot occurs in the winding temperature T _{C of the} rolled web 7. Therefore, the winding temperature T _C of the rolled web 7 is stable and correctly follows the target value T _target .

According to the first embodiment described above, the model error value is fed back to the PI controller 12 in a range of low frequencies that are less likely to become unstable. Therefore, in the range of the low frequency, the fixed deviation between the winding temperature T _C of the rolled material 7 and the target value T _target of the temperature of the rolled material 7 can be eliminated. As a result, stable responsiveness can be maintained and the influence of the model error value can be suppressed in a short time.

Further, in the second feedback unit 14, the initial value of the cutoff frequency of the low-pass filter 14b may be set to 0 (rad/s), and the low-pass filter 14b may be adjusted after the temperature control of the rolled material 7 is started. Cut-off frequency.

For example, it is determined that a fixed deviation occurs from a time point when the rate of change of the winding temperature T _C of the rolled material 7 reaches a predetermined threshold value, and the value of the cutoff frequency of the low-pass filter 14b is continuously increased from 0. Just fine. Then, the change in the cutoff frequency may be completed at a time point when the fixed deviation becomes smaller than a predetermined value.

For example, the value of the cutoff frequency of the low-pass filter 14b is continuously from 0 from the time point when the deviation between the winding temperature T _{C of the} rolled material 7 and the target value T _target is smaller than a preset threshold value. The ground can be improved. Then, the change in the cutoff frequency may be completed at a time point when the fixed deviation becomes smaller than a predetermined value.

Next, an example of the temperature control device 11 will be described in Fig. 5.

Figure 5 is a temperature control device for rolling and rolling stock according to Embodiment 1 of the present invention. The hard body constitutes a picture.

The functions of the temperature control device 11 can be realized by a processing circuit. For example, the processing circuit includes at least one processor 19a and at least one memory 19b. For example, the processing circuit is provided with at least one dedicated hardware 20.

When the processing circuit includes at least one processor 19a and at least one memory 19b, each function of the temperature control device 11 can be realized by a combination of software, firmware, or a combination of a soft body and a firmware. At least one of the software and the firmware is described in the form of a program. At least one of the soft body and the firmware is stored in at least one memory 19b. At least one processor 19a realizes each function of the temperature control device 11 by reading and executing a program stored in at least one of the memories 19b. At least one processor 19a is also referred to as a CPU (Central Processing Unit), a central processing unit, a processing device, a calculation device, a microprocessor, a microcomputer, and a DSP. For example, at least one memory 19b is a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, or an EPROM (Erasable Programmable Read Only Memory). Non-volatile or volatile semiconductor memory such as EEPROM (Electrically-Erasable Programmable Read-Only Memory), disk, floppy disk, CD-ROM, compression Compact disc, mini disc, DVD (Digital Versatile Disc), etc.

When the processing circuit includes at least one dedicated hardware 20, the processing circuit is, for example, a single circuit, a composite circuit, a programmed processor, and A programmatic processor, an ASIC (Application-specific integrated circ), an FPGA (Field-programmable gate array), or a combination thereof. For example, each function of the temperature control device 11 can be realized by a processing circuit. For example, the functions of the temperature control device 11 can be integrated to implement the circuit.

For each function of the temperature control device 11, a dedicated hardware 20 can be used to implement some of its functions, and software can be used to implement other functions. For example, the function of the PI controller 12 may be implemented as a processing circuit of the dedicated hardware 20, and functions other than the PI controller 12 may be read by at least one processor 19a and stored in at least one memory 19b. The way the program is implemented.

As described above, the processing circuit implements the functions of the temperature control device 11 in accordance with the hardware 20, the software, the firmware, or a combination thereof.

Embodiment 2

Fig. 6 is a block diagram showing the feedback control by the temperature control device of the rolled material according to the second embodiment of the present invention. In addition, the same or equivalent parts as those of the first embodiment are denoted by the same reference numerals. The description of this part is omitted.

In the second embodiment, the first feedback unit 13 corrects the temperature model 13a based on the value passed through the low-pass filter 14b. The second feedback unit 14 corrects the invalid time model 14a based on the value passed through the low-pass filter 14b.

According to the second embodiment described above, the temperature model 13a and the invalid time model 14a are corrected based on the value passed through the low-pass filter 14b. Therefore, it is possible to stably perform the correction temperature in a manner that does not change drastically. Degree model 13a and invalid time model 14a.

Embodiment 3

Fig. 7 is a view showing the configuration of an important part of a hot rolling pass of a temperature control device for a rolled product according to a third embodiment of the present invention. In addition, the same or equivalent parts as those of the first embodiment are denoted by the same reference numerals. The description of this part is omitted.

