TW301616B - - Google Patents

Description

Printed by the Employees ’Cooperative of the Central Bureau of Economic Development of the Ministry of Economic Affairs 3〇16i6 a? B7 V. Description of the invention (i) (Scope of use in the industry) The present invention relates to a control method of a rolling mill, in particular to a The stability of the multivariable control system that changes due to changes in control parameters. The present invention relates to a rolling control system, and in particular to the adaptation of the control model. The present invention relates to the control of a rolling mill, and particularly to the preferential control of plate thickness and tension. The invention relates to a rolling mill control device, in particular to a feed-forward control method that can improve the accuracy of the plate thickness. The present invention relates to a multivariable control device and its control method composed of an optimal servo system. (Conventional technology) First, the control of the rolling mill is divided into setting control and D DC (direct digital control) for dealing with the deviation from the steady state (operating point) specified by the control. In the process of the roller car L with strong nonlinear characteristics, and the operating point changes from moment to moment, sometimes setting control is performed to determine the operating point, and in the vicinity of the operating point, a linear approximation is performed on the control object, and the calculation is used to Obtain the desired plate thickness and output the control command to the actuator. Regarding the setting control, it was disclosed in detail, for example, issued by the Japan Iron and Steel Association (September S59), "The Theory and Practice of Plate Rolling (p283 ~ 294 This paper scale is applicable to the Chinese National Standard (CNS) M specifications ( 210X 297mm) (Please read the precautions on the back before filling this page) -β

T -4-A7 B7 printed by the Staff Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy V. Description of the invention (2) The setting value of the control command and the like obtained according to the setting calculation will correspond to the highest part of the rolling time Running state at speed (steady operation). However, during actual rolling, acceleration, deceleration, or external disturbances may occur, and a deviation may occur between the actual rolling state (measured value) and the set value. And as to eliminate the deviation from the set value, the actuator (reduction device or roll drive device) is controlled according to DD C. 〇

One of the multi-variable control systems that constitute D DC is a state feedback control system. In addition, this is a control that provides high response as well as eliminating the deviation of the state quantity except for the stable portion that overlaps with a certain value. As is well known, the combination of the state feedback control system and the feedback control system that controls the deviation between the control amount (measured value) and the control command value constitutes the optimal servo system. (Edition of the Society of Measurement and Control: Automatic Control Eight>: / V Xi ·· Part 1 p 1 5 4) »Other control systems that make up the DC are predictive feedforward control systems. And this is the use of control commands that can be changed with time or part of external disturbances such as plate thickness. It can be predicted before the control is implemented, and the control accuracy is improved by considering these commands or external disturbances in advance. safety. Second, according to the design of the DC control system based on multivariable control theory, it is difficult to make a correct rolling model or a control model based on it. When the model is abnormal, the classic control of 1 input and 1 output will cause problems. Therefore, for example, in the Japanese Patent No. 1133606, it is proposed to correct the set of the Benben ^ 's Zhang scale according to the actual value of the rolling mill and the set value # error data. The Chinese National Standard (CNS) A4 specification (210X2.97mm ) '-5-(Please read the precautions on the back before filling in this page)-Packing. A7 B7 printed by the employee consumer cooperative of the Central Standards Bureau of the Ministry of Tourism Economy 5. Invention description (3) (rolling model), borrowing After the simulation check, the method of setting the model can be corrected during the next coil control. Third, in a rolling mill with multiple rolling stations arranged continuously, in order to obtain the desired product quality, the plate thickness and tension of each machine are controlled. Normally, certain control of the plate thickness is given priority. When it becomes, for example, 70% or less of the set value, the band thickness control of the plate thickness is preferentially controlled. Each machine has a roll driving device (motor) for controlling the circumferential speed of the roll and a pressing device for controlling the roll gap. During cold rolling, the roll speed is changed for the thickness control, and the reduction position is changed for the shell II for the tension control. During hot rolling, the operation is reversed. However, between the thickness and tension of the rolling phenomenon, one of the changes will affect the mutual interference of the other, which will cause a decrease in control accuracy. However, when the band tension is controlled, the thickness of the plate will be sacrificed, resulting in a decrease in product quality or yield. Recently, the multi-variable control theory is used to simultaneously control the thickness and tension to eliminate mutual interference, and the rolling control to improve the control accuracy has been put into practical use. In the thickness control of the rolling mill, it is detected that it is a factor of external disturbance When the thickness of the inlet side of each station fluctuates, when the external disturbance factor of the thickness reaches directly below the roll, the control command to eliminate the external disturbance factor is supplied to the reduction device and the rolling drive device, and feedforward pressure is performed. Down control and speed control. However, the actuator of the pressing device or the roll driving device has a response idle time, so there is a problem in terms of the feedforward command time. For example, Japanese Patent Laid-Open No. 3 — 1 6 5 9 1 4 proposes to apply the Chinese National Standard (CNS) A4 specification (210X297 mm) relative to the size of the pressed paper (please read the precautions on the back before filling in this Page)-Packing. A7 B7 printed by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs 5. Description of the invention (4) Delay of the control system, during the rolling operation, the number of deviations in the thickness of the outgoing side of the control amount is sampled , And compare the average value of the thickness deviations of these outgoing sides with the previous average deviation value, and change the control time as if it becomes the smallest deviation. "Fourth, the practice of using the best servo system for rolling mill control The known example includes the roll control method described in Calculation Roll No. 27 (1989). In this example, in the control of the bar rolling of the tandem rolling mill, the state quantity uses the reduction position, the front tension, the number of roll rotations, and the control quantity uses the plate thickness, the width, the rolling load and the torsion And constitute the control model of multivariable control. Here, it is considered to stretch the base material by rolling load and tension to perform rolling, and use the number of roll rotations for controlling the square tension as the number of states. The plate thickness as the control quantity is directly measured by the plate thickness gauge (problem to be solved by the present invention). First: When the plate thickness of the tandem rolling mill is composed of multiple rolling stands, the roll The speed of the rolling mill will vary from + 〇m / min to thousands of m / min. With this speed, the operating point will also change greatly. At this time, the control parameters of the aforementioned feedback control system or feedforward control system are changed by design control. Furthermore, when the control command is changed, the operation amount determined by the state_feedback and the predicted feedforward will change sharply, and the response High-speed hydraulic depressing devices, etc., will make the movement unstable due to this rapidly changing operation command. In the worst case, the tension will change sharply, so this paper scale is applicable to the Chinese National Standard (CNS) A4 Specifications (210X297mm) (please read the notes on the back before filling in this page). Binding · Order-7-A7 B7 printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs 5. Invention Instructions (5) Rolling plate Breaking occurred. The first object of the present invention is to provide a control method (control parameters) for a rolling mill composed of a state feedback control system and a predictive feedforward control system during the control of the aforementioned rolling mill with strong nonlinear characteristics It can also control the rolling mill with stable and high response. Second, in the aforementioned prior art, the problem that the parameters of the rolling model formed for the approximation will be different from the actual situation due to the rolling state, and a certain degree of control accuracy cannot be obtained. Therefore, even if the accuracy of the rolling operation of the next steel coil (C〇il) under the steady state of the highest speed etc. is improved, it is needless to say that the unstable operating state such as the rolling speed is decelerated , That is, in the abnormal state where the rolling state changes drastically due to external factors or internal parameter changes, the accuracy will inevitably decrease. The second object of the present invention is to provide a control during rolling The adaptive correction of the model can improve the rolling accuracy of the rolling control method and device. Third: In the design of the high-precision DDC control system based on the multi-variable control theory, it is necessary to have a correct grasp of the rolling phenomenon The dynamic characteristics of the model. However, when a part of the rolled material has an abnormal composition or a bad shape, it is still difficult to accurately grasp the dynamic characteristic β. Actually, the prediction obtained from the model is based on the approximation formula of Hill (H i 1 1), etc. The error between the value and the measured value can be adjusted by the influence factor. In addition, due to the strong nonlinearity of the rolling phenomenon, the Chinese national standard (CNS) A4 specification (210X 297mm) can be adopted according to the size of the rolled paper (please read the precautions on the back before filling this page) -Installation_ Order the printed status of the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. Due to the force, the roll is now loaded with 1 loss and more pressure, and it has the thickness of the first plate and can be used for the first actuation-V. Description of the invention (determining the operating point, and performing linear approximation around the operating point For this reason, in the conventional multivariable control, when the thickness of the control panel and the Zhang Ruo model or the influence coefficient are greatly different at the same time, the mutual interference cannot be eliminated corresponding to the change of the image, and the control accuracy is higher than 1 output. Classical control is a poor problem. Furthermore, in the conventional multivariable control, the difference in the response time of the roll drive or the device has not been fully considered, and the short-cycle control command cannot be fully tracked. Three first objects of the present invention are to provide a rolling control method and apparatus that can simultaneously increase the thickness while controlling the tension while simultaneously increasing the thickness control, the tension control, and the accuracy and stability of the rolling control. It is to provide a roll control area and equipment that can effectively sharpen the difference in response speed between the tools according to the high response type [except for the interference of rolling and improving the control accuracy. The third object of the present invention is to provide a rolling process that does not use cold rolling or hot rolling or the actuator to be used. Priority control or non-interference control when controlling the plate thickness and tension at the same time Applicable rolling control system. Fourth: In the above-mentioned conventional technology, when the average value of the side plate thickness deviation is obtained during the rolling operation, the control time is corrected, so the time until the time becomes stable , Unable to obtain sufficient control results, and handling deviation is also large. In addition, because the actuators have different idle paper standards, the Chinese National Standard (CNS) A4 specification (210X297 mm) is applicable (please read the back first (Please fill out this page again) -St