In Fig. 7, the completion inlet side thermometer 21 is provided on the inlet side of the finishing rolling mill 4. The finishing outlet side thermometer 22 is provided on the outlet side of the finishing rolling mill 4.

A plurality of cooling devices 23a to 23f are disposed between adjacent rolling stations 4a. A plurality of cooling devices 23a to 23f are sequentially arranged from the inlet side of the cooling device 23.

The input unit of the temperature control device 11 is connected to the output unit that completes the inlet side thermometer 21 and the output unit of the finishing outlet side thermometer 22. The output unit of the temperature control device 11 is connected to the input unit of the cooling device 23a, the input unit of the cooling device 23b, the input unit of the cooling device 23c, the input unit of the cooling device 23d, the input unit of the cooling device 23e, and the input unit of the cooling device 23f. .

The completion inlet side thermometer 21 measures the temperature T _e (° C.) of the rolled web 7 on the inlet side of the finishing rolling mill 41. The finishing outlet side thermometer 22 measures the temperature T _f (° C.) of the rolled material 7 on the output port side of the finishing rolling mill 4 .

The temperature control device 11 calculates the water injection amount required for the cooling device 23a and the water injection amount required for the cooling device 23b based on the completion temperature T _e of the rolled material 7 on the inlet side of the finishing rolling mill 4. The temperature control device 11 performs feedforward control of the water injection valve of the cooling device 23a by outputting a signal V _ISC1 corresponding to the amount of water injection required by the cooling device 23a. The temperature control device 11 performs feedforward control of the water injection valve of the cooling device 23b by outputting a signal V _ISC2 corresponding to the amount of water injection required by the cooling device 23b. The temperature control device 11 performs feedforward control of the water injection valve of the cooling device 23c by outputting a signal V _ISC3 corresponding to the amount of water injection required by the cooling device 23c.

The temperature control device 11 calculates the amount of water required for the cooling device 23d and the amount of water required for the cooling device 23f based on the temperature of the rolled material 7 on the outlet side of the finishing rolling mill 4. The temperature control device 11 performs feedback control of the water injection valve of the cooling device 23d by outputting a signal V _ISC4 corresponding to the amount of water injection required by the cooling device 23d. The temperature control device 11 performs feedback control of the water injection valve of the cooling device 23e by outputting a signal V _ISC5 corresponding to the amount of water injection required by the cooling device 23e. The temperature control device 11 performs feedback control of the water injection valve of the cooling device 23f by outputting a signal V _ISC6 corresponding to the amount of water injection required by the cooling device 23f.

Next, the feedback control performed by the temperature control device 11 will be described using FIG.

Fig. 8 is a block diagram showing the feedback control by the temperature control device of the rolled product according to the third embodiment of the present invention.

The distance from the cooling device 23d, the distance from the cooling device 23e, and the distance from the cooling device 23f are different from each other with respect to the finishing outlet side thermometer 22. Therefore, in the cooling device 23d, cold However, the device 23e and the cooling device 23f have different ineffective times due to the transfer delay.

In response to this, the temperature control device 11 includes a plurality of PI controllers 12, a plurality of first feedback units 13, and a plurality of second feedback units 14. For example, the PI controller 12, the first feedback unit 13, and the second feedback unit 14 of the first group are provided corresponding to the cooling device 23d. For example, the PI controller 12, the first feedback unit 13, and the second feedback unit 14 of the second group are provided corresponding to the cooling device 23e. For example, the PI controller 12, the first feedback unit 13, and the second feedback unit 14 of the third group are provided corresponding to the cooling device 23f.

Each of the plurality of PI controllers 12 reaches the target value T _target and the feedback of the temperature of the rolled material 7 at the time of finishing the exit side thermometer 22 by the rolling stock 7 cooled by the plurality of cooling devices 23a to 23f. The deviation between the values is used as an input, and the amount of control for the corresponding cooling device is calculated.

Each of the plurality of first feedback units 13 is cooled by a plurality of cooling devices 23a to 23f based on the control amount calculated by each of the plurality of PI controllers 12 and using the temperature model 13a that does not include the invalid time. The predicted value of the temperature of the rolled material 7 when the rolled web 7 reaches the finishing exit side thermometer 22. Each of the plurality of first feedback units 13 feeds the predicted value as a part of the feedback value corresponding to each of the plurality of PI controllers 12.

Each of the plurality of second feedback units 14 uses the invalid time model 14a to calculate a predicted value of the temperature of the rolled material 7 calculated by each of the plurality of first feedback units 13 so that the phase delay is equivalent to versus The value of the amount of invalid time corresponding to each of the plurality of cooling devices 23a to 23f. Each of the plurality of second feedback units 14 calculates a measured value of the temperature of the rolled material 7 measured by the finishing exit side thermometer 22, and the rolling calculated for each of the plurality of first feedback units 13. The predicted value of the temperature of the elongated material 7 causes the phase delay to be a deviation from the value corresponding to the amount of invalid time corresponding to each of the plurality of cooling devices 23a to 23f. Each of the plurality of second feedback units 14 returns the value obtained by passing the deviation through the low-pass filter 14b as another part of the feedback value corresponding to each of the plurality of PI controllers 12.

FIG. 8 shows the PI controller 12, the first feedback unit 13, and the second feedback unit 14 corresponding to the cooling device 23. The transfer function of the PI controller 12 is denoted by C _ISC6 .

Block 5 represents the response of the water injection valve of the cooling device 23f. The transfer function of the fifth block 24 is expressed by the control delay T _SC (s) in the operation of the water injection valve of the cooling device 23f, the time constant T _S (s) of the water injection valve, and the Laplace operator s. Block 6 represents the cooling process. The transfer function of the sixth block 25 is represented by the gain K _P of the cooling process, the time constant T _P (s) of the cooling process, and the Laplacian operator s. Block 7 26 represents the invalid time due to the transfer delay. The transfer function of the seventh block 26 is represented by the invalid time T _ISC6 (s) and the Laplacian operator s due to the transfer delay. Block 8 represents the response of the finishing exit side thermometer 22. The fourth block 18 is represented by the temperature T _f of the rolled material 7 measured by the finishing outlet side thermometer 22 and the Laplacian operator s.

In the temperature control device 11, the PI controller 12 calculates the required water injection amount V _{ISC6 of the} cooling device 23f by taking the deviation between the target value T _target of the temperature of the rolled material 7 and the feedback value as an input. The signal V _ISC6 corresponding to the required water injection amount V _{ISC6 of the} arithmetic cooling device 23f passes through the fifth block 24 and the sixth block 25. As a result, the falling temperature T _P ^ISC6 (°C) of the rolled material 7 can be obtained.

The falling temperature T _D ^ISC6 of the rolled web 7 is added to the falling temperature T _D ^ICS1-5 (°C) of the rolled web 7 produced by the cooling devices 23a to 23e. The falling temperature T _D ^ICS1-5 of the rolled web 7 and the falling temperature T _D ^ICS6 of the rolled web 7 are added to the temperature T _e of the rolled web 7 on the inlet side of the finishing rolling mill 4. As a result, the temperature of the rolled material 7 becomes (T _e + T _D ^ICS1-5 + T _D ^ICS6 ). The temperature of the rolled web 7 (T _e + T _D ^ICS1-5 + T _D ^ICS6 ) passes through the seventh block 26 and the eighth block 27. As a result, the temperature _Tf of the rolled material 7 on the exit side of the finishing rolling mill 4 can be obtained.

The first feedback unit 13 calculates the predicted value T' _f of the temperature of the rolled material 7 based on the signal V _ISC6 corresponding to the required water injection amount of the cooling device 23a. The first feedback portion 13 of the predicted temperature value and rolling the sheet 7 T _'f as part of the feedback value to perform feedback. As a result, the responsiveness of the temperature control device 11 is determined.

The second feedback unit 14 calculates the value obtained by the predicted value T' _f of the temperature of the rolled material 7 calculated by the first feedback unit 13 by the invalid time model 14a so that the phase is delayed by the amount corresponding to the invalid time. The second feedback unit 14 calculates the temperature T _f of the rolled material 7 measured by the finishing outlet side thermometer 22 and the predicted value T′ of the temperature of the rolled material 7 calculated by the first feedback unit 13 . _f causes the phase delay to be a deviation from the value after the amount of invalid time. The second feedback unit 14 returns the value obtained by passing the deviation through the low-pass filter 14b as another part of the feedback value.

According to the third embodiment described above, the model error value is fed back to the PI controller 12 in a range of low frequencies that are less likely to become unstable. Therefore, in the range of the low frequency, the fixed deviation between the temperature T _f of the rolled material 7 and the target value T _target of the temperature of the rolled material 7 can be eliminated. As a result, stable responsiveness can be maintained and the influence of the model error value can be suppressed in a short time.

Further, in the second feedback unit 14, the initial value of the cutoff frequency of the low-pass filter 14b may be set to 0 (rad/s), and the low-pass filter 14b may be adjusted after the temperature control of the rolled material 7 is started. Cut-off frequency.