I -9 _ Printed by A7 B7 _ Employee Cooperative of Central Bureau of Standards, Ministry of Economic Affairs _ V. Description of the invention (7) Time, so for different response delay time without considering the different time, and for a certain point of thickness change at the same time In the case of output command, the full effect of feedforward control cannot be obtained. The fourth object of the present invention is to overcome the problems of the aforementioned conventional technology and provide a plate thickness data for each actuator with a different response delay time, which is specially used to calculate the feedforward command, to improve Rolling control method and device for controlling effect. The fourth object of the present invention is to provide a coordinated action of a reduction device with different response delay time and a roll drive device in order to counteract the external disturbance factors of the plate thickness and tension caused by the plate thickness variation, and improve the plate Rolling control method and device for thickness control accuracy. In the preceding example, the state quantity of the optimal servo system uses the front tension. However, when comparing the influence of the front tension and the rear tension on the plate thickness, there is a problem that the influence of the front tension is small and the control effect is small. On the other hand, the control amount uses the rolling load as an auxiliary variable, and the unstable control caused by the rapid change of the tension is not considered. In addition, the plate thickness obtained by the exit plate thickness gauge has a large idle time (about 500 ms) until the rolled material moves from directly under the roll to the plate gauge. Therefore, the control output obtained based on the thickness of the plate directly below the roll will delay an idle time, thereby reducing the accuracy of the plate thickness relative to factors such as external disturbances of the base material, thereby causing a problem of deterioration in product quality. The fifth object of the present invention is to provide a state variable and a control variable which can effectively and minimally select multivariable control, and constitute a high-precision and stable rolling control device and method according to an optimal servo system. This paper uses the Chinese National Standard (CNS) A4 specification (210X297mm) 'III "installed-I i ordered-II ^ (please read the precautions on the back before filling in this page) 301616 A7 B7 V. Description of invention (8) (Means for solving the problem) In order to achieve the aforementioned object of the first invention, the first invention is structured as follows. That is, when the control parameters and the command value (target value) are changed by setting calculations, respectively The operation amount can be determined so that the deviation of the command value from the control amount measured in a certain period is eliminated and the rolling mill control method is controlled at the desired plate thickness, which is characterized by: For multiple state quantities in the rolling process, the state difference value from the previous value can be obtained for each state quantity, and the state difference value can be multiplied by the state feedback coefficient of one of the aforementioned control parameters to obtain the state feedback The deviation of the system's operating quantity; in each of the aforementioned cycles, the previous command value output according to the aforementioned setting calculation and / or each predicted value such as the thickness of the incoming side plate measured as one of the external disturbances, and Take the predicted difference value from the previous value and store it in order until the control time point. At the control time point, compare the predicted difference value of multiple steps in the future (future) with the predicted feedforward coefficient of one of the aforementioned control parameters Multiply to obtain the deviation of the operation amount of the predictive control system; multiply the deviation of the operation amount of the aforementioned state feedback system and the deviation of the operation amount of the aforementioned predictive control system by the operation amount in the previous step, and output it to the rolling mill The purpose of the second invention is to achieve the means of obtaining the deviation between the set value determined by the rolling model and the actual measured value of the state quantity or control quantity detected at a certain period, And with certain control parameters, the deviation of the actual paper size is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) (please read the notes on the back before filling out this page)-install · book employees of the Central Standards Bureau of the Ministry of Economic Affairs Printed by Consumer Cooperative-11-Printed by A7 B7 of the Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy V. Description of the invention (9) Implement feedback control to determine the rolling of the actuator's operating instructions In the control method, a certain rolling parameter is matched with the measured value by the inverse setting calculation of the rolling model, and a certain rolling value is matched with the certain measured value according to the control model (state equation) used to determine the control parameter Parameters to determine the certain state of the rolling process. The above-mentioned certain state is to obtain the deviation of the measured value of all or part of the elements of the aforementioned state quantity and control quantity from the corresponding set values, and to determine the deviation When the evaluation value obtained by the value exceeds the allowable value set in advance and / or the unstable operation such as acceleration and deceleration of the rolling speed, etc. "The third means for achieving the aforementioned first object of the present invention is controlled simultaneously In the rolling mill control method of plate thickness and tension, when the deviation of the measured value of the tension from the target value is within a certain tension range (allowable value) determined in advance, the plate thickness control is given priority, when the position is outside the range , The tension control is given priority. The third means for achieving the second object of the present invention is to control the thickness and tension of the roll rolling mill control method by simultaneously operating the actuators of the rolling device and the roll driving device, by actuating with a fast response speed The non-interference control of the device to counteract the interference of tension or plate thickness by the control of plate thickness or tension. The third means of achieving the foregoing third object of the present invention is mainly to simultaneously control the measured plate thickness And the feedback control means that the deviation of the tension from its target value is eliminated, such as the non-interference control means that controls the interference caused by the thickness or tension control on the tension or the thickness and the corresponding control from the control The control instructions of the means are operated. This paper standard is applicable to the Chinese national standard (CNS > A4 specification (210X25 * 7mm> >"install; = mouth ^ ^ (please read the precautions on the back before filling out this page) -12- A7 B7 printed by the Beigong Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. V. Description of Invention (10) A rolling device consisting of a pressing device and a roller driving device, which can simultaneously control plate thickness and tension. The control device is characterized by having: the control gain corresponding to the thickness deviation set by the feedback control system and the control gain corresponding to the tension can correspond to the difference of the applied cold rolling process or hot rolling process and And / or the control gain adjustment means to change the thickness priority or tension priority control, and to make the tension non-interference control gain corresponding to the thickness deviation set by the aforementioned non-interference control system, and the thickness non-interference control corresponding to the tension deviation Gain, which is a non-interfering control gain adjustment means that is adjusted in response to the time constants of the reduction device and the roll drive device. The means for achieving the foregoing object are mainly a device that can control the reduction device and the car L roll drive device. The multi-roller mill control method, which implements feed-forward control and controls the thickness and tension of the rolled material, is characterized by: detecting the pressing device of each machine, the peripheral speed of the roll, and the plate on the outgoing side according to a certain period Thickness and board speed between the next machine; According to the detection device of the board thickness on the exit side, will correspond to the next machine The history data row of the plate thickness memorized up to the position corresponding to the speed of the board detected from the exit side of the front station is shifted side by side, and the board thickness that is newly detected is memorized; The next machine side selects the plate thickness data corresponding to the moving distance of the roller L material that has moved within the response delay time of the previously given pressing device, and obtains the output based on the selected plate thickness data To the press command of the aforementioned press device for press feed forward control, the same is based on-according to the response delay time of the aforementioned roll drive device. This paper standard is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) (please (Read the precautions on the back before filling in this page)-Installation · Order -13-A7 B7 V. Description of invention (u) 'And the plate thickness data selected from the previous resume data column, and the output is output to the speed feed forward The speed command of the aforementioned roll drive device. The fifth means for achieving the aforementioned object of the present invention is mainly a detection device that can detect the actual value of multiple state quantities or multiple control quantities of a rolling mill composed of multiple units according to a certain period , A rolling mill control device composed of a DDC control device that controls to eliminate the difference between the operating point or target setting value determined by the setting control device and the actual performance value, characterized in that the DDC control device is an optimal servo system , And has a state feedback control method that can implement the feedback control using the reduction position, the rear tension and the roll speed of the foreground as the state quantity, and a control amount feedback control that implements the feedback control using the exit side plate thickness and the rear tension as the control quantity means. Furthermore, the outgoing plate thickness of the aforementioned control amount is a plate thickness located directly under the roll according to the mass flow law estimated by the observation device. (Function) Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs (U3. (Please read the precautions on the back before filling out this page) According to the first invention, the operation quantity is to obtain the state quantity or the forecast quantity and The difference between the previous value, and the difference value is multiplied by the control parameter to obtain the deviation value of the operation amount, and this is multiplied by the previous operation amount. Since this is a differential / integral conversion action, although it is in the macro view The control action you see does not change, but there will be a huge difference in an instant. That is, by multiplying the difference value and the parameter, the effect of the parameter change and the command value change can be reduced. Afterwards, due to the multiplication The amount of operations, so it can be suppressed. The size of the operating paper is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm). Repair ifi Peiyue B7 V. Description of the invention (I2) The amount of work changes dramatically. Furthermore, according to the first invention, the control unit of Qian'e is used to determine the command value or the thickness of the input side before the control time. considering The operation command before this step improves the responsiveness and stability, so the entire control system can maintain a high response while implementing stable and high-precision control of the nonlinear rolling mill. According to the second invention, when the state When the error caused by the deviation of the amount or control value from its set value exceeds a certain value and is abnormal, or when the rolling mill is judged to be in a rolling state with unstable operation, it can be recalculated according to the rolling parameters at an appropriate time. Correct the control model in a timely manner. As a result, it can correspond to the rapidly changing rolling state or the rolling state of unstable operation that has undergone large changes in advance, and can be controlled online (on-1 ine) and in real time (real time) The parameters are optimized, so that the influence of external factors or changes of internal variables on the control action can be avoided. The third priority control of the present invention can control the plate thickness gain by whether the tension deviation is within a certain range Or one of the tension control gains is set to be higher and higher than the other. In particular, the tension range used to switch the priority control object (allowable ), It is determined for each machine, and each classification level (level) of the tension setting value that is set corresponding to the change of the operating point》 by this | can be set to be able to match the dense tolerance of the operating point Value, and the optimal priority control is implemented for each rolling state, so that the accuracy of the thickness and tension is improved when it is available. In addition, because the tension is constantly monitored to prevent its rapid change, the rolling mill can be operated stably * According to the third For the non-interference control of the present invention, due to the fast response speed, the paper standard adopts the Chinese National Standard (CNS) A4 specification (2 丨 0 X 297mm) _ j 5 _ (please read the precautions on the back before filling in This page) Printed 301616 $ by the Staff Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. 5. The actuator of the invention (13) cooperates with the phase and implements non-interference control on the actuator with a slow response speed, so it can be reliably cancelled. The interference is eliminated, and the control effect of plate thickness and tension is improved. According to the third roll mill control device of the present invention, the priority control of the plate thickness or tension can be applied to the cold rolling process of the roll drive device to control the plate thickness and the reduction device to control the tension or the hot rolling to be controlled inversely Engineering. In addition, since the implementation device of non-interference control can be applied to the case where the response speed of the pressing device is fast or the response speed of the roll drive device is fast, it is easy to construct or change the roll control system. According to the fourth invention, the response delay time caused by the idle time or the delay coefficient will be used to calculate the plate thickness data of the feedforward command considering the situation that each actuator is different, corresponding to the plate speed and Choose in response to the delay time. As a result, it is possible to implement the feedforward control in accordance with the phase timing of the plate thickness variation regardless of the response delay time of each actuator or the plate speed. Furthermore, since the feedforward control is performed on the roll driving device to cancel the fluctuation component of the tension included in the thickness variation, the two actuators can be controlled in coordination, and the stability of the control and the accuracy of the thickness can be improved. According to the fifth invention, the independent variable with great influence in the rolling process is regarded as the state variable in the multi-variable control. In addition to the state feedback control system that can control the rolling process responsively, the control variable The feedback control system controls the board thickness to a certain level. Especially because the back tension which has a greater control effect than the previous front tension and the roll paper used for the stand before the back tension are controlled by the Chinese National Standard (CNS) A4 specification (210 '297 mm ): (Please read the precautions on the back before filling in this page)-Packing. Order -16-Printed by the Central Sample Bureau of the Ministry of Economic Affairs Employee Consumer Cooperative A 7 B7 5. Description of the invention (14) The speed is set together with the pressing position The state quantity can improve the thickness accuracy. Moreover, by using tension as a control amount, abrupt changes in tension can be suppressed, and a stable operation without breaking can be achieved. Furthermore, since the outgoing plate thickness of the control amount uses an estimated value located directly under the roll, high response control that does not require moving to the outgoing plate thickness gauge idle time can be realized, and plate thickness due to external disturbances can be prevented In the case where the accuracy is reduced, and the quality of the product can be improved. (Example) The first example of the present invention will be described below with reference to the drawings. Fig. 2 shows the general configuration of the control device of the rolling mill shown in Fig. 1. The rolling mill 1 as the control object operates in response to the control command 9 from the control device 2. The control device 2 uses the state quantity of the operating state of the rolling mill 1 detected by the detection device 3 to generate a command to the actuator 8. The non-linear characteristics of the rolling mill 1 are strong, so the linear control method cannot be applied. Here, the control device 2 is composed of a setting control system 4 for determining the operating point, a target value received from the setting control system 4 described above, and a DC control system 5 that operates so that the deviation from the target value becomes zero. The control system 4 sets the rolling model 6 that determines the operating point, and uses the output from the detection device to speculate that it is necessary for the control, but the observation device 7 that can not directly measure the state quantity is composed of FIG. 3 shows the rolling mill. Composition diagram. The stand of the rolling mill 1 is composed of a pair of work rolls 10, intermediate rolls 11 and backup rolls 12. The supporting roller 12 is connected with a pressing device 1 3, and the paper size is controlled by pressing to apply the Chinese National Standard (CNS) A4 specification (210X297mm) (please read the precautions on the back before filling this page), 1 '-17-A7 B7 printed by the Staff Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs 5. Description of the invention (15) The position of 1 to 3 can change the interval between the intermediate roll 1 1 and the work roll 10 to make the rolled material 1 4) Thickness change "The axis of the work roll 10 is connected to the roll drive device 16 via the gear device 15. In addition, the hydraulic pressure reduction device 13 and the roll drive device 16 constitute an actuator 8. Fig. 4 is a schematic diagram of a rolling control system for a tandem rolling mill, and the state quantity used to simulate the operating state of multiple rolling mills 1 uses the function detected by the tension detector 3-3 The tension τ of the rolled material 14, the roll load P detected by the roll load detectors 3-4, and the roll speed VR detected by the roll speed detectors 3-5. In addition, it can also replace rolling. In FIG. 1, the differential mechanism 51 of the state quantity 1. 1. The feedback control mechanism 5 2. The integration mechanism 5 3 constitutes an optimal regulator that can maintain the state of the rolling mill 1 to a certain degree. Furthermore, it includes an addition (subtraction) mechanism 54 of the control amount and command, a feedback control mechanism 55, and an addition mechanism 56, which constitute the feedback control section 5-1 of FIG. This is the best servo system. Furthermore, the tracking mechanism 59-1, the differential mechanism 51-2, and the instruction feedforward control device 57 that track the instructions from the instruction generating mechanism 42 are equivalent to the feedforward control unit 5-2 in FIG. In addition, a predictive disturbance feedforward control composed of a differential mechanism 51_3 for inputting the input side plate thickness, a tracking mechanism 59_2, and a predicted disturbance control feedforward control mechanism 57 is added. The control model of the tandem rolling mill is changed from the reduction position to the load type, light feed rate, plate speed and its small fluctuations, mass flow (mass flow) and its rolling load P near the operating point. Apparatus 3 This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) 1. 18 _ (please read the precautions on the back before filling in this page) Γ 5. Invention description (16 A7 B7 6 pressure detected The lower position S is regarded as the state quantity. It is used for tracking (the speed is detected by the plate speed detection meter 3-2. The device 5 is a system that can maintain the rolling state at a certain level, and the implementation unit 5-1 gives instructions or Predictive feedback control 5-2 of the external disturbance, and the feedforward control part of the feedback control system of the DDC control feedback of the board from the control part 5-1 and 5 tracking). The minor change type, the late change and the slight change that constitute the correction machine 5 are generally the actuators 5-3, 1 table, one division structure 4 1 and details. Early general manipulable amount and roll speed The amount of work is added, and the structure of the reduction device 13 and the roll drive device 16 that loses 8. The roll control device 2 of an embodiment of the present invention 2 has a control parameter command generation mechanism as part of the setting control system 4 Other than 2, it shows the functional system diagram of DD C control. The delay time of the housing (housing) and the delay of its small change and its small change type, the delay type of the speed device, the measurement table and its small change, tension and its well-known The equations are partially linearized, and described by a number of state equations. (Please read the precautions on the back before filling in this tribute)-Installation · Order: Sen_ Printed by the Employee Consumer Cooperative of the Central Standard Falcon Bureau of the Ministry of Economic Affairs [ Number 1〕 dd = Ax + Bu + Ed

y = C Here, A is the system ranks, B is the operation ranks, C is the observation ranks, E is the external disturbance ranks, X is the state vector, u is the input (the amount of the operation is in this paper scale is applicable to the Chinese National Standard (CNS)) A4 size (210X297mm) -19-

A7 B7 V. Description of Fenming (17)) Vector, y is the output (control quantity) orientation, d is the external disorder orientation • Each orientation is represented by (number 2) ~ (number 5) * but lowercase i Variables for the table roll mill. In addition, the description of the symbols in each formula is shown in Table 1. 〔Number 3〕 (2 --------- Q -II (Please read the notes on the back before filling this page) U.

[Δ S Δ V .: (3) [Number 4 ^ | 2 »^ i3] T = [ΔΗ ;, ASr., DASr / dt] [Number 5] (4) Order

[y ,. y,] T = [Ah., >Ar.;] T (5 However, in (number 1) ~ (number 5) [] τ is the table transposed row, the Ministry of Economic Affairs Central Bureau of Preparatory Bureau is negative X consumer cooperation du printing is set out from the above, the state equations of the rolling mill are based on the state deviation of the outboard thickness deviation Ahi, the load deviation ΔΡι, the roll hull deviation, the outside tension deviation of eight state variables (Xi-Xd It is made with the two controls of tension deviation y2) *, and the operation amount u is the depressing position command deviation △ SuCui), the roll speed command deviation u 2) • In addition • The control model is designed using a linear control system. Applicable to China National Standard (CNS) Α4 wash grid (210X 297mm) 301616 A1 B7 V. Invention description (18) method, so it is handled by the deviation value system. In addition, in the following, the deviation value is represented by the triangle "△", and the difference value is represented by the inverted triangle "▽". Table 2 shows the contents of the rows A, B, C and E, and Table 3 shows the elements. Table 4 also lists other elements. Call-Binding ^-^ (Please read the notes on the back before filling in this page) The paper standard printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs applies the Chinese National Standard (CNS) A4 specification (210X297 mm) -21-5 Description of invention (A7 B7 Table 1 Printed by the Staff Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs (Description of Symbols)) △ P u: Load deviation P Ai: Generated load △ P i: Load deviation Pi: Load △ Η i: Entry side panel Thickness deviation Hi: Thickness of inlet side △ hi: Thickness of outlet side thickness hi: Thickness of outlet side Δ rbi: Thickness of inlet side l t> i: Tension of inlet side Δ rfi: Deviation of inlet side tension T fi: Tension of outlet side Δ fi: Advanced rate deviation fi Second advanced rate Δ v 3 i: Exit side plate speed deviation V oi: Exit side plate speed △ vsi: Entry side plate speed deviation V ei: Entry side plate speed deviation ν R i: Roll speed deviation v Ri: Roll speed Δ ν Pi: Roll speed command deviation V Pi: Roll command speed △ S i: Roll position deviation Si: Roll position Δ S Pi: Roll position command deviation S r > i: Roll position command deviation △ S fi: $ L light Eccentricity deviation Sri: roll deviation τ si: Delay time of the pressing device T vi: Delay time of the speed control device τ pi: Delay time of the casing K i: Elasticity coefficient Li: Roller pitch E i: Young's coefficient (Young's ratio) However, the small letter i It is the variable of table i. Please read the precautions on the back page on the 11th page,-the paper size of the table is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) -22-

30161G A7 B7 V. Description of invention (20 Table 2

-------- "Installation ------ Order ------ ^ (Please read the notes on the back before filling in this page) Printed paper size printed by the Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs Applicable to China National Standard (CNS) A4 specification (210X297mm) 23 V. Description of invention (21 A: A7 B7 Table 3 A A. E = E Ε · 1,1 AltI 0 0 0 '「日 u 0 0 0 0 2.1 A2.2 〇0 0 B2.2 0 0 0 0 A3.2 α3 · 3 A 3,4 0 8 = 0 0 83.3 0 0 0 0 Ay A4,4 A4.s 0 0 0 B'.4 0 0 0 0 A5 .. AS.S_ _ 0 0 0 0 B5 1,1 0 0 0 0% 0 0 0 0 2.1 ^ 2,2 Ώ 0 0 0 C 2.2 0 0 0 0 ^ 3,2 E 3,3 0 0 c = 0 0 C 3,3 0 0 0 0 E 4,3 0 0 .0 0 Cm 0 0 0 0 ^ 5. 5- .0 0 0 0 Cs order ^-^ (Please read the notes on the back first (Fill in this page again) The paper standard printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs applies the Chinese National Standard (CNS) A4 specification (2 丨 0X297mm) -24-301616

This paper scale applies the Chinese National Standard (CNS) A4 specification (210X297 mm) 25 A7 ______B7 printed by the Employee Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 5. Description of the invention (23) The control model determined according to the aforementioned state equation When the operating point is changed according to the state of the sampled rolling mill 1, the parameters of the control model (coefficients of the state equation) are calculated by the control parameter correction mechanism 41, and the feedback coefficients Fx of the feedback control mechanisms 53 and 55 are corrected 'Fe, the feedforward control mechanisms 57 and 58 feedforward coefficients Fr, Fd. The control parameters are calculated based on the modern control theory such as the best adjustment theory or the HOO control theory, etc., by the Rikaji (transliteration) equations set for each state. This point is described in detail in "Modern System" Royal Engineering (Chapter 7 1 4 1 pages ~ 1 5 8 pages; Tsuchiya Samurai, Egami Masao; co-authored; Industrial Books Co., Ltd., April 26, 2003) Or "Xi Yuji's Theory of Regime Control (Chapter 6 2 2 2 ~ 2 5 6; Ito Masato: Shokodo Press, May 20, 1988). Next, the implementation shown in Figure 1 will be described in detail. The operation of the example. For the rolling mill 1 generalized by the state equation of (number 1), the detection device 3 provided in each station detects the state quantity of (number 2) at a certain period T (outside plate thickness) , The reduction load, the rolling speed and the tension on the exit side). These state quantities are obtained from the difference value of the previous value in the differential mechanism 51-1. In addition, the state quantity Xi of the i-th station is in the deviation value system In, as shown in (number 2), a deviation value relative to the prescribed value is given. The prescribed value is calculated in advance by the setting system 4. FIG. 5 is used to explain the structure of the differential mechanism 51-1 of FIG. In addition, the differential mechanism 5 1-2, 3 is basically the same structure. The differential mechanism 5 1 corresponds to the input number In this example, it is 4) The paper size is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) (please read the precautions on the back before filling in this page) -installation. Order-26-A 7 B7 Central Ministry of Economic Affairs Printed by the Bureau of Standards and Employee Consumer Cooperative V. Description of invention (24) and equipped with a differentiator 1 20 (1 23). The differentiator 120 is composed of an idle time mechanism 1 2 1 and an adder 1 2 2 and is supplied directly The input to the adder 122 is calculated as shown in (number 6) and (number 7) through the idle time mechanism 121 (that is, the input of {k — 1} T 1 cycle ago), and the output Difference value vXi (VXil ~ Vxi4). The idle time of the idle time mechanism 12 1 is the sampling period T of the control system (seconds) ^ [number 6] ▽ X 丨 j (k) = Xij (k) -X 丨 j ( k—1) (j = l, ~, 4)… (6) [Number 7] ------------- VXi (k) = [Vx ^ u), νχ! 2 (1 <), Vxi3 (k) ', Vxi4 (k)] ________ _____, (7) Figure 6 is an explanatory diagram for explaining the structure of the feedback mechanism 5 2. The difference value Vxi from the differential mechanism 5 1 _ 1 , Multiply the feedback coefficient shown in (number 8) in multiplier 1 3 0, and the root According to (Number 9), (Number 1 0), the deviation value ΔΙΜι of the reduction position command component Ui shown in (Number 3) and the roll speed command component U2, eight !; 1 ^ [Number 8]

This paper size is applicable to China National Standard (CNS & A4 specifications (210X297mm) (please read the $ item on the back and then fill in this page) b -a

T -27-A7 B * 7 5. Description of the invention (25 [number 9]

AU

[Δυ; △ u; 2] 11: 2 1: 12: 2 2

Vx ▽ x Vx Vx (9) Here, Vxa is the differential value of the exit side plate thickness Vh, Vx2 is the differential value of the exit side tension Vrf, Vx3 is the differential value of the reduction load vp3, ▽ x4 is the differential value of the roll speed VVR . [Number 1 0] △ UU = fi ten thousand l2 + f i3 + f X24VX ·,-•. (10) Printed by the Beigong Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs The number 1 1) indicates the command Γ (thickness deviation command Ahref and tension deviation command △ Tref) 'is based on the control amount γ of the rolling mill 1 shown in (number 5) (the exit side thickness deviation Ah and the exit side tension deviation Arf), and in the adder 54, the deviation ε »[number 1 1] is obtained from (number 12) [" 丨 1, "12] T = [Ahlr · " Δτ · ίίΓ.,] Τ (1- ------- 1installation ------ order ------ j ... ^ (Please read the precautions on the back before filling in this page) This paper uses the Chinese National Standard (CNS > Α4 specification (210X297 mm) -28-3026 A7 B7 5. Description of the invention (26 number 1 2) yy

Ah: ...— Ah Δ Δ (12) Here, ε is the depressing position command component, and e i2 is the roll speed command component. The deviation e is input to the feedback control mechanism 55, multiplied by the feedback coefficient Fe represented by (number 13), and the operation amount of the depressed position command component is obtained according to (number 14) and (number 15) The deviation value △ U2i, the deviation value of the roll speed command component Δυ22 [Number 1 3]

F 〔Number 1 4〕

AU

[Δυί ,, Δϋ ^] T = F (Please read the precautions on the back before filling out this page) Outfit · (13) Printed by Beigong Consumer Cooperative of Central Bureau of Standards of the Ministry of Economic Affairs 12 2 2 · 1 ls1 Ι1 + ^ · 12ε ii 1 + f (14) 〔number 1 5〕 Δυ ^ = △ u? 2 = + f (15

+ f. 22 ε i 2 ... J The size of this paper is applicable to China Pujia Family Standard (CNS) A4 specification (210X297 mm) -29-A7 ___ B7 _____ ^ _ V. Description of invention (27) Adding mechanism 5 6 adds the AUN from the feedback control mechanism 5 2 to each component as shown in (number 1 6) (please read the precautions on the back before filling in this page) Printed by the quasi-bureau Beigong Consumer Cooperative [Number 1 6] AU; = [AU, AU; △ U 十 i- Δυί2] Δυ ^ 'ΔυΙ

= Δ U f + Δ U? AUjj + AU △ Ui, + AU The graph can be added to 12 5 or △ Method 1, then the roller speed method mechanism becomes 7 series and should be used, and According to the result of the addition result in U 2 real 2 6 the bit operation amount is reduced 5 3 pairs (number 1 in the description from the addition cycle T to apply points to take idle from the result as the operation operation U 2 loses the operation amount 7), the integrator mechanism 5 For the weekly feedback machine, set the time to measure the amount of U from the U to the rolling U (number 1 configuration 5 6 period T output configuration 5 element input and output roller drive, 8) 3 configuration each component is Discrete. The input 12 7 of the integral 2 is output to the depressing device. The input 12 is the input of the integrated module 12 and the output 8 device 1 16 used. Fractal-.. (16) type diagram. With the input value of the integrator △ U α 5, it will be added to the output and added. In this example, 3, and will be rolled and expressed according to the addition, the paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X 297 mm) -30-A7 B7 V. Description of invention ([number 1 7 28 U, CUilf U.2] / dt Ο 1Δυ.ι'-0 / dt J AU., / AUiod t (17 [number 1 8 U jj = / Δ U j: .d U. 2 = / Δ U; _ d (18) (Please read the precautions on the back before filling in this page)-Install. In this way, you can determine the operation amount from the feedback control system 5-1, that is, it is output to the roller and pressed The deviation of the reduction position command (ASpi) of the device 13 and the deviation of the roll speed command (ΔνΜ) output to the roll drive device 16 * FIG. 10 is a timing chart for explaining the effect according to the feedback control system 5_1. Control parameter correction The mechanism 4 1 measures the state of the rolling mill 1 every certain period, and the coefficient FX of the feedback control mechanism 5 2 changes as shown in FIG. (A) at time t 2 and t 4. Also, the rolling mill 1 The measured plate thickness deviation △ h changes as shown in figure (b). The operation amount according to the feedback Ah is in the past Multiply the waveform of the same graph (c) by the feedback coefficient Ah, and at time t2, t4, it becomes a phased command. At this time, when the control gain FX is large, the command will change sharply, causing the control system to fall into "Instability" On the other hand, in the feedback system of the present invention, there is a differential mechanism. The paper size is set in accordance with the Chinese National Standard (CNS) A4 specification (210X297 mm). Printing-31-A7 ___B7 printed by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economy V. Description of the invention (29) 5 1 — 1, due to the difference from the previous value (Ah (t) — Ah (t — 1)) The deviation command value obtained by multiplying the feedback coefficient F x can be reduced to a small degree, and since the deviation command value is added to the previous command value in the accumulation mechanism 53 to determine the operation amount, it is as As shown in figure (d), the operation amount will not change drastically. Next, the structure and operation of the feedforward control unit 5-2 will be explained. In addition to the following predictive command control system and predictive disorder control system, the feedforward control There are two The predictive control system composed of the combination. First, the predictive command control system will be explained. The command generation mechanism 4 2 can output the command first because it can understand the future command according to the command at the time point of DDC by setting calculations. This explains the output of the command in the fourth stage in the future. Figure 8 shows the function of the detailed content of the predictive command control system composed of the tracking mechanism 59-1, the differential mechanism 51-2, and the command feedforward control mechanism 57 System diagram. The tracking mechanism 5 9 _ 1 is input into the next third step (step) command r (k + 3) and is kept for a period of idle time Z-1 equivalent to the sampling period (control period) T of the control system (Hold), and transmit commands intermittently for each control cycle, and output r (k + 2), r (k + 1), r (k). The last output r (k) is regarded as a normal command and input to the adder 54 as described above. Each prediction command in the differential mechanism 5 1-2-1 ~ 5 1_2_ 3 takes the previous division from the command of the previous stage, respectively. For example, the initial differential mechanism 5 1 — 2 — 1, the r (k + 3) paper size input this time is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) (please read the notes on the back first (Fill in this page again) .Install., -Ιτ -32-A7 B7 V. Description of invention (3〇)) and the previous stage r (k + 3) / (= r (k + 2)) difference , And the predicted command difference value Vr (k + 3) is output. Similarly, Vr (k + 2) and Vr (k + 1) can be output from other differential mechanisms 5 1 — 2 — 2, 1 respectively. The difference value of each predicted command is multiplied by the feedforward coefficient FR indicated by (number 19) in the command feedforward control mechanism 57, and the operation amount of the depressed position command component is obtained according to (number 20) and (number 2 1) The deviation value of U31 is the deviation value of the roll speed command component Λυ32. 〔Number 1 9〕 (Please read the precautions on the back before filling out this page).

F 1. R 2, R 1, 2 R2, 2 (IS) -β [number 2 0]

△ U

[AU △ U3 ··,] τ Printed by the Employees' Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs V h Vr R12Vh., FR2lVTi. + (20) This paper scale applies the Chinese National Standard (CNS) A4 specification (210X 297 mm) 33 -Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs, Indo-Traditional Chinese A7 B7 V. Description of Invention (31) [Number 2 1]

Au3ii = fR3iiVh | (k + l) + fR211Vhi (k + 2) '+ fRiiiVh. (K + 3) + fR312Vri (k + l) + fR2i2Vri (k + 2) + fR112Vrj (k + 3) 3 Bu. (2 1) △ U, 2 == f R 3 2 i Vh, (k + 1) + f R 2 2 丄 ▽ hi (k + 2) * i (* < + 3) + fR322Vri (k + l ) + fR222V-ci (k + 2) + ff, 122Vri (k + 3) < Furthermore, in the addition mechanism 5 6, for each component, according to (number 2 2) and from the feedback control unit 5-1 The AUi, Δϋ2 are added. [Number 2 2] △ Ui: = [Δυ ", Δυί2] τ = Δυ1. + Δυ2ί + Δυ31. ΔΙΙ ^ + Δυ2 + Δυ3 _ = 1 1, 1 1 1 --- (22) △ υ ^ + Δυ ^ + Δυ '”The actual command is the plate thickness deviation △ h ref and the tension deviation ΔτρΜ shown in (number 1 1). As shown in FIG. 8, a tracking mechanism and a differential mechanism are provided for each prediction instruction. Also, the feed-forward coefficient Fr, as shown in (number 2 1), each time the operating point changes, by setting calculations, the plate thickness deviation Δ h ref and the tension deviation Δ r ref can be considered before 3 stages and Was corrected. Fig. 11 is a timing chart for explaining the operation of the predictive command control system of this embodiment. As shown in figure (a), the current tension command Ar. This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) IIII 衣 I —— I order IIIII π (please read the precautions on the back before filling this page) -34-Employee Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs Print A7 B7 V. Description of invention (32), then from the stage (k), according to (k + 1), (k + 2) ... to the future until the change to τι. Again, as As shown in Figure (b), the feed-forward coefficient is changed in (k + 4). At this time, the speed command component of the manipulated variable obtained from the product of the tension command and the coefficient 1? Not related to the conventional difference , As shown in figure (c), in (k + 4), it will change sharply in a step-by-step manner, and predictive control becomes a factor of external disorder, causing other control systems to become unstable. In this embodiment, the operation amount is determined based on the product of the difference value from the previous stage multiplied by the coefficient FR, and the instruction change is considered from the three stages before the stage (k), so as shown in the figure (d ) As shown, the change of the operation instruction will become gentle, not like Compared with the case where only the feedback control system 5-1 is used, by using the difference value, response delay can be avoided, and high-precision control can be performed stably. Next, the predictive external chaos control system will be explained. 4) As shown, the predictable external disturbance factors are the thickness deviation of the inlet side △ Η, the deviation of the roll eccentricity △ Sr, and here the thickness deviation of the inlet side △ Η is used as an example to explain * When it is a tandem roll mill, Since the machine in the rear stage can know the external disturbance factors of the base material in advance based on the outboard thickness detection meter of the front desk 3-1 (in the case of the first machine, it is the inboard thickness detection meter), and the The measured value is memorized, and tracking the rolled material corresponding to this value will reach the position directly below the roll of the post machine in the several stages, and in accordance with the arrival time, the external disturbance factors of the base material will be predicted and controlled. The standard is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) (please read the precautions on the back and then fill out this page). Installed. -§ Printed A7 B7 by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs 33) Figure 9 is a system diagram showing the details of the predictive disturbance control system composed of the differential mechanism 5 1_3, the tracking mechanism 5 9-2 and the predictive disturbance control feedforward control mechanism 58. It is measured according to the sampling period The thickness of the inlet side (k) will reach directly under the roll in the kth stage. Similarly, the next H (k + 1) will arrive in the k + 1 stage. First, take the measurement by the differential mechanism 5 1-3 The difference between the thickness of the incoming side plate Η (k + 1) and the previous H (k), and the difference value VH (k + 1) is stored in the memory of the tracking mechanism 5 9 _2. Similarly, the previous difference value VH (k), the previous and last difference value VH (k_l) ...... The difference value VH (〇) corresponding to the rolled material located directly under the roll is stored in the memory. Tracking mechanism 59-2, the difference value VH column stored in the FI F0 memory is maintained for a period equivalent to the control period (idle time Z-1), and is shifted in proportion to the board speed at each sampling , And the data passing directly under the roll is discarded. Incoming side plate thickness H (k), since being sampled, at the kth stage, the input and output side plate thickness difference values VH (k) and VH (k + 1) will be output from the memory, and the feed forward control mechanism will be predicted in the external chaos. Multiply the feed-forward coefficient Fd shown in (number 23) in 58 and obtain the deviation value △ U41 of the operation amount of the depressed position command component and the deviation value △ U41 of the roll speed command component according to (number 24) and (number 25) Udz »This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) (please read the notes on the back before filling this page) ) 〔Number 2 3〕

F dl, d 2, [number 2 4] Δυ4, = [AU4ilf Δϋ4ί2] Bu 1… VH: 'd2, 1 [number 2 5] di. IVH * = f AU4, 2 = at d2. IVH, = f ( 2 3) 24) 1. iVHj = f ^^ VHiik + l)] d22iVHi (k) + f dl21VHi (k + l),-. (2 5) If it is more, then in addition mechanism 5 6 'for each component , Based on (number 2 6), it is added to the input from the aforementioned feedback control unit or prediction command control unit. Binding ^., I (Please read the precautions on the back before filling out this page) Printed by Employee Consumer Cooperative of Central Bureau of Standards

Δ U (26 [Number 2 6] Δυ, = [AU ^, AUi2] = Δ.υ1. + Δϋ2. + Δυ3ί + Δυ + Δυ'1 + Δυ'1 + Δυ 'Δυιll2 + Δυ2 | 2 + Δυ3Ι2 + Δυ4Ι5 According to the present embodiment, since the external input uses a differential value, even if the feedforward coefficient F d becomes larger, the sharp change of the operation command will be suppressed. Furthermore, the operation command uses the difference value of two stages, for example, in Section (k This paper scale is applicable to the Chinese National Standard (CNS > A4 specification (210X297 mm) -37-A7 ___B7__ printed by the Beigong Consumer Cooperative of the Central Prototype Bureau of the Ministry of Economy V. Invention description (35) + 1) Stage prediction When the parent material changes, according to the previous k stage, a predictive disturbance command that takes into account the disorder factors outside the k + 1 stage is generated. Figure 12 is a sequence diagram showing the operation of the predicted disturbance control system of this embodiment The same figure (a) shows the value of the feed-forward coefficient F d and is corrected at stage k. The same figure (b) shows the external disturbance factors of the base metal, which will change at the stage (k + 1). The same figure ( c) The table shows the conventional predicted amount of external disturbance operation from the product of the external disturbance factor of the base material and the coefficient F d. Because the change of the coefficient and the disturbance cause a sudden change, the operation of the control system becomes unstable. In contrast, the same figure (d) is the predicted amount of disturbance operation of this embodiment, and the phase k uses the difference value, and , Phase k + 1 is based on the difference value and the calculation of considering the two difference values, which can suppress the sudden change of the operation amount. As such, the predictive external chaos control in this embodiment, even if the control parameter is caused by the change of the operating point When the change is made, the predicted disturbance factor is input by the difference value, and the predicted disturbance command is generated in consideration of the difference value of multiple stages, so the disturbance factor can be controlled stably. In the aforementioned predicted disturbance control system, although Only the input side plate thickness Η is input, but before the control, the data obtained by the detection device 3 or the observation device 7, such as the roll eccentricity S r, can also be used. Inboard thickness (outboard thickness at the front desk), if this is used to implement active predictive control as described above, the responsiveness of the entire control system can be improved High accuracy. In particular, the aforementioned state feedback system can overcome the use of the Chinese National Standard (CNS) A4 specification (210X297 mm) when entering the total paper size (please read the precautions on the back and fill in this page). .

'1T -38-A7 B7 Fifth, the description of the response characteristics at the time of paragraph (36) decreases. In the control device of this embodiment, by combining the two, when the operating point or the command is changed, stable rolling control can be realized while maintaining high response and high precision. Next, please refer to the drawings to explain the second embodiment of the present invention. The configuration diagram of the rolling mill control system to which the present invention is applied is the same as that of FIGS. 2 and 3. FIG. 14 shows the relationship between the aforementioned work roll 13 and the rolled material 14. The rolled material 14 moves from the left to the right in the figure. On the other hand, the thickness of the rolled material 14 on the inlet side is H, the thickness on the outlet side is h, the interval between the work rolls is S, and the load applied to the work roll 10 is P. Among these quantities, the approximate expression of H i 1 1 shown by (number 1) is used to express the physical relationship of the rolling load. The small letter i represents the physical quantity of the i-th stage in the multi-stage rolling mill system. In addition, the positive term of the friction catch in the formula (number 1) is the formula (number 2). (Please read the precautions on the back before filling this page) Pack. Order ρ

Printed by RV Ρ D Η The Ministry of Economic Affairs Central Standards Bureau Staff Consumer Cooperative Printed here at DR Η h Milk repair thick thick modification-H plate plate force Xiao (M2F side 51 sheets of flat flat entry and exit plate Roll paper size is applicable to China National Standard (CNS) A4 specification (210X297mm) -39-A7 B7 V. Description of invention (37) [Number 2]

DPi = ai_a2 * ri + a3, At. ______; .. (number 2> here ai = constant a 2: constant a 3 · constant // i: friction coefficient ri: pressure On the other hand, the strain gauge formula can be expressed by the sub-formula (number 3). The aforementioned rolling model 6 is expressed by (number 1) to (number 3). [Number 3] ._c, Z-L … (Number 3) hi-S i + κ _ Here Si: the reduction position (roll gap) K: spring constant of the rolling mill Figure 15 The relationship between (number 1) and (number 3) The rolling load and the horizontal axis are the reduction position and the thickness of the plate. The intersection of (number 1) and the horizontal axis becomes the thickness H of the input side, and the intersection of (number 1) and (number 3) is the operating point, and the horizontal The position of the shaft is the thickness of the outgoing side h, and the position of the vertical axis is [J becomes the load. As shown in Figure 16, when the thickness of the base material changes from H0 to H1, it becomes a rolling load type and a strain gauge type The action point at the intersection will change. The paper size is applicable to the Chinese National Standard (CNS} A4 specification (210X297 mm) (please read the precautions on the back before filling out this page). 装 -40- A7 B7 printed by the Employee Consumer Cooperative of the Central Standards Bureau of the Ministry of Economy V. Description of invention (38) The plate thickness changes from h〇 to hi, and the load changes from P〇 to P1. As a result, the plate thickness deviates from the target value h. Then, the rolling position of the rolling mill is moved, and the plate thickness is set to a certain precision. Thickness control of the command at this time becomes △ S, as shown in FIG. 17, the control of the rolling control device can be controlled. The position changes from S1 to S »As a result, the strain gauge type moves parallel from the dotted line position to the solid line position, and the intersection with the load type, the plate thickness h 1 will move to the plate thickness h, and the load P1 will move to the load P In this way, under various rolling conditions, the operating point that is used as the intersection of the rolling load type and the strain gauge type is the setting control system 4. The specific method of setting calculation can be obtained by The algorithm of the root of the equation, such as the Newton-Raphson method for finding numerical solutions repeatedly. The setting control system 4 calculates the operating point in each state according to the rolling model 6, that is, the set value, and provides it to the DD C Control system 5. On the other hand, DD C control system 5 can operate in a linear approximation around the operating point so that the deviation of the set value (operating point) of the control quantity or state quantity from these measured values can become zero, and constitute a so-called adjustment system. Therefore, the control model of the DDC control system 5 can be regarded as a deviation value system for obtaining the deviation from the set value, and is described according to the following state equation. The strain gauge type represented by the number (3) in the deviation value system and The rolling load formula represented by the (3) Taylor expansion formula near the operating point and represented by slightly changing components is represented by (number 4) and (number 5). The size of this paper is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) I— Pack IIIII Order I ^ π (please read the precautions on the back before filling in this page) -41-301616 V. Description of the invention (39 [number 4〕 A7 B7

Ah. = Δ S but ΔΡ, △ h △ S Δ Ρ Κ (number 4) = thickness of the i-th machine exit side: the i-th machine pressing position: the i-th machine rolling load: the i-th machine rolling Constant number 5 a P;

Δ P 8h a ρ ΤΤΤ ΔΗ a ρ χ b Δ rb (please read the precautions on the back before filling in this page)-Install · + Δ rf (number 5) χ order is derived from (number 4) and (number 5) ( (Number 6) [Number 6] d Ρ Κ Printed by the Employees ’Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economics, ρ, δ s κ, \ a η ΔΗ: d ρ Δ rf; (Number 6) When delayed by 1 time respectively When the system approximates the response of the actuator reduction device 13 and the roll drive device 16, it becomes (number 7) (number 8). This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X 297mm) -42-A7 B7 5. Description of the invention (4〇 [Number 7] d Δ S: 1

(AS (number 7)

Pi △ SPi: the i-th machine pressing instruction [number 8 d Δν〇d (Δνρ1-Δν. (Number 8) △ VPi: the i-th machine roll speed instruction △ VRi: the i-th machine roll speed behind the rolling machine Tension is represented by (number 9) 'and when its small change component is determined by the mass flow formula' it becomes (number 10). -------- Calling --- --- Subscribe ------ (Please read the precautions on the back before filling out this page) Printed by the Staff Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs

〔Number 9〕 d Δ rb; E dl ~~ L (△ ν “_Δν〇 卜 j. · (Number 9) 〔number 1 HiV, Δ V. 1 H {hiAV ^ + AhiV ^ -AHiV. ·} (Number 1 〇) In addition, (number 1 1) shows the side plate speed and its small change component and (number 12) shows the small change component of the side plate speed. This paper scale is applicable to Zhongguanjia kneading (CNS) A4 standard (21 ( 5X297 Gong Xian) -43-A7 B7 5. Description of the invention (〔number 1 1〕 41

Voi = (l + f,.) VRi Δ ν〇, = (1 + f.) Δ ν〇, + VD: Δ f;

Tr- {hjAV〇 | + Ahi V〇 |} (number 1 1) [number 1 2] Η ·, (1 + f ^ Δν, γ + h, VRiAf; + (l + f,) VRiAh · (number 1 2〉 (Please read the precautions on the back before filling in this page)-Install _ Substitute (number 11) and (number 12) into (number 9) and export (number 1 3). Order [number 1 3]

d Δ r b. E h; (l + f;…: l + f 丨) Vr

Δ V R i

h: V

R H: Δ f, spring Δ h Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs

E-(1 + f, (number 1 3) and the small change of Taylor expansion of the advanced rate is expressed in number 1 4). This paper scale is applicable to China National Standard (CNS) A4 specification (210X297mm) -44-301616 Β7 V. Description of invention (42) [Number 1 4]

Substitute (number 1 4) into (number 1 3) to get (number 1 5) (please read the precautions on the back before filling in this page) [number 1 5]

The E. h.VR, / af, ^ l, h, and T7T7 body rf are printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. (Number 15> Here, the data shown in (Number 16) can be compiled ( Number 1 7 [Number 1 6] Δτ Thousand | = + ι… (Number 1 6 > This paper scale is applicable to China National Standards (CNS) Α4 specifications (210Χ297mm> -45-A7 B7 Fifth, invention description (43 ) [Number 1 7]

… (Number 1 7) If (number 1 1) is substituted into (number 1 7), it becomes (number 18). -------- ^ 1 installed ------ ordered ------ ^ (please read the notes on the back before filling in this page) Printed this paper by the Staff Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs The scale is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) -46-V. Description of invention (44) [Number 1 8] A7 B7 Printed by the Employee Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs

8 1 number / 1 \ binding ^ '' ^ (please read the precautions on the back before filling in this page) This paper size is applicable to China National Standard (CNS) A4 specification (210X 297mm) 47 V. Invention description (45 A7 B7 When these formulas of integers are expressed by determinants, it becomes the equation of state of (number 1 9). [Number 1 9] d _ AS; " a _ · 1 〇a 1 · 1 u 0 " Δ S. ~ 1 0 a ie ^ ua 2. 2 0 AVRh Δ rbj -i. 1 Δ r .. 3 3, 1 f 3, 2 d 3, 3 bib ;: i 0 + 0 _ 0 0 Δ S Δ V_ (number 1 S) (please read the precautions on the back before filling in this page) Printed by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs (number 20) and (table 1) to indicate (number 1 9) The ranks and variable vectors of each item, when discretized according to the control period, can obtain the state equation of (number 2 1). The (number 2 1) represents the control model of DD C 5 and is obtained by Perform linear approximation on the elements of the action point. [Number 2 0] d here d X = A x + B uy = C x This paper scale is applicable to China National Standards (CNS) A4 specification (210X297 Mm) -48-V. Description of the invention (46 x = [AS AVR Arb] 'U = [Δ S ρ △ Vp] 7 ra i. Ia 1 · 1 0 0 Α = 0 0 a' · 1 3 · 1 ai. i 3f 3

B b ;: i 0 0 b2: 0 0

ο ο • I 1. '• ^ o CJ— C A7 B7 (To 2 ◦ Binding ^ · Λ (please read the precautions on the back before filling in this page) Printed by the Ministry of Economic Affairs Central Standards Bureau Employee Consumer Cooperative Paper Standards Applicable China National Standard (CNS) A4 Specification (210X297mm) -49-A7 B7 V. Description of Invention (47) Table 1

Binding ^ π (Please read the notes on the back before filling in this page) Printed by the Employee Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs D3: Delay time for pressing the device_ τυ: Delay time for the speed control auxiliary input device E: Young's coefficient L: Distance between machines K: Flexible S5 This paper scale is applicable to the Chinese National Standard (CNS) Α4 specifications (210X 297mm) -50-A7 B7 V. Description of invention (48) [Number 2 1) X (k + 1) = A0x (k) + B0u (k) y = C〇x (k) (Number 2 1)

Here CATT 1 A〇 = e * k CATrs- 1] B〇 = e B CATT-1] Dn = θ s D Figure 1 8 is a functional block diagram of the DD c control system 5 composed of the best servo system . The state quantity X from the detection device 3 or the observation device 7 is input to the adding mechanism 20 'to obtain the deviation value ΔX from the set value Xs (operation point) of the state quantity from the setting control system 4. In this example, the state quantity is the reduction device S and the roll speed! *, Rear tension τ b 0 Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs (please read the precautions on the back before filling in this page) The deviation value of the status child △ X is input to the proportional control agency 2 1 and multiplied by The feedback coefficient (proportional gain) f X ′ generates a control command (operation amount) △ U with each state quantity of the depressed position component (ASp) and speed component (△ Vrp). Similarly, the thickness h of the output side and the rear tension rb as the control variables in this example, the deviation value e (error) relative to the set value Ys (mesh value) is obtained in the addition mechanism 22, and in the integration mechanism 2 3 is multiplied by the feedback coefficient (proportional gain) fe to be integrated, and becomes the control corresponding to each control quantity of the depression position component (S p ′) and the speed component (V). This paper scale is applicable to the Chinese national standard falcon ( CNS) A4 specification (210X297 mm) -51-A7 B7 V. Description of the invention (49) Let U e 〇 command generation mechanism 24, then for each depression position component and speed component will correspond to the control command Δυ of the state quantity 3. The control command corresponding to the control amount and the set value 113 from the setting control system 4 are added to generate an operation command U output to the reduction device 13 and the roll drive device 16. Here, the feedback coefficients f X or f e of the control parameters, when considering the extended ranks of (number 1 9) and solving the well-known Likaqi equation, then the feedback ranks fx and fe of (number 22) are obtained. The content of calculating the control parameters according to the setting control system 4 is detailed in, for example, "Modern Control Theory" by Samurai Tani. (Please read the precautions on the back before filling in this page) Pack. Order

^ • 21 ^ «22 Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs prints the equation of state (number 2 1) which is approximated by the aforementioned rolling load formula (number 1) or the operating point approached by the linearization mechanism is an approximate formula Therefore, during rolling, the setting values of friction coefficient (#) or deformation resistance (k) are different from the actual state. Therefore, the desired control performance cannot be obtained, and it is necessary to adapt to the rolling state to adapt to the correction. Fig. 13 is a functional block diagram of the second embodiment of the control model adaptive correction device 10 of the present invention. The correction device 10 is made by the Chinese National Standard (CNS> A4 specification (210X297 mm) according to the paper size of the certificate. -52-A7 B7 printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs 5. Description of the invention (50) The actual correction value of the state quantity X or the control quantity y is used to modify the adaptive correction means 2 8 of the control model online and to evaluate the rolling state, and the activation correction means 2 9 which can start the adaptive correction means when necessary First, the adaptive correction means 28 will be explained, and the rolling parameter calculation mechanism 3 3 will then refer to the rolling model 3 referred to via the setting control system 4 based on the state quantity X, control quantity y, etc. input by the detection device 3. 5. The inverse setting calculation is used to obtain the more difficult rolling parameters. The rolling parameters include: the adaptive correction coefficient Z pi of the rolling load, the zero correction of the depression position ASQi, the oil film thickness Cpi, the distribution ratio Ratio ai, advanced rate ratio fdi 〇 The calculation of these rolling parameters is based on the rolling load formula of the rolling model (number 1), which is obtained by the regression method of the least self-multiplied approximation. The following is adapted to the correction factor Z p as an example, come The calculation method of the rolling parameters is explained. The adaptive correction coefficient Z p is a coefficient for absorbing the error between the actual rolling load P and the predicted rolling load P > obtained from the rolling model, and the error is It is a phenomenon caused by the model that cannot be expressed quantitatively. The predicted rolling load P > is obtained by substituting the actual measured values of plate thickness, plate width, etc. into (Number 1) and (Number 2), However, the relationship with the actual load P obtained from the rolling load detection at this time is (number 2 3). [Number 2 3] Ρ = ζ ρ · Ρ " ··· (number 23) adaptive correction The coefficient ζ ρ, as shown in (Table 2) 'can be obtained η the paper size is applicable to the Chinese National Standard (CNS) Α4 specifications (210X297 mm) binding ^ travel (please read the notes on the back before filling this page ) -53-3016 Connected to A7 B7 V. Description of the invention (51) The data of P and Zp satisfy the evaluation function (number 24). The minimum solution of (number 24), since the first derivative of the variable 2 P can be implemented by Obtain the (number 2 5) obtained by the first-order differential equation to find z P ° Table 2 j 1 2 3 η — 1 n Ρ · (j) ΡΓ P2, P3, Pn-: 1 P n P (j) Pi P2 p3 IPn-, P n Zp 2 p 1 Z P2 2p 3 pn — 1 2p7 —---- [number 2 4] η Σ (zpj — Z ρ) 2 = minimized · j = 1 [number 2 5] (number 24) Zρ = Σ

Zp j η (number 2 5) --------- ^ ------ ir ------ (Quan (please read the precautions on the back before filling this page) Ministry of Economic Affairs Central Standards The rolling parameters obtained by the Bureau Staff Consumer Cooperative printed in this way are output to the setting control system 4 for use in subsequent setting calculations. On the other hand, the linearization mechanism 3 4, when input from the rolling parameter calculation In the rolling parameters of mechanism 33, the calculation of (number 4) to (number 2 1) is performed with reference to the rolling model, and the rank elements of the state equation (number 2 1) as the control model are obtained. Control parameter calculation Institution 36, solve the well-known Likaqi equation in terms of the state equations to obtain the control parameters f X, fe and update the coefficients of the proportional mechanism 21 or the integral mechanism 23 of the DDC control system 5. This paper size applies to China National Standard (CNS) A4 specification (210X297 mm) -54-A7 B7 printed by the Staff Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs 5. Invention description (52) Next, the starting means 2 9 will be explained. Figure 1 9 shows the state of affairs The functional block diagram of the detection mechanism 31. The self-detection device input is equipped with The expanded state quantity vector of the state quantity and the control quantity (reduction position S, roll speed vr, rear tension rb, exit side plate thickness h). Furthermore, the reference value vector corresponding to the expanded state quantity vector is input from the setting control system 4 ( ss, vRS, Tbs, hs), and in the differential mechanism 301, the deviation of each element is calculated as (number 2 6). [number 2 6] Δ Z = Z-Z. s = [AS, Δ vR, Δ rb, Ah], = [S-Sjf v R-v RS, XT τ b h-h3]… (result 26) The expanded deviation state vector ΔZ is input to the filtering mechanism 3 0 2 and will overlap The noise component of the vector is removed. This removal operation can be achieved by obtaining a well-known average process such as moving average of ΔZ. The abnormality detection mechanism 3 0 3 obtains the evaluation value of ΔZ for the expanded deviation state, when When this exceeds a certain value (permissible value), an event signal is output, and the evaluation value calculates the self-multiplied average error ε of the expanded state deviation of all state quantities and control quantities shown by (number 2 4). e can be obtained from a part of the state quantity or control quantity. For the rolling phenomenon with complicated motion, then Embodiments may accurately reflect the state of the "scale of this paper applies China National Standard (CNS) A4 size (210X297 mm) (Please read the back of the precautions to fill out this page)

, T-55-A7 B7 printed by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economy V. Description of invention (53) [number 2 7] e = / 〇TC (AS2 + AvR2 + Arb2 + Ah2)… (number 27) here , C: Fixed number starting mechanism 31, when receiving the incident signal from the incident detection mechanism 30, the adaptive correction means is activated, and the control parameters of the DDC control system 5 are revised. In addition, the starting mechanism 31 starts the setting control system 4 before starting the adaptive correction means 28, and the setting control system 4 can correct its target value according to the rolling state. Fig. 20 shows the operation of the rolling control system of this embodiment. The same graph (a) shows the rolling speed v, and the same graphs (b) and (c) show the variation of the reference value h s with respect to the plate thickness h. When the rolling speed is reduced, the rolling load P of (number 1) becomes larger, and the plate thickness becomes thicker as shown in the figure (b) in the past. In this example, as shown in figure (c), the plate thickness h will increase, and when the second power average error ε (the area of the diagonal line ①) exceeds the allowable value at the time of ②, an event signal will be output , And adapt the control model to the correction device 10 to start. The same figure (d) is calculated based on the reference value (target value) of the depression position from the setting control system 4 and corresponding to the operating point of ②. The same figure (e) represents the return coefficient f xy, which is optimized corresponding to the operating point of ②. As shown in figure (c), the deviation of the plate thickness relative to the reference value h s can be suppressed. According to this, when you need to modify the control model, you can correctly force it (please read the precautions on the back before filling this page)

The size of T-loaded and ordered spring paper is applicable to the Chinese National Standard Falcon (CNS) A4 specification (210X297mm). The A7 B7 is printed by the Consumer Labor Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs. 5. The invention description (54) is specific, so parameters can be borrowed Correct and improve accuracy. In addition, it is possible to avoid unnecessary model change processing and disturbance of the control system due to this. However, the operating state of the rolling mill includes: the plate speed is the highest speed and is almost a certain stable operating state. The running state, and when it is not stable, it can be known in advance that the rolling state has changed significantly. The timing mechanism 32 monitors the board speed or welding point from the detection device 3, and when the unstable operation state continues, the adaptive correction means 28 is activated at a certain period. For example, in the acceleration state of the sampling period T and a certain acceleration α, each time the plate speed increases by α T, the timing mechanism 32 will output a trigger signal, and the rolling parameter correction mechanism 33 will be activated via the activation mechanism 31. According to this, it is necessary to recalculate the parameters in the unstable operation state in which the rolling state fluctuates greatly, regardless of whether the aforementioned state is detected or not, it is preferable to make a simple start judgment at a certain cycle. Next, please refer to the drawings to explain in detail the third embodiment of the present invention. The schematic configuration diagram of the rolling control system to which the present invention is applied is the same as FIG. 2. The control system is an optimal control system that can change the control gain of the DC controller 5 by online means. The setting control system 4 has settings that can calculate the target value or rolling conditions of each station in accordance with the rolling program according to the rolling model 6, and set the operating point or influence factor corresponding to the rolling state from the detection device 3 Value calculation method 4-1 »This paper scale is applicable to the Chinese National Standard (CNS) Α4 specification (210X297mm) (please read the precautions on the back before filling in this page) -install.,-= *-耒 -57-A7 B7 V. Description of the invention (55) The rolling model is shown in (number 31) to (number 33). r-H 3 number k _ Λ • bII ρ

ρ D Η h here in Λ k

ρ DR Η h Comment on thick and thick repairs Μ plate plate two T two plate " kh:: Λ a force item resists straight shape diameter item straight roller --------- ^ install-- (please (Read the notes on the back before filling in this page) 2 3

D a 2 a a α *

R h 泉 B This is printed in the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. 2 a 3 a Γ number system rate counts are often rubbed. The paper size is applicable to the Chinese National Standard (CNS) A4 specification (210X 297 mm ) -58-A7 B7 Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy V. Description of the invention (56) [Number 3 3] P; η i = S, Η where S: the depressed position K: the roll spring constant indicates the roll The physical relationship of rolling load (number 3 1) is a Hill approximation, and the friction correction term is represented by (number 2)》 (number 31) rolling load curve and (number 3) strain gauge type The intersection point becomes the action point. The control system 4 is set up to calculate the operating point obtained by the load type and strain gauge type according to the Newton method under various rolling conditions. The DC controller 5 calculates the deviation between the target value or the set value of the operating point set by the setting control system 4 and the actual measured value from the detection device 3, and calculates a control command that can make the deviation zero. The actuator 8 operates the rolling mill 1 according to the control command. FIG. 21 is a third embodiment of the present invention, and is a mode of a rolling control device for controlling a rolling mill composed of multiple units. Composition diagram. Each roll rolling station is equipped with a plate thickness detection meter 3-1 as a detection device, a tension detection meter 3-2, a roll same speed detection meter 3-3, a reduction position detection meter 3-4, Depression load detection meter 3-5, plate speed detection meter 3-5, etc. The thickness of the output side hi and the rear tension rbi from the detection gauges reduce the position Si, and the roll speed and reduction load Pi are input to the setting control system 4, and the operation point or the operation point is changed according to the rolling state. Shadow (please read the precautions on the back before filling in this page) • Pack.-° This paper size is applicable to China National Standard (CNS) A4 specification (210X297mm) -59-301616 A7

V. Description of Invention (57) The setting value of the printing coefficient of the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. The outgoing plate thickness h of the rolled material based on the plate thickness detection meter 3-1 and the rear tension τ b based on the tension detection meter 3-2 are input to the feedback control unit 5-1. The control unit 5-1 obtains the deviations between these input values and the target thickness values h s and r b s from the setting control system 4, multiplies each deviation by the control gain to integrate, and outputs a control command. The control command is composed of a pressing command component and a speed command component. The control gain (set value) set in the feedback control unit 5 -1 is calculated by the control model. That is, when the (number 1) is subjected to the rolling of a small change component of Taylor expansion near the operating point When the load formula and the strain gauge formula (Number 31) described by the deviation value system are used to obtain the relationship between the state quantity X, the operation quantity U, and the control quantity Y and expressed in the general formula, the control model (Number 4) equation of state. [Number 3 4]-^-Χ ^ Α, Χ. + Β.υ, Υ 丨 = C i X i where A i, B i, C i: system rank elements x 1 = (Δ S i AVR i _ ! Δ rbi) TU t = CAS pt Δ V p i_i] TY i = C Δ ht Δ rbi) T i: The paper order of the machine is in accordance with the Chinese National Standard (CNS) A4 specification (210X 297 mm) — (please Read the precautions on the back and then fill out this page). Pack. Order Lei-60-Printed and printed by the Staff Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs A7 _B7 V. Description of invention (58) Discrete the state equation (number 3 4) according to the control cycle To find the row and column elements for each operating point, the control gain F of the feedback control system 5-1 can be calculated. This calculation method can solve the Likaqi equation according to the discrete state equation, and its detailed content is disclosed in the "Automatic Control of the Eighth" by the Automatic Society, "Bu 'Wen V Xi Part 1 (page 154)", so it is omitted. Its description. The non-interference control unit 5-2 inputs the control command based on the thickness deviation from the control unit 5-1 or the control command based on the tension deviation, so that each deviation is multiplied by the non-interference control gain, and the output Interference control command when the command component or speed command component is pressed. The control output unit 5-3 adds the control command of the feedback control unit 5-1 and the non-interference control command from the interference control unit 5-2 for each component, and the speed command Vp is output to the front machine (i 1. The roller drive device 8 of the speed control device, and the pressing command Sp is output to the pressing device 9 acting as the pressing position control device of the own station (i). 21, although the table is provided with a roll drive device 8 on the front machine (i_l) and a reduction device 9 on the own machine i, in fact, each table is equipped with a roll drive device and a press下 装置。 Lower device. The aforementioned speed command Vp can be output to the roll driving device of its own machine (i). In addition, the tension to be controlled may also be the front tension τ f (τ bi = r f (i-1)). The characteristic components of this embodiment of FIG. 21 are prepared: the priority order of the thickness and tension that can be controlled at the same time and the non-zhang scales that accompany this implementation are applicable to the Chinese National Standard (CNS) A4 specification (2 丨0X297mm) One (please read the precautions on the back before filling in this page) Pack. Order one " " -61 A7 B7 V. Invention description (59) Interference control decision action priority control decision part 5-4 And the control gain set by the setting control system 4 (usually when the coil is changed) can be controlled so that the number of disturbances and corrections is adjusted by 1 to 5. Part 5 4 system-I control 5 5 The feedback system of the feed department is based on the control system, and the control system is based on the control system. 2 system I, control 5 value control system 2 system-. Figure 5 is a summary of disturbances controlled by the model through the calculation of the model. Before the relationship, the non-production data and the root cause are 1 order,-refers to 15 degrees | part speed 1 system I control table 5 feed only part of the calculation table is In the performance system, 2 tolerances and 2 losses are included in the drawing, and the details of the detailed control are increased rapidly. The C control is such as 5 multiply-phase 5. 1 part h calculation.

F board} and 6 in 3 use the number to set C and set it as usual and so i shows V as h

Gains. The rolling multiplication and heat control of the control condition show that. 1 Table r shows the △ back difference, and the biased force is rolled and cold. The ground is as general as V shows the number of F 3 h r △

V h F commands the control thickness of Dulian. 1 board h is used in △ -------- calling-- (please read the precautions on the back before filling this page) Printed by the employee consumer cooperative 6 3 number V Δ r

VTF CJ command index • ITVI company's control and control force. 1 piece of 7 in △ using the system control department, disturbing calculations like non-outgoing and heavy losses like board control, controlled 3 with disturbance 1 then dry I 1 non 2-Force-2 sheets 5 I, Road 5 1 Ministry of Electricity 1 Delay-Delay Control 2 and Disturbance I Interference 5 2 Non-Ministry 1 Degree Calculation I Quick Show 2 One Lose 5 This paper scale is subject to China National Standards (CNS ) A4 specification (210X297 mm) -62-A 7 B7 printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs 5. Description of invention (60) A non-interference control system used when the response speed of the roll drive 8 is fast . The calculation unit 5-2-1 1 is in cold rolling. When the feedback control system 5-1 executes the tension priority control, the control gain Fdhvi is set, and the (thickness 37) thickness non-interference control output (△ Vdhi ). The calculation unit 5-2-12 is in hot rolling, when the plate thickness priority control is executed, the control gain F d tr vi is set, and the tension non-interference control output (AVd ri) is generated (number 3 8) »[number 3 7) AVdhi = Fdhvi * ASri where ASri: the pressing command according to the tension deviation [number 3 8] AVdri = Fdrvi * AShi where ASh i: the command to press the non-interference control according to the plate thickness deviation The non-interference control output AVcihi or ΛνίΙΙΓΓί After delaying an idle time Tdv i by the idle time circuit 5-2-1 ', it is subtracted from the control command output to the roll drive device from the feedback control system 5-1. The idle time T dvi is calculated based on the response time constant and idle time of the roller drive device 8 and the reduction device 9 and is matched with a non-interference control time corresponding to the occurrence of interference. This paper standard is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) (Please read the notes on the back before filling this page)

T 、-° -63-A7 ______B7 printed by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs V. Description of the invention (61) Figure 2 3 shows the depression of the feedback control unit 5-1 and the non-interference control unit 5-2 The pattern diagram of the command generation system. At the depressed position control output calculation unit 5-1-2, the control gain Fh si for multiplying the plate thickness deviation Ah i as shown in (number 3 9) and the tension as shown in (number 40) are set The control gain Fr si multiplied by the deviation Ar i. The former expresses hot milk, the latter expresses cold car daggers. 〔Number 3 9〕 AShi = $ Fhsi * Ahi… (for pressing command for thickness control) 〔Number 4 0〕 ASri = $ Frsi * Ari… (for pressing command for tension control) Non-interference control for pressing The section 5-2-2 has a plate thickness non-interference control output calculation section 5-2-2 1, a tension non-interference control output calculation section 5-2-22 and an idle time circuit 5-2-23. As will be described later, it is a non-interference control system used when the response speed of the pressing device 9 is fast. The calculation unit 5-2-2 1 is hot rolling. When the feedback control system 5-1 performs tension priority control, it will The control gain F dhsi is set, and the (thickness 41) plate thickness non-interference control output (ASclhi) is generated. The calculation department 5-2-2 2 is cold rolling. When performing the thickness control, the paper size will be set to the Chinese National Standard (CNS) A4 specification (210X297 mm) (please read the precautions on the back before filling in this Page) • Installed, νβ Quan-64-A 7 B7 Printed by the Employee Consumer Cooperative of the Central Prototype Bureau of the Ministry of Economy V. Invention description (62) 1 1 The tension (number 4 2) produced by the control gain F dr S i Non-interference 1 1 Control output (S d τ i) 〇1 1 〆, please 1 first 1 C number 4 1] Read 1 1 Δ S dhi — F dh S i • Δ VX i Surface 1 Note I Note 1 Item 1 IC Number 4 2] Then fill in Δ S dri — F d τ S i • Δ V h Script booklet 1 1 The non-interference controller 7V output is Intermediate circuit 5-2-1 1 I 2 3 and delay an idle time τ d S i 0 1 1 The various components of the aforementioned non-interference control unit can be adjusted by the output of the priority control unit 5-4 described later The coefficient is switched by setting the non-interference control gain to 1 1 effective (coefficient 1) or 4〇t tearing effect (coefficient 0). 1 1 Figure 2 4 Series priority control unit 5-4 iTPrt Xing control gain unit 5-5 Izumi 1 | A functional block circle. The priority control unit 5-4 is composed of the plate thickness tension priority control unit 5-4-1 and the non-interference priority control unit 5-4-2. Thickness and tension priority control unit 5 — 4 — 1 0 Allowable value 1 1 Setting means 2 1 White setting control system 4 Refer to the preset tension setting value τ brefi for each station after setting in advance for each station. Table 1 I 5 of the class to set the allowable value 0 In the classification table, the back tension of each level is stored 1 1 I The upper and lower limits of the fixed value τ brefi and the actual measured value relative to the series 1 1 The allowable value of rbi (Tension range) ± X b D ij 〇 In addition »Allowed 1 1 The paper size is applicable to the Chinese National Standard Falcon (CNS) A4 specifications (2 丨 OX 297 mm) -65-A7 _______B7 V. Description of invention (63) It is in the range of 0--TbDi j. Table 5 mn lower limit upper limit / allowable value 1 0 T b L i 1 — ^ τ b 0 i 1 2 Γ b L i 1 T b L i 2 — ^ τ b 0 i 2 1 1 1 1 1 1 i 1 1 1 1 1 1 _ 1 1 1 1 1 1 1 1 j τ b L ij-1 rb L ij + Δ ΓΓ-ib 0 1 J 1 1 1 1 1 1 t 1 1 1 1 1 1 1 η τ b L i η- 1 T b L in ± Δ r. N. B 0 in, (please read the precautions on the back before filling in this page)-installed ·, ν-β Printed by the Consumer Labor Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs It is easy to grasp the characteristics, and it can replace the tension deviation Δτ i used for comparison with the allowable value, and instead adopt the tension setting value ratio (i = Zw i / Zwbre fi). The tension deviation value output means 22 takes the setting value 2: brefi and The difference of the measured value rbi of the subsequent tension from the tensiometer 3-2 and the tension deviation Δτ i filtered to remove the noise component is output. The priority control determination means 23 determines whether the deviation Δτ i is within the range of the allowable value (tension range) ± rbD i j. If it is within the range, the plate thickness priority signal is output, and if it is outside the range, the tension priority signal is output. The control adjustment coefficient calculation means 24. In order to perform priority control of the thickness or tension, the adjustment coefficient G for changing the control gain of the feedback control unit 5-1 is determined as follows and is output to the control gain calculation The $ paper scale of the Ministry is applicable to the Chinese National Standard (〇Can) 4 specifications (210 father 297 mm) ~ '-66-A7 B7 printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy V. Description of invention (64) 5-5. The adjustment coefficient G is composed of 8 coefficients corresponding to the control gains shown in Fig. 2 and Fig. 2 3, and set for the allowable value within the range (thickness priority) and outside the range (tensile priority). That is, Gvh i 1 used to adjust the control gain Fhv i 1 and 2, used to adjust Frv i

Gvr i 1, 2, Gshi 1, 2 for adjusting Fhs i, Gs r i 1, 2, for adjusting Fr s i. The numbers attached to each coefficient, of which, are within the range of 1 table and outside the range of 2 tables. These adjustment coefficients are determined according to the relationship of (number 43). [Number 4 3] G s τ i 1 < G s r i 2 …… The relationship between the tension adjustment coefficient of the control output

Gvril < Gvri2 …… Relationship of tension adjustment coefficient of speed control output

Gshi2 < Gshil …… Relationship between the plate thickness adjustment coefficient of the control output

Gvhi2 < Gvhil ... The relationship between the thickness adjustment coefficient of the speed control output, that is, the relationship between the tension gain (Fr si) of the control output and the relationship between the tension gain (Frv i) of the speed control output The one within the scope is larger. The relationship between the thickness gain of the control output (F hsi) and the thickness gain of the speed control output (this paper standard applies to the Chinese National Standard (CNS) A4 specification (210X 29 " 7mm) (please read the notes on the back Please fill in this page for details) Pretend--*, Izumi -67-A 7 B7 V. Description of invention (65) F hvi) The relationship between those outside the scope is smaller than those within the scope. With this, the plate thickness priority control is executed when it is within the range, and the tension priority control is executed when it is out of the range. That is, the adjustment coefficients during cold rolling and hot rolling have the relationship shown in Table 6. Table 6. Cold gadolinium cooked gadolinium · Gvr i 1, 2 = 0 GV hi 1. 2 = 0 G »hl 1. 2 = 0 G · τ i 1. 2 = 〇 (plate thickness priority) (plate thickness priority) ) G vhi i > G a τ 丨 t (tension priority) (tension first) > (please read the notes on the back before filling out this page),-* Printed by the Employees Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs Each plate thickness adjustment factor and plate thickness deviation Ah i are set according to the function relationship of (number 44). [Number 4 4] Gshi 1, 2 = fs (Δ hi) Gvhi 1, 2 = fv (Δ hi) or Gshi 1, 2 = fs (% △ hi) Gvhi 1, 2 = fv (% Δ hi) However, △ his / ^ hi / hrefi (href: setting value) That is, the plate thickness adjustment factor G shi 1 within the range, this paper scale is applicable to the Chinese national standard falcon (CNS > A4 specification (210X297 mm) -68-A7 B7 Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs V. Description of invention (66,) 1 1 GV hi 1 ♦ In response to the increase in the thickness deviation of rrfar, the gain of the thickness control 1 1 system is improved. It can be the same when it is out of range. ○ I I Figure 2 5 is used for -W- to describe the processing order of priority control of plate thickness tension. Please refer to the flow chart of 1 1 1. First »Set and set the tension setting value. Read 1 first 1 I rbrefi presents the corresponding allowable value of tension ± X b D ij (back 1 1 1 IS 1 0 1) > while obtaining the deviation value of the rear tension τ bi after taking the example 1 1 Δ X bi (S] L 0 2) 0 Secondly, judge whether mxi breaks the deviation value Δ τ bi or not, then fill in -s | λ I bit within the range of the set allowable value τ b D ij (S) L () 3) 0 When this page is written, the adjustment coefficient G is decided to make the thickness control better 1 I first (S 1 0 4) 0 Multiply the adjustment coefficient G by the control gain setting value and 1 II Take the control gain (s) L () 6) on the line (on -1 i η e) < * For example 1 1 order 1 The control gain (F h V i) used for plate thickness control will become the one for more tension control The control gain (F τ S i) generally determines the adjustment coefficient as a large value. 1 1 G 0 1 1 In addition—. When the deviation Δ rbi is outside the allowable value M •• κ, the spring soil rb D i J is outside the range When the tension control is given priority (1 IF τ S i > F h V i), the fine adjustment coefficient (S 1 0 5) 0 1 1 is determined Next, the non-interference priority control unit 5-4-2 0 non-interference 1 1 control device decision means 2 4 is selected by comparing the response time constants TV 1 and TS i of the roll drive device 8 and the reduction device 1 1 9 A device with a small time constant I I (fast response speed) and outputting the non-interference adjustment coefficient 1 I name. Also * According to the response time constant T V i of the roller drive device 8, idle time I I set time T d 1 i 9 response time constant T S i, idle 1 1 I set time T d 2 i Borrow (number 4 5) to calculate the non-interference control 1 1 This paper scale is applicable to China National Standard (CNS) A4 specification (210X297 %) -69-A7 B7 V. Description of the invention (67) The time matches the idle time Td i of the interference phase. In addition, since the response time or idle time of the device is determined by the system design or change, the output from the means 2 4 can be determined in advance "[Number 4 5]

Tdi = F (Tvi, Tsi) + Tdli— Td2i non-interference adjustment coefficients include Gdl, Gd2, Gd2 and Gd2 used to adjust the thickness non-interference control gain Fdhvi and tension non-interference control gain Fdrvi of FIG. 22 and respectively. Gd3, Gd4 of tension non-interference control gain Fdr si. The name of the adjustment coefficient output from the non-interference control device decision means 24 is determined based on the relationship of (number 4 6). [Number 4 6]

TviCTsi—Gdl, Gd2 Tvi < Tsi—Gd3, Gd4 Printed by the Beigong Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs (please read the precautions on the back and then fill out this page) Usually, due to Tvi > Tsi, and the response of the depression device 9 The speed is fast, so you can choose Gd3 and Gd4 for adjusting the plate thickness non-interference control gain F dhsi that can be calculated to the non-interference control output of the pressing device and for adjusting the tension interference control gain Fdr si. The interference adjustment coefficient decision means 2 5 corresponds to the name of the non-interference adjustment coefficient from the means 2 4 and the original paper standard from the priority control determination means 2 3 to the Chinese National Standard (CNS) A4 specification (210X 297 mm)- 70-A7 B7 printed by the Staff Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs 5. Description of invention (68) Thickness control priority signal or tension control priority signal, and each non-interference adjustment coefficient is determined as shown in (number 4 7) And output it to the control gain calculation unit 5-5. [Number 4 7] < When the plate thickness is controlled first>

Gdl = 0.0, Gd3 = 0.0 Gd2 = l. 0 (Tvi < Ts i),

Gd4 = l. 0 (Tvi > Ts i) < When tension control is preferred >

Gd2 = 0.0, Gd4 = 0. Ο Gdl = 1.0 (Tvi < Tsi),

Gd3 = 1.0 (Tvi> Tsi) That is, the example of the non-interference control performed by the fast-reduction reduction device 9, since it is the non-interference control of tension during cold rolling, all of G d 1 to G d 3 become 0 . 0, and when there is only Gd4, it is 1 · 0 in the thickness priority control and 0. 0 in the tension priority control. In this way, the non-interference priority control unit 5-4-2 determines the adjustment coefficient to be used for multiplying the non-interference control gain by implementing the non-interference control by the actuator with a fast response speed. Next, the function of the control gain calculation means 5-5 will be explained. Control gain calculation method 30, then set the control system 4 to set the feedback control department. The paper size is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm). ~ -71-(Please read the precautions on the back first (Fill in this page) Binding · Order A7 B7 Employee's Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs, Chapter 5, Invention Instructions (69) 5-1 The setting value of the control gain (Fr efi 1, 2). As described above, the control gain setting value is obtained by the well-known Likachi equation to obtain the equation of state shown in (number 4). The control gain setting value is multiplied by the adjustment coefficient from the adjustment coefficient calculation means 23, and the control gains shown in Fig. 2 2 and Fig. 2 3 are obtained according to (number 4 8). [Number 4 8] F hvi = F hv ref i 1. 2. G vhi 1, 2 F rvi = F rv ref i 1, 2 · G vri 1. 2 F hsi = F hs ref i 1. 2 · G shi 1. 2 F rsi = F rs ref i 1. 2 · G sri 1, 2 The numbers attached to each coefficient of (number 4 8), where 1 is the sheet plate thickness priority control '2 is the table tension priority control. If according to the relationship of the adjustment coefficients shown in Table 6, * F rv i and Fhs i are zero during cold rolling, Fhv i > Fr si when plate thickness control takes priority, then Fhvi < Frsi. In addition, it becomes zero during cold rolling, and the control gain or its control system used during hot rolling can also be removed from the design object when determining the system. The non-interference control gain calculation means 31 sets the non-interference control gain setting value (F d r e f i) of the non-interference control unit 5-2 by the setting control system 4. In one example, the tension non-disturbing control gain is expressed when the response of the reduction device during cold rolling is fast (number 49). (Please read the precautions on the back before filling in this page). Installed.--The paper size of Kouquan is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) -72-A 7 B7 Employee of the Central Bureau of Samples of the Ministry of Economic Affairs Printed by the consumer cooperative V. Description of the invention (70) 1 IC number 4 9 1 1 | F d CS ref i = (K i--3 PI / 3 hi) / K i * 1 1 I Here, d P i / 3 h I: influence coefficient K i: roll spring constant 1 1 first 1 read I read 1 1 C number 5 0] back 1 | of 1 F dhvi = F dhv ref i • G d 1 Note 1 IF drvi = F drv ref i • G d 2 item and then 1 F dhsi = F dhs ref i • G d 3 fill in the book-^ 1 F. d τ si = F drs ref i • G d 4 page 1 1 Figure 2 6 is as mentioned above The interference control gain determines the sequence of flow 1 1 pass VBTt Figure 0 That is, during cold rolling, when the reduction device 9 sounds When atg should be fast (1 1 S 2 0 1), then when the thickness priority control (S 2 0 2), then set 1 G d 4 = 1.0 (s 2 0 4), so 9 can be set to non-interference Control 1 1 system gain F d τ si = F d τ s re fi (S 2 () 6) and Zhang 1 I force non-disturbing control is implemented by the tension device 9. On the other hand, when Zhang Quanquan control takes priority , It becomes F d τ S i = 0 without non-interference 1 I control 0 1 1 non-interference control gain calculation means 3 1, then according to the response time constant difference of the non-interference control 1 1 control device decision means 2 5 Calculate 1 1 delay time T d 1 i CtS3 when the roll speed device is fast and 1 1 delay time T d 2 i »when the roll speed device is fast and set it to the non-interference control means 5-2 1 I Up 0 This setting can be made at the time of system design or change. In addition, when determining 1 I to build the system, it can also be unused Non-interfering or gain control system which controls the system 111 White design objects to be removed. 1 1 This paper scale applies the Chinese National Standard (CNS) A4 specification (210X297 mm) -73-A7 __B7 V. Description of the invention (71) Figure 2 7 and Figure 28 are the dynamics of the rolling system of the previous embodiment Figure. Fig. 27 is an example of the case where the response time of the gauge pressure reduction control section is shorter than the response time of the speed control section and the thickness priority control is short. In a conventional cold rolling system, the hydraulic pressure reduction device is used in the reduction control unit, and the DC motor is used in the speed control unit, which is equivalent to this example. In the figure, the thick solid line indicates priority control, and the thin solid line indicates non-priority control that is simultaneously controlled. The dotted line is the control that is not executed and is for reference only. Figure 28 is an example of tension priority control where the response time of the depression control unit is shorter than the response time of the speed control unit. This is equivalent to the configuration of a general hot car L system. According to this embodiment, in the rolling control that simultaneously controls the plate thickness and tension, if the actually measured tension deviation is within the allowable value range, the plate thickness control gain is increased, and when it exceeds the allowable value range, then Increase the tension control gain and implement priority control. In addition, since the allowable value is set for each machine, and each stage of the tension setting value is carefully set, precise priority control can be performed as the operating point changes. Printed by the Beigong Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs (please read the precautions on the back before filling in this page) Therefore, it is possible to improve the control accuracy of the thickness and tension at the same time, and improve the quality of the product, while controlling the tension deviation with high loudness , So that the operation of the rolling mill can be quickly stabilized. In addition, the effect of the plate thickness control command on the tension of the rolled material (disturbance) or the effect of the tension control command on the thickness of the rolled material (disturbance), you can use the fast response Actuator, so that the phase can implement non-interference control in accordance with the interference phenomenon caused by the slow response actuator, so the interference can be eliminated immediately, and the control of increasing the thickness or tension of the paper. The paper standard is applicable to the Chinese National Standard (CNS ) A4 specification (210X297 mm) A7 B7 printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs V. Description of invention (72) Accuracy. Furthermore, the rolling control device of the present embodiment can be widely used regardless of the system configuration of functions such as hot rolling or cold rolling processes or actuators, and therefore can flexibly correspond to the system configuration or change. Next, a third embodiment of the present invention will be described. The feedback control system 5-1 of circle 2 1 only shows the feedback control of the control amount, but it can also be an optimal servo system with additional state feedback control for controlling the deviation of the state quantity in the rolling process. That is, the actual measured value and the measured value of the previous roll speed VRi_l and the rear tension rb obtained by the reduction position S i obtained by the reduction position detection meter 3-4 and the roll simultaneous speed detection meter 3-3 are obtained. The deviation of the set value is calculated, and the speed control command and the depression control command that can make the deviation zero are calculated, and the velocity control command or the depression control command of the aforementioned control amount feedback control system is added and output. In addition, when the roll speed VR i and the front tension r f of the stand are set to the state quantity, it is the same as the previous embodiment. According to this, by quickly responding to the state feedback control, the external factors of plate thickness and tension can be suppressed at a higher speed, and the effect of priority control of the present invention can be further improved. Furthermore, in other embodiments, the control amount is The thickness of the sheet directly below the roll. Using the plate thickness gauge 3-1 shown in Fig. 21, the outgoing plate thickness hi, the incoming plate thickness H i (the outgoing plate thickness at the front desk), the incoming plate speed V ei and the outgoing plate speed V oi are used in the observation device 7 Calculate (mass 5 1) based on mass f low and calculate the plate thickness hmi directly under the roll. The size of this paper is applicable to China National Standard (CNS) A4 (21 OX 297mm) --------- installed ------ ordered ------ (please read the notes on the back first Please fill in this page again) -75-A7 _B7_ V. Description of the invention (73) [Number 5 1] hmi = Vei-Hi / Voi According to the hm i and the target value hrefi from the setting system, the thickness deviation Ah i is obtained According to this, the control delay of the rolling control material is eliminated because the rolled material moves from directly below the roll to the exit side thickness gauge 3 to 1. Therefore, the effect of priority control or non-interference control of the present invention can be further improved. Other embodiments constitute a non-interference control system that can use the plate thickness deviation Ah i or the tension deviation Λτί as direct input. At this time, (Number 37), (Number 38) or (Number 41), (Number 42) are corrected as shown in (Number 5 2) "(Please read the precautions on the back before filling this page) . Pack · Order

A [Number 5 2] Δ V dh 丨 i = F dhvj; · Δ rj · < -Td i · 3-(»3;) AVd r. 1 i = F drv .9 Δ h. ≪ -Td 1 * 3 ... (number 4 *) Δ S dh,, = F dhsj;-Δ rj (-Td i · 3… (number 7,) Δ S dr | j = F drs .7 Δ h. I -Td is 3… (number 8,) According to this, since the integral calculation when the control command is not carried out, it is printed by the Beigong Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs to obtain a larger rate of change from the input signal and increase the non-interference control gain The same effect. Please refer to the figure to explain the fourth embodiment of the present invention. This paper scale is applicable to China National Standard (CNS) Α4 specification (210Χ297 mm)-* 76-Uncle Consumer Cooperative of Central Standards Bureau of the Ministry of Economic Affairs Printed A7 B7 V. Description of the invention (74) The general structure of the control device of the rolling mill is the same as that in Figures 2 and 3. The relationship between the work roll 13 of the rolling mill and the rolled material 14 is not shown in the table. 4 to 6 are the same. Figure 2 9 is a block diagram showing the fourth rolling control device according to an embodiment of the present invention. Rolling showing the operating state of multiple rolling mills 1 The state quantity, the thickness of the rolled material 14 is detected by the plate thickness detection meter 3-1, the plate speed is detected by the plate speed detector 3-2, and the plate is detected by the tension detector 3-3. The tension of the rolled material 14 is detected by the roller load detector 3-4, the roller load is detected by the roller speed detector 3-5, and the same speed of the roller is detected by the roller speed detector 3-5, and the roller position detector 3-6 Pressing position. In addition, the rolling state of multiple rolling mills 1 changes according to the pressing device 13 of the actuator 8 and the roller driving device 16. The control device 2 is controlled by the feedforward control unit 2-1 It is composed of the feedback control unit 2-2. The feedback control unit 2-2 calculates the control command based on the rolling state quantity detected by the tension detection meter 3-3 etc. and the example of the feedback control 2-2 is as follows Use Bisra-AGC of rolling load and reduction position. Feedforward control unit 2-1 consists of plate thickness tracking unit 100, reduction idle time correction plate thickness tracking unit 101, speed idle time correction plate thickness tracking Part 1 0 2. Press the feed-forward calculation unit 103 and the speed feed-forward calculation unit 104. The feed-forward control unit 2-1 is the idle time for self-response The input section 1 0 5 inputs the idle time of the response of the pressing device 1 3 and the roll drive device 16. The plate thickness tracking section 1 0 0 makes the paper standard of the first i-1 station at the front desk applicable to the Chinese National Standard (CNS ) A4 specification (210X 297 mm): -77-(please read the precautions on the back before filling in this page). Installed., 11 '耒-A7 B7 printed by the Employee Consumer Cooperative of the Central Ministry of Economic Affairs of the Ministry of Economy Explanation (75) The history of the plate thickness detection meter on the exit side 3-1 (i-1) corresponds to the position from the i-th station to the i-th station. The current board speed detected by the detection meter 3 _ 2 (i-1) is memorized while performing movement control. Press the idle time correction plate thickness tracking part 1 0 1, then the idle time responded by the depression device 1 3 input by the idle time input part 1 0 5 of the self-response and the on-board speed detector 3-2 (i — l) The plate speed detected in step 1 and the movement distance of the rolled material 14 during the idle period of the response of the reduction device 13 are estimated, and it is based on the plate thickness history data of the plate thickness tracking unit 100 Select the thickness to the distance directly below the i-th roll corresponding to the moving distance. In addition, a response delay time formed by adding a delay time of 1 delay to the idle time of the response may be provided from the idle time input unit 105. Similarly, the speed idle time correction plate thickness tracking unit 1 0 2 is based on the idle time or response delay time of the response of the roll drive device 16 input from the self-response idle time input unit 105. The current plate speed detected by the detector 3-2 (i-1) estimates the moving distance of the rolled material 14 during the idle time of the response of the roll drive device 16, and the plate thickness tracking unit 1 〇 ○ From the thickness history data, select the thickness data that corresponds to the moving distance at the position just below the i-th roll. The press feedforward calculation unit 1 0 3 calculates the feedforward control command input to the press device based on the plate thickness data selected by the press idle time correction plate thickness tracking unit 101 and the feedforward gain set in advance. At this time, the paper size before the application of the Chinese National Standard (CNS) A4 specifications (210X297 mm) (please read the precautions on the back before filling this page)-* -78-A7 B7 V. Description of the invention (76) The feed calculation unit 1 0 3 will use the plate thickness data that has considered the delay time of the reduction device 1 3 as the plate thickness variation that is the deviation of the plate thickness data from the target value when it reaches the roll directly below the i-th machine , The pressing device 13 can be operated to cancel the thickness variation component, and the feed forward pressing command can be output by calculation. The speed feedforward calculation unit 104 calculates the feedforward control command input to the roll drive device based on the plate thickness data selected by the speed idle time correction plate thickness tracking unit 102 and the previously set feedforward gain. At this time, the speed feedforward calculation unit 104 will calculate the feedforward speed command based on the plate thickness data that has considered the delay time of the roll drive device 16. Therefore, the plate thickness variation corresponding to the plate thickness data will reach When the roll of the i-th machine is directly below, the roll drive device 16 is feed-forward-controlled to offset the variation of the rolling phenomenon caused by the variation of the plate thickness. The operations from the feedforward control unit 2_1 and the feedback control unit 2-2 to the reduction device 13 and to the roll drive device 16 are treated as reduction commands in the addition unit 20. And the speed command is added and output. Printed by the Beigong Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs (please read the precautions on the back before filling in this page) 'Izumi Chart 3 0 is a model diagram composed of the sheet thickness tracking department 1 0 0. Table 100_1 is composed of the plate thickness data movement control unit 100-2. The plate thickness memory table 1 00_1 divides the distance (L) from the plate thickness detector 3-1 (i-1) on the outgoing side of the (i — 1) machine to the position directly below the i-th machine (L) η equally divided, corresponding to the distance from each divided section to directly below the i-th machine, and the current position of the sampled point of the rolled material positioned at the position between the machines is tracked, and the plate thickness The record of the track record is memorized. This paper scale is applicable to China National Standards (CNS) A4 (210X297mm) printed by the Beigong Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs A 7 B7 V. Description of Invention (π) Tracking of the sampled points of each plate thickness data Then proceed as follows. First of all, come the plate thickness data detected directly by the plate thickness detector 3_1 (i-1) and the plate speed detector located between the (i _ 1) th and i th machine 3-2 (i — 1) The detected board speed value is read by the board thickness tracking unit 100 at a sampling interval of a certain period. The plate speed value is sent to the plate thickness data movement control unit 100-2. The sheet thickness data movement control unit 100-2 calculates the movement distance of the rolled material 14 since the sampling point of the previous detection. In addition, ’will send the history data of the plate thickness stored in the plate thickness memory table 1 0 0_1 to the i-th machine first in the divided section corresponding to the movement distance, corresponding to each position between the machines. For example, if it is assumed that only the distance i is moved, first, the plate thickness data corresponding to the position directly below the i-th machine at the position β will be deleted. In addition, the memorized plate thickness data at a distance ρ from the i-th machine will be updated as the plate thickness data corresponding to the position directly below the i-th machine. The data of the plate thickness memory table 1 0 0-1 will be updated in sequence. Finally, each plate thickness in the history data column is moved to each memory section of the plate thickness memory table 10 0-1 in correspondence with the current position of the sampled point of the rolled material. The position between the machine and the plate thickness data at that position, which are memorized in the plate thickness memory table 10 0 -1, will be sent to the pressing idle time correction plate thickness tracking section 1 0 1 and the speed idle time correction plate thickness Tracking department 1 〇2. H3 1 is the gauge of the idle time correction plate thickness tracking section 1 〇1. The constitutive paper size adopts the Chinese National Standard (CNS) A4 specification (210X297mm) (please read the precautions on the back and fill in this page)- 9 -80-A7 _B7 printed by the Beigong Consumer Cooperative of the Central Bureau of Economic Affairs of the Ministry of Economic Affairs 5. The functional block diagram of the invention description (78), which is determined by the idle time setting unit of the depression device 1 0 1 _ 1, idle time distance calculation Part 1 0 1-2. The plate thickness data selection part 1 0 1_3 and the correction plate thickness memory part 1 0 1-4. First, the idle time of the self-response idle time input part 1 0 5 of the pressing device 13 is idle The time will be memorized in the idle time setting unit 101-1 of the pressing device. The board speed value detected by the board speed detector 3-2 (i-1) is input together with the idle time of the pressing device 13 The idle time distance calculation unit 10 1-2 of the plate thickness tracking unit 101 is corrected until the idle time is pressed. In the idle time distance calculation unit 1 0 1 _ 2 is obtained based on the idle time of the aforementioned pressing device and the current board speed value The movement of the rolled material 14 during the idle time of the pressing device The moving distance is sent to the plate thickness data selection section 1 0 1-3. The plate thickness data selection section 1 0 1-3 is based on the plate thickness history data input by the plate thickness tracking section 100 0 and the pressing device 1 3 The movement distance during the idle time is used to perform the tracking operation of correction. That is, the idle time of the device and the reduction device are removed from the plate thickness history data row located directly upstream of the i-th machine roll The moving distance is equivalent, and the thickness data corresponding to the distance directly below the roll (ΔΗ (η), etc.), and the remaining data row is the first on the downstream side of the row, if it corresponds to the directly below the i-th machine roll It moves as usual and is memorized in the correction plate thickness memory section 1 〇1-4. In addition, from the corrected and memorized plate thickness data, a new ΔΗ (η) corresponding to the i-th machine roll directly below is sent to Press down the feed-forward calculation unit 103. Press down the feed-forward calculation unit 103, then use (number 64) ~ (number of paper standards apply China National Standard (CNS) Α4 specification (210Χ297 mm): -81-(please Read the precautions on the back first and then fill out this page). Packing. Order Quan A7 B7 The relationship of (79) 6 6) is used to calculate the reduction change amount as which is the reduction command. The reduction change amount AS 'input side thickness variation disturbance λη and the tension variation amount △ τ as the state quantity inside the rolling b and the relationship between the outgoing plate thickness variation Ah as the control variable is expressed by (number 6 4). [number 6 4] Δ hah as Δ S + 丨

ah TiT ΔΗ (64) (please read the precautions on the back before filling out this page) Here, △ h △ S Δ τ Δ Η / ah sah Printed by the Employees Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs ah Τη ": Outboard thickness Amount of change: Amount of change in reduction: Amount of change in tension: Influencing factors of thickness variation at the input side: Affected coefficient of change in thickness at the outgoing side relative to the change in reduction: Affected coefficient of change in thickness at the outgoing side relative to tensile deformation: Relative change in thickness at the outgoing side The influence coefficient of the thickness variation at the inlet side is in (number 64), if there is no change in tension (△ ', you can get (number 6 5) »This paper scale applies the Chinese National Standard (CNS) A4 specification (210X297 mm) -s Γ 1 · "% -82-A7 B7 Printed by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economy V. Description of invention (80) [Number 6 5] Δ h = Because the goal of control is to not produce side plate thickness Variation (Ah = 0), so the amount of depression change AS can be obtained by (number 66). [Number 6 6] Λ〇_ (~ W7 ^ νΔΗ-(66) Ts ~ J in this (number 6 6) The ΛΗ system used in this is implemented by correcting the plate thickness tracking unit 101 according to the idle time of depression The correction of the thickness fluctuation at the inlet side corresponding to the position directly below the roll is corrected by ΔΗ (η). Figure 3 2 is a functional block diagram of the structure of the speed idle time correction plate thickness tracking section 1 〇2, which is set by the speed device idle time setting section 1 〇2 — 1. Idle time distance calculation unit 102_2, plate thickness data selection unit 1 0 2-3 and correction plate thickness memory unit 1 0 2_4》 First, the self-response idle time input unit 1 0 5 input The idle time of the roller drive device 16 is stored in the speed device idle time setting unit 102-1. The plate speed value detected by the plate speed detector 3-2 (i-1) will be the same as the roller drive device The idle time is entered into the distance calculation unit 10 2-2 ». In the idle time distance calculation unit 1 0 2-2, based on the speed device idle time and the current plate speed value, the roller drive

(Please read the notes on the back before filling this page)-

-β This paper scale is applicable to China National Standard (CNS) A4 specification (210X297mm) A7 A7 Printed by the Consumer Cooperative of the Central Bureau of Economic Affairs of the Ministry of Economics B7 5. Description of invention (81) Rolled material 14 in idle time Move the distance and send it to the plate thickness data selection section 102-3. The plate thickness data selection unit 1 0 2-3 performs the correction tracking operation based on the plate thickness history data from the plate thickness tracking unit 100 and the moving distance from the idle time distance calculation unit 10 2-2. That is, in the plate thickness history data located directly upstream of the i-th machine roll, the plate thickness data corresponding to the distance from the roll directly under the idle time of the roll drive device is removed, and the distance from the roll directly below the roll (ΔΗ (η), etc.), and the head of the left side of the remaining data row is moved so as to correspond directly under the roll of the i-th machine, and stored in the correction plate thickness memory section 1 0 2 -4 . In addition, from the corrected and memorized plate thickness data, a new ΔΗ (η) corresponding to the i-th machine roll directly below is sent to the speed feedforward calculation unit 104 °, and the speed feedforward calculation unit 104 is used (Number 67) to (Number 69) Calculate the speed change amount AVr that becomes the speed command. The relationship between the speed change amount, the reduction change amount AS, the input side thickness fluctuation disturbance ΔH, and the tension change amount ATb, which is the state quantity inside the rolling, is expressed as (number 6 7) "[number 6 7] .. . " 7) Here, AVR: Speed change amount This paper standard is applicable to China National Standard (CNS) A4 specification (210 X 297 mm) (please read the precautions on the back before filling this page). Pack. Order Quan-84-A7 B7 V. Description of Invention (S9)

82 △ S Δ τ Δ Η a rb Ts ~ 3 rbTvT The amount of change in tension The amount of change in tension The amount of change in the thickness of the external side The influence factor of tension change relative to the change in pressure The coefficient of influence of tension change in relation to the change in speed da η 1) : The coefficient of influence of the tension change relative to the change in the thickness of the input side (please read the precautions on the back before filling in this page) In the relationship of (number 6 7), the reduction change amount AS becomes the feedforward reduction command. Therefore, using the speed idle time correction plate thickness tracking section 10 2 and the input side plate thickness variation (ΔH) after being captured, the reduction command is estimated based on (number 6 6). When this estimation result is substituted into (number 6 7), it becomes (number 6 8). [Number 6 8]

, 1T Printed by Beigong Consumer Cooperative, Central Bureau of Standards, Ministry of Economic Affairs

a S -X_ d

d H as

d hTiT ah Ts Δ H +1 d V, Δ V, (68 In the case of the aforementioned reduction command, if there is no change in tension, it can be obtained (number 6 5). Here, the feedforward speed command is designed The paper size can be controlled by the Chinese National Standard (CNS) A4 specification (210X297mm) -85-301616 V. Description of the invention (83) The change of the rolling phenomenon due to the disturbance of the thickness of the input side is also known as 'In (number 68), use △ TbsO, and calculate the speed command according to (number 6 9)》 [number 6 9 Δν,

aha S d hys) (-d ΔΗ (09 a V, (please read the precautions on the back before filling in this page) t · come in (in the step ms of the movement of the tracking part 1 into the side plate thick circle 3) Note that the thickness of the roll is directly under the roll as a resume, and the head is stored in the empty plate speed number 6 9) 0 2 The change sent by the external disturbance 3 is used in the flow chart ". Step S 1 measures the memory of each machine. The data row up to the side of the board speed output section, the data in the memory area that is memorized before the new measurement. In the center, ΔΗ is a correction of the thickness of the board from the speed idle time to the one corresponding to the position directly below the i-th machine. Ο Η (η). The roll control device (3 9) that illustrates this embodiment is printed by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs-'β Γ fj · κ, according to the in-degree data of the platform 1 (i rolling in The plate thickness according to the calculation is in the middle of the table. It should be on the plate thickness table D 1 at a certain side. -1) The measured sequence of the rolled material is recorded, then the data is listed before the movement to this cycle , And the corresponding memory that was detected by the i-th flow down by borrowing steps, then take the second (usually timepiece _ 1 with the thickness of the plate to the direction of the thickness of the second S 2 according to this interval is 2 plate speed, the machine out of the i machine data, shell (J trace table. Plate thickness tracking, During the period measured by this paper, the paper size is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) 86 Printed by the Central Bureau of Standards of the Ministry of Economic Affairs, Consumer Labor Cooperatives 〇l16i6 A7 ___B7_ V. Description of invention (84) The distance moved by the material causes the data in each section of the table to be sequentially shifted. In addition, the data located directly downstream of the roll is removed from the table. In step S 3, in order to correct the The idle time is selected from the plate thickness tracking table based on the transport time (D 2) of the pressing device and the current plate speed data (D1), which are necessary for feedforward control. Use the selected For the thickness information of the inboard side, obtain the reduction command in step S5. The reduction command refers to the influence coefficient (D4) calculated at the time of setting, and is calculated according to (number 66). Similarly, in step S 4, in order to correct the roller drive 1 The idle time of 6 is based on the transport time (D3) of the roll drive device memorized in advance and the current plate speed data (D1), and the plate thickness data necessary for feedforward control is selected from the plate thickness tracking data. In S6, it is speculated that the effect of the pressing operation on the tension "and this is because the pressing command and the speed command will compete with each other, and the change in the pressing state causes the tension in the rolling state to change and affect the thickness of the plate The speed command is used to correct the effect. In addition, the influence of the pressing operation on the tension is estimated based on the image coefficient (D 4) and the input side plate thickness data, and is estimated based on the first item on the right of (number 6 7). Using the estimated value of the influence caused by the change in the reduction position, the thickness data of the inlet and outlet sides selected in step S4, and the influence coefficient (D4) calculated at the time of setting, the speed command is obtained according to (number 69) . If the previous feed-down command is obtained in step S5, when the time-corrected plate thickness variation value in step S3 corresponds to the position directly under the roll, the paper scale is applicable to the Chinese National Standard (CNS) Α4 specification ( 2 丨 Ο X 297mm) (please read the precautions on the back before filling in this page), installed., 1Τ -87-A7 B7 printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy V. Description of invention (85) When the actual situation is earlier-idle time), the control sequence will be output to the depression device. Similarly, the speed command obtained in step S7, when the time-corrected plate thickness variation value in step S3 corresponds to the time just below the roll (earlier than the actual situation-idle time) control sequence , It will be output to the roll drive. The output timing of the control commands of the pressing device and the roller driving device is set at the same time in synchronization with the sampling cycle. However, according to the present embodiment, the control sequence of the reduction command and the speed command corresponding to the same point of the rolled material is changed according to each idle time as described above. In this way, when the thickness variation or the resulting tension variation reaches directly below the roll, the reduction device and the roll drive device are operated to reliably offset the degree of its influence. FIG. 34 is a flow chart for explaining the order in which the setting control system 4 calculates the influence coefficients defined by (number 64) and (number 67) and is set in the data table D 4 of FIG. 33. Each time the setting control system 4 changes the product size or material, it calculates the initial setting value of the roll gap on each machine of the rolling mill, the setting value of the roll speed of the stabilizing portion, the setting value of the thickness of the exit side, and the setting value of the load. Tension between stations (SS 1) »Secondly, in order to calculate the influence coefficient, the small variation range (SS2) of the thickness of the input side, the rolling position, and the roll speed is determined from the calculated settings. In this case, the small variation range is set to ± 5% of the set value. In addition, it is calculated from each set value (input side plate thickness, pressing position, roll speed __ ^ minus the negative direction of each small variation range determined in step SS 2). This paper size is applicable to the Chinese National Standard (CNS) A4 specification ( 210X297mm) I ^ installed — II order ^ A (please read the notes on the back before filling in this page) -88-A7 B7 printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy V. Setting of the description of invention (86) Variation (SC1-1). Similarly, calculate the setting variation in the positive direction of each small variation range determined in step SS 2 plus each set value (board thickness, rolling position, roll speed) SCI — 2). Calculated based on each setting change amount (inlet-side plate thickness, rolling position, roll speed) added to SCI — 1 and SC 1-2 and the rolling theoretical formula used in the setting control The thickness of the exit side and the back tension (s C 2) as the rolling state quantity. Secondly, it is calculated according to the setting change amount (the entry side thickness, the rolling position, and the roll speed) without adding slight changes Rolling The thickness of the exit side of the roll, the back tension, and the amount of change in the settings (the thickness of the input side, the rolling position, and the roll speed) relative to the calculated small changes added to the SC 2 The difference between the tensions, and the ratio of the change in the thickness of the outlet side to the rear tension of each rolling state quantity with respect to the small variation range of the inlet side thickness, the reduction position, and the roll speed determined in SC 2 (SC3 ). The change ratio calculated in the SC3 becomes the influence coefficient. Figure 35 is the calculation of the table speed command, that is, the detailed flow chart related to S 6 and S 7 in Figure 33. Calculate the influence coefficient (SV1) according to the sequence described in Figure 32. Also, prepare the thickness tracking data (SV2) for correcting the idle time of the speed control device 16. The second is based on The influence coefficient calculated in SV1 and the plate thickness data used to correct the idle time of the speed control section to estimate the tension change △ rb (SV 3). The paper size is applicable to the Chinese national standard (CNS> A4 specification (210X297 mm) 89-( Please read the precautions on the back before filling this page) -se

T B7 V. Description of the invention (87) The estimated value of the tension variation △ τ includes the tension variation △ r due to the previous feed-down command performed to offset the external disturbance of the plate thickness ΔH and the variation due to the variation of the plate thickness at the input side The change in tension caused by the influence of the rolling phenomenon is inferred from the relational expression (number 6 7) that linearizes the rolling theoretical expression. Next, the estimated tension change Δτ b is used to calculate the speed command V p (S V 4) to cancel the tension change. Fig. 36 is a flow chart showing the details of the step (S 5) in calculating the depression command. First calculate the influence factor (SP1). Sheet thickness tracking data for capturing the idle time of the depression control device 13 is also prepared. Secondly, based on the influence coefficient calculated in SP 1 and the plate thickness data used to correct the idle time of the speed control unit, the reduction command ASpC SP 3 'used to offset the external disturbance factor ΔΗ of the plate thickness variation at the input side is calculated . The calculation of the reduction command at this time is obtained based on the number (65) linearizing the rolling theoretical formula. Printed by Beigong Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs (please read the precautions on the back before filling in this page) Figure 3 7 is a table used to explain the response of the pressing device 1 3 according to the previous embodiment Timing diagram. As shown in Fig. (A), just below the roll, at the time t2, the thickness of the incoming side plate will change ΔH in a stepwise manner. The incoming plate thickness variation △ Η is measured on the outgoing side of the front machine, and according to the tracking method corresponding to the plate speed, at time t 2 it will correspond to just below the roll, and the forward one is equivalent to the pressing device 1 3 The idle time T d component is thereby corrected so that it can reach directly under the roll at time t 1. Therefore, as shown in figure (b), at the time ti when the thickness of the plate changes ΛΗ and corresponds directly below the roll, the ΔΗ is selected, and this paper scale is applicable to the Chinese National Standard (CNS) Α4 specification ( 210X 297 mm) -90-A 7 B7 Printed by the Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy V. Invention Instructions (88) 1 I Calculate according to (number 6 6) \ Ba 刖 軀 擀 動 話 Δ S > and Output it 1 1 to the reduction device 1 3 0 Results »It will be as shown in the twt diagram (C) The reduction device 1 1 1 3» When actually reaching the roll directly below the plate thickness variation Δ Η offset V Please 1 | 〇 If the plate speed is set to V e (m / S e C) at this time, at time 7U, read 1 I tick t 1, a distance equivalent to = V e XT d will be selected (white roll positive Ff 1 1 I Downward facing the upstream side) of the thickness of the rolled material point 0 > Wang Yishi 1 1 I Figure 3 8 is a table roll drive device 1 6 according to this embodiment feed forward Item 1 The timing chart of the response to writing a j-degree command. 0 As shown in the figure (a). The entry-side plate thick curtain fan movement Δ Η on page 1 at time t 2 reaches 1 directly below the roll. Figure (b) (C) shows that the depressing command will output the command at a time t 1 that is approximately 1 I earlier than the idle time T d 1 of the response, and if t 2 is set at time 1, the depressing device will act to offset the entry into the side panel Thickness change Ο 1 I When the action of pressing down on the thickness change is as shown in figure (d), 1 1 shows that the tension change will be caused by the change of the pressing position ffry and the thickness of the inlet side. Since this change in tension ^ ·! ^ B will affect the thickness of the outgoing side plate »1 Therefore, according to (number 6 9), it is possible to calculate the m by changing the thickness of the incoming side plate 1 I and the thickness variation of the incoming side plate by offsetting the influence degree Feed speed command Δ VP 1 1 I However, since the roll drive device 16 has an idle time of 1 1 1 T d 2, it is the same as the pressing command when the thickness of the side plate 1 1 changes stepwise at time t 2 The tst diagram (e) shows that the speed command △ V τ> will be calculated at time t 3 that is T d 2 earlier than time 1 1 t 2 and output of 1 1. The result is the same as the roll drive shown in the rm diagram (f) The device 1 6 1 I will act at time t 2 to offset the tension change △ r t > < > The calculation speed refers to 1 1 The paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) B7 V. Description of the invention (89) Let the thickness of the plate used in Λνρ change ΔΗ to the data of the plate thickness tracked according to the plate thickness tracked on the plate speed measured on the front side of the front machine, the data sent out first during the period of T d 2 In the column, the sheet thickness data that is estimated to correspond to the position directly below the roll at time t 2 is selected. Fig. 39 is a timing chart for explaining other operations of the pressing device of this embodiment with respect to the step-wise change in the thickness of the inlet side. In this example, the depression device has an idle time and a response delay time TL with a delay added. As shown in the figure (a), when the thickness of the incoming side plate changes in a stepwise manner at the time t3 directly below the roll, as shown in the figure (b), pressing the command ASp will delay the response early At the time ti of the time TL, a command is output, and as shown in the figure (c), the depressing device 13 is operated to offset the fluctuation in the thickness of the input side. The circle 40 table represents an example in which the roll drive device 16 has a response delay time TL2, and is a time chart for explaining the time relationship between the step-wise variation of the input side plate thickness, the speed command, and the roll speed response. Printed by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs (please read the precautions on the back before filling out this page) during the control of the reduction device and roll drive device under the control of multiple variables. Synchronized and set at the same time. According to this embodiment, the output timing of the control commands of the reduction command and the speed command corresponding to the same point of the rolled material can be determined according to the idle time of each actuator as described above change. Therefore, while the plate thickness variation or the resulting tension variation is located directly under the roll, the pressing device and the roll driving device can be operated, thereby reliably canceling the influence of the input side plate thickness variation or the tension variation. This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) -92-A 7 B7 V. Description of the invention (90) Roller driving device, due to the roll phenomenon caused by the fluctuation of the incoming side plate thickness In addition to the tension fluctuations caused by the impact, the tension fluctuations caused by the pressing action of the pressing device due to the feed-down pressing command used to offset the instability of the side plate thickness can also be eliminated together. Therefore, the two The action of the actuator can be coordinated and controlled stably. Next, the fifth embodiment of the present invention will be described with reference to the drawings. The rolling control system to which the present invention is applied has the same structure as that shown in Figs. 2 and 3. The relationship between the work roll 10 and the rolled material 14 of the rolling mill is the same as that shown in FIGS. 4 to 7. Fig. 4 is a diagram showing a fifth embodiment of the present invention, and is a configuration diagram of a rolling mill control device constituting an optimal servo control system. The rolling mill system 1 composed of a plurality of machines is operated in accordance with the desired accuracy in response to the operation command (operation amount) of the command generation mechanism 24. Printed by the Employee Consumer Cooperative of the Central Prototype Bureau of the Ministry of Economic Affairs (please read the precautions on the back before filling in this page) The differential mechanism 2 5 and the proportional mechanism 20 form the status feedback control system. That is, the difference between the state quantity detected by the detection device 3 and the set value of the operating point given by the setting control system 4 is obtained by the differential mechanism 25, and the proportional mechanism 20 is The deviation value is multiplied by the proportional gain to generate the state deviation command component. In this embodiment, the state quantity (") uses the reduction position S, the rear tension rb, and the roll speed VR of the front stand. The differential mechanism 26 and the integral mechanism 21 constitute a control amount feedback control system. That is, the difference between the control amount detected by the detection device 3 or the observation device 7 and the set value representing the target of the control amount given by the setting control system 4 is obtained by the difference mechanism 26, and In the paper format of the integration agency, the Chinese National Standard (CNS) A4 specification (210X297 mm) -93-B7 V. Invention description (91) 2 1, the deviation value is multiplied by the integration gain to implement integration ' Generate control quantity command components. In this embodiment, the control amount (y) uses the outgoing plate thickness h and the rear tension rb. The command generating mechanism 24 adds the state deviation command component from the proportional mechanism 20 to the control amount command component from the integrating mechanism 21 and the target command value given by the setting control system 4 to generate an output to the actuator 8 Operation instruction (operation amount). In addition, the operating end of the actuator 8 has a reduction device 13 for changing the reduction position and a roll driving device 16 for changing the speed, and the aforementioned operation command is used for each reduction position component and speed component. Produce and output. According to the configuration of this embodiment, the state feedback control system performs control so that the error of the actual measured value of the state quantity with respect to the operating point can become zero. The state quantity, as shown in Table 7, adopts the rear tension rb which has a greater influence on the thickness of the plate than the conventional front tension rf. Therefore, a highly responsive state quantity control can be realized to improve the thickness accuracy. (Please read the precautions on the back and then fill out this page) Printed by the Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs. 7 The influence of the front tension and the rear tension on the thickness of the exit side (Aim / kg / miri) 2 0 4 5 Applicable to China National Standard (CNS) A4 (210X297mm) Printed by Beigong Consumer Cooperative of Central Bureau of Standards, Ministry of Economic Affairs

^ 〇16jtQ A7 _B7 Fifth, the invention description (92) In addition, the control quantity feedback control system, in addition to controlling the side plate thickness can maintain the product plate thickness at the desired accuracy, by controlling the tension, it can also prevent its rapid change, And to be able to operate safely. Next, the DDC controller 5 shown in Fig. 41 will be explained based on the control model (control parameters) when designing the optimal servo system. The DC controller 5 sets the operating point of the control value or state value supplied by the control system 4 as the set value. At this time, the DC controller 5 operates so that the deviation between the operating point and the actual measured value can become zero, which is a so-called adjustment system. Therefore, the equation of state is described by the deviation value system that obtains the deviation from the set value. The rolling phenomenon is expressed by the strain gauge system of the deviation value system shown in (number 8 4) and the roll milk load type shown in (number 8 5) that expands the slightly changed component of Taylor expansion near the operating point. [Number 8 4] ΔΡ s However, Ahi: Thickness of the i-th machine out side △ Si: Roll-down position of the i-th machine △ Pi: Rolling load of the i-th machine Ki: Rolling of the i-th machine The size of the constant paper is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) ^ Binding ^ V. (Please read the precautions on the back before filling in this page) -95-V. Description of the invention (93 Number 8 5) ap Δ P. ap

XTu-J A7 B7 d p ΔΗ d r b Δ r b (85) If (number 8 4) and (number 8 5) are collated, it can be derived (number 8 6). [Number 8 6

K (Please read the precautions on the back before filling in this page). Δ h

K a pΤΤΓ δ s κ a ρΤϊΤ ΔΗ set a ρ a ρ κ 3 rb Δ rb · Κ Δ rf. (86), printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. It should be printed on the operating side as an actuator. When the operations of the reduction device 13 and the roll drive device 16 are approximated by one delay, respectively, it becomes (number 87) and (number 88). Number 8 7

d Δ S d (87) △ SPi: the i-th machine press instruction. The paper size is applicable to the Chinese National Standard (CNS) A4 specification (210X 297 mm) -96-A7 V. Description of invention (94 [number 8 8 〕 D Δ V,

d Δ V Δ V (△ V 丨 Δνρί)… (8 8: the i-th machine roll speed command: the i-th machine roll speed after the rolling machine, the square tension rb is expressed by (number 8 9) ' When the principle of a certain flow quality is used to determine its slightly changed composition, it becomes the stomach (number 9 0). [Number 8 9] d Δ rb

E (Please read the note ^ w on the back before filling this page)

T Pack-

• 1T d (Δν .-Δν ((89) [Number 9 0]

Η .VI AV h 丨 V 1 Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy Η {h ^ V ^ + Ahi Voi-AHi V., ·} (90) Substituting the outboard speed V 〇 and its minor variations ( The number 9 1) 'can be obtained as shown in (number 9 2) into the side plate speed V e small change formula. This paper uses the Chinese National Standard (CNS) A4 specification (210X297 mm) -97-3〇16i6 V. Description of invention (A7 B7 number 9 1) V〇i = (l ten fi) VRI △ v0i = (l + fi 1 {h.AV V〇.} (91 [number 9 2

Δ V

H + (l + f,) VR1Ah (92) (Please read the notes on the back before filling in this page)-" Substitute (number 91), (number 92) into (number 89), you can export (number 9 3).

, 1T [number 9 3] d Δ r b j E j d h ^ l + f;) ~ Δ V,

Vri ~ κΠ ~~ Δ f Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs h

E V Δ

The number of V Δ / {V in the expression becomes smaller and smaller.

Nly 4 9 This paper scale is applicable to China National Standard (CNS) Α4 specification (210Χ297 mm) 98-A7 B7 V. Invention description (96) [Number 9 4]

If you substitute (number 9 4) into (number 9 3), you will get (number 9 5) ° --------- ^ install-- (please read the precautions on the back before filling this page)

, 1T Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. According to the relationship between the front tension rf and the rear tension τ b shown in (number 96), the (number 9 5) is integrated into the rear tension, and the number (number 9 7). [Number 9 6] Δτ fi = Arbi + i-. (96) This paper scale applies the Chinese National Standard (cns) A4 specification (210X297 mm) -99-301616 5. Description of invention (97 [Number 9 7 A7 B7 + I \ dh 9 I-L, \ 3H ev „. (/ Af I \ 3 rb E, h ((l + f H, • Δνβ

I Δ τ b ΔΗ, Δ rb Eh.v «. / Ah, Va-) Δ rb (98) ----------- (please read the precautions on the back before filling this page) will be ( Number 9 1) Substitute into (number 9 7), then you can get (number 9 8,-° printed by the Quanzhou Ministry of Economic Affairs Central Standards Bureau employee consumer cooperatives. -100-A7 B7 V. Description of the invention (98) 〔Number 9 8〕

This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210'〆297mm) 101 301616 A7 B7 V. Description of the invention (99) Therefore, when finishing the reduction position s, roll speed VR, rear When the relational expression of tension τ b is expressed in rows and columns, the state equation (number 99) can be obtained. [Number 9 9] -Δ S j-~ ai 3 1.1 0 0 * Δ SJ-d 0 1, 1 0 Δ VR .. dt a2.2 1 — 1 -Δ τ b, ·-L a 3.1 3 3, 2 a 3,3 ”-△ τ bi-0 b2: a ΛνL Δνρΐ-ι Ο 〇”… (9 9) (please read the precautions on the back before filling in this page) -β Employee Consumer Cooperative of Central Bureau of Standards, Ministry of Economic Affairs Printed in (Number 9 9), the reason for using the roll speed VRi — α of the front machine on the operation side is as follows. Fig. 4 is a model diagram for explaining the continuous control of the rolling mill. When the roll speed of the rolling mill is changed, the roll speed on the upstream side of the roll stand to be changed is changed according to the principle of constant flow quality. For example, when the roll speed of the i-th machine is to be changed to V 〇-VI, the (i — 1) machine and (i _ 2) can be changed according to (number 100) and (number 101) ) Roll speed of one machine ... This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) — 102-A7 B7 5. Description of the invention (number 1 0 0

V (10 0) 〔Number 1 Ο 1〕

V h -2 (10 1) --------- ^ install-- (please read the notes on the back before filling this page) d (10 2) y i = c i, ί x here,

x = [AS AVR Δτ b] T u = [Δ S Δ V] T

P p J y = [Ah Arb] T .., ιτ Printed by Employee Consumer Cooperative of Central Bureau of Standards, Ministry of Economic Affairs

B

C -a Ki a 1,1 0 0 3 2,2 a3 :; a i. Ia 3,2 b;: i 0 ~ OU 2,2 0 ci: i 0 O 0 1,3 0 Izumi paper size is applicable China National Standard (CNS) A4 specification (210X 297mm) -103 V. Description of invention (

10F [Number 1 0 3 A7 B7 x (k + 1) = ADx (k) + B〇u (k) y = C〇x (k) Here, (10 3) A e B〇 = e

丨] BT D〇 = e (please read the notes on the back before filling in this page)-° The paper size printed by the Employee Consumer Cooperative of the Central Prototype Bureau of the Ministry of Economic Affairs is applicable to China National Standard (CNS) A4 (210X297mm ) 104-S01616 A7 B7 V. Description of invention (1〇2) Table 8 Printed by Employee Consumer Cooperative of Central Bureau of Standards, Ministry of Economic Affairs

However, Ts: Elongation time of the depression device τν: Delay time of the speed control input device Ε: Young's coefficient L: Station spacing κ: Elastic pseudo-number This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210Χ297 mm ) (Please read the precautions on the back before filling out this page) 1 Pack-, 1Τ 105-Printed by the Ministry of Economy Central Standards Bureau Employee Consumer Cooperative Α7 Β7 5. Invention description (103) Change the i-th machine from the above formula When the back tension is reached, it is understood that changing the roll speed of the (i-1) th machine is only required for one machine. Therefore, in this embodiment, the operating end of the DD C controller 4 'besides the reduction control device 1 3 of the own machine (i), also selects the roll drive device 16 of the front machine (i-1) . Of course, the roll drive of the own machine (i) can also be controlled as the operating end. In this case, it is best to use the roll speed of the own machine. Secondly, according to each vector of (number 1 0 2) which represents each item of (number 9 9) in terms of (number 9 9) by the vectors of state quantity X, operation quantity u and control quantity y, the control period is obtained. T s and the discretized (number 103) equation of state. According to the state equation, each state of the operating point is determined by the row and column elements shown in Table 8, and linear approximation can be achieved around the operating point. If the state equation of (number 1 0 3) is obtained, the control parameters F X ′ F e ′ of the state feedback control system and control quantity feedback control system of FIG. 4 1 are provided by (number 1 〇 4). The calculation of the control parameters is obtained by solving the Liqaqi equation based on the equation of state, and this method has been disclosed in detail in "Automatic Control Eighth Part 1 (page 1 5 4)" edited by the Automatic Control Society. This paper scale is applicable to China National Standard (CNS) Α4 specification (210X297mm) (please read the precautions on the back before filling in this page)-* Ding 106 3〇16i6 A7 ____B7__ V. Description of invention (1 () 4) 〔 Number 1 Ο 4] CF. Fx] =-[R + GTP G] _1 GTP Φ-(104)

(Please read the precautions on the back before filling in this page) Secondly, please refer to Figure 4 3 ~ Figure 4 7 to explain the detailed structure and operation of the DD C controller 5 designed by the best servo control system. Printed by the Ministry of Economic Affairs, Central Bureau of Standards, Employee Consumer Cooperative. Figure 4 3 shows the relationship between signals and calculations in the table servo system. Illustrating. The reduction position component ASx and roll speed component of the state deviation command Δυχ are output according to the state quantity feedback system. Based on the control amount feedback system, the control position command Ue is outputted as the reduction position component Se and the roll speed component VRe. Based on the setting control system 4, the pressing position component Ss and the roll speed component VRe of the operation command target value Ue are output. These are added to each component in the command generating mechanism 24, and the operation command U (= S p, V Rp) is output. Figure 4 4 details of the state feedback control system. The differential mechanism 25 obtains the reduction position Si of the i-th machine detected by the detection device 3 according to a certain period according to (number 1 0 5), the