For example, it is determined that a fixed deviation occurs when the rate of change of the temperature T _f of the rolled material 7 reaches a predetermined threshold or less, and the value of the cutoff frequency of the low-pass filter 14b is continuously increased from 0. . Then, the change in the cutoff frequency may be completed at a time point when the fixed deviation becomes smaller than a predetermined value.

For example, the value of the cutoff frequency of the low-pass filter 14b is continuously increased from 0 from the time point when the deviation between the temperature _{Tf of the} rolled material 7 and the target value _Ttarget is smaller than a predetermined threshold value. Just fine. Then, the change in the cutoff frequency may be completed at a time point when the fixed deviation becomes smaller than a predetermined value.

When the deviation between the temperature T _{f of the} rolled material 7 and the target value T _target is smaller than a predetermined threshold value, the low-pass filter 14a of the second feedback portion 14 corresponding to the cooling device on the outlet side is used. It is sufficient to increase the cutoff frequency preferentially. For example, when the cutoff frequency of the low-pass filter 14b of the cooling device 23f reaches a predetermined frequency, and the deviation between the temperature _{Tf of the} rolled material 7 and the target value _Ttarget remains, the cutoff frequency of the cooling device 23e is set. Improve it.

Embodiment 4

Fig. 9 is a block diagram showing the feedback control by the temperature control device 11 of the rolled web 7 according to the fourth embodiment of the present invention. In addition, the same or equivalent parts as those of the third embodiment are denoted by the same reference numerals. The description of this part is omitted.

In the fourth embodiment, each of the first feedback units 13 corrects the corresponding temperature model 13a in accordance with the value passed through the corresponding low-pass filter 14b. Each of the second feedback units 14 corrects the corresponding invalid time model 14a in accordance with the value passed through the corresponding low-pass filter 14b.

According to the fourth embodiment described above, the temperature model 13a and the invalid time model 14a are corrected in accordance with the value passed through the low-pass filter 14b. Therefore, the corrected temperature model 13a and the invalid time model 14a can be stably performed in such a manner that they do not change abruptly.

Further, the PI controller, the first feedback unit, and the second feedback unit similar to the PI controller 12, the first feedback unit 13, and the second feedback unit 14 of the third embodiment and the fourth embodiment may be applied to one cooling. Device. In this case, stable responsiveness can also be maintained and the influence of the model error value can be suppressed in a short time.

(industrial availability)

As described above, the temperature control device for the rolled product of the present invention can be utilized in a system that suppresses the influence of the model error value in a short time.

11‧‧‧ Temperature control device

12‧‧‧PI controller

13‧‧‧1st Reward Department

13a‧‧‧Temperature model

14‧‧‧2nd Retribution Department

14a‧‧‧ Invalid time model

14b‧‧‧Low-pass filter

15‧‧‧1st block

16‧‧‧2nd block

17‧‧‧3rd block

18‧‧‧4th block

Claims (12)

A temperature control device for a rolled product, comprising: a controller for reaching a cooling device that is cooled by a cooling device disposed between a rolling mill and a winder of a hot rolling line; And a deviation between a target value and a feedback value of the temperature of the rolled product at the time of the thermometer between the winding machine as an input, and calculating a control amount for the cooling device; the first feedback portion is controlled by the foregoing The control amount calculated by the device uses a temperature model that does not include the invalid time, and calculates a predicted value of the temperature of the rolled material when the rolled material cooled by the cooling device reaches the thermometer, and predicts the temperature The value is fed back as a part of the feedback value; and the second feedback unit calculates the predicted value of the temperature of the rolled material calculated by the first feedback unit using the invalid time model to make the phase delay equal to a value obtained by the amount of the ineffective time, and a measured value of the temperature of the rolled material obtained by the thermometer and a predicted value of the temperature of the rolled product calculated by the first feedback unit The delay is equal to the deviation of the value corresponding to the amount of invalid time, and the value obtained by passing the deviation through the low-pass filter is used as another part of the feedback value. The temperature control device for rolled products according to claim 1, wherein the target value of the temperature of the rolled material at the time when the rolled material reaches the thermometer and the temperature of the rolled product obtained by the thermometer When the fixed deviation occurs between the measured values, the second feedback unit is improved. The cutoff frequency of the aforementioned low pass filter. The temperature control device for rolled products according to claim 1, wherein the target value of the temperature of the rolled material at the time when the rolled material reaches the thermometer and the temperature of the rolled product obtained by the thermometer The second feedback unit increases the cutoff frequency of the low-pass filter when the deviation between the measured values becomes smaller than a predetermined threshold. The temperature control device for a rolled material according to any one of the first to third aspect, wherein the first feedback unit corrects the temperature model based on a value obtained by passing through the low-pass filter. The second feedback unit corrects the invalid time model based on a value obtained by passing through the low pass filter. A temperature control device for a rolled product, comprising: a controller for setting a rolling stock which is cooled by a cooling device disposed between a plurality of rolling stands of a finishing rolling mill of a hot rolling line The deviation between the target value of the temperature of the rolled material and the feedback value at the exit side of the finishing rolling mill is input as an input, and the control amount for the cooling device is calculated; the first feedback portion is based on The control amount calculated by the controller uses a temperature model that does not include an invalid time, and calculates a predicted value of the temperature of the rolled material when the rolled material cooled by the cooling device reaches the thermometer, and The predicted value is fed back as part of the feedback value; and the second feedback unit calculates the predicted value of the temperature of the rolled material calculated by the first feedback unit using the invalid time model. The phase delay is a value corresponding to the amount of the ineffective time, and the measured value of the temperature of the rolled material obtained by the thermometer and the predicted value of the temperature of the rolled product calculated by the first feedback unit are calculated. The phase delay reaches a deviation corresponding to the value after the amount of invalid time, and the value obtained by passing the deviation through the low-pass filter is fed back as another part of the feedback value. The temperature control device for a rolled product according to claim 5, wherein a target value of the temperature of the rolled product at the time when the rolled product reaches the thermometer and a temperature of the rolled product obtained by the thermometer When a fixed deviation occurs between the measured values, the second feedback unit increases the cutoff frequency of the low pass filter. The temperature control device for a rolled product according to claim 5, wherein a target value of the temperature of the rolled product at the time when the rolled product reaches the thermometer and a temperature of the rolled product obtained by the thermometer The second feedback unit increases the cutoff frequency of the low-pass filter when the deviation between the measured values becomes smaller than a predetermined threshold. The temperature control device for the rolled material according to any one of the items 5 to 7, wherein the first feedback unit corrects the temperature model based on a value obtained by passing through the low-pass filter. The second feedback unit corrects the invalid time model based on a value obtained by passing through the low pass filter. A temperature control device for rolling stock is provided with: a plurality of controllers, which are cooled by a plurality of cooling devices When the rolled web reaches the thermometer disposed at the exit side of the finishing rolling mill of the hot rolling line, the deviation between the target value and the feedback value of the temperature of the rolled material is taken as input, and the plurality of cooling devices are calculated The control amount of each of the plurality of cooling devices is disposed between the rolling stations adjacent to the plurality of rolling stands of the finishing rolling mill; the plurality of first feedback portions are based on The control amount calculated by each of the plurality of controllers is calculated by using a temperature model that does not include an invalid time, and the rolled material that has been cooled by the plurality of cooling devices reaches the thermometer a predicted value of the temperature, and the predicted value is fed back as part of the feedback value corresponding to each of the plurality of controllers; and the plurality of second feedback units are used corresponding to each of the plurality of cooling devices The invalid time model calculates a predicted value of the temperature of the rolled material calculated by each of the plurality of first feedback units to have a phase delay equivalent to the plurality of cooling devices a value obtained by the amount of the invalid time corresponding to each of the two, and a measured value of the temperature of the rolled material obtained by the thermometer and a temperature of the rolled product calculated by each of the plurality of first feedback parts The predicted value causes the phase delay to be a deviation from the value corresponding to the amount of invalid time corresponding to each of the plurality of cooling devices, and the value obtained by passing the deviation through the low-pass filter is used as the plurality of Another part of the feedback value corresponding to each of the controllers is fed back. Temperature control equipment for rolled and rolled materials as described in claim 9 In the case where a fixed deviation occurs between a target value of the temperature of the rolled product at the time when the rolled material reaches the thermometer and a measured value of the temperature of the rolled product obtained by the thermometer, the plurality of the second Each of the feedback units increases the cutoff frequency of the corresponding low pass filter. The temperature control device for the rolled product according to claim 9, wherein the target value of the temperature of the rolled product at the time when the rolled product reaches the thermometer and the temperature of the rolled product obtained by the thermometer When the deviation between the measured values becomes smaller than a preset threshold value, each of the plurality of second feedback portions is low-pass filtered from the second feedback portion corresponding to the cooling device closer to the outlet side. The device preferentially increases the cutoff frequency. The temperature control apparatus for the rolled material according to any one of the items 9 to 11, wherein each of the plurality of first feedback units is based on a pass of the corresponding low pass filter The value is used to correct the corresponding temperature model, and each of the plurality of second feedback units corrects the corresponding invalid time model based on the value passed through the corresponding low-pass filter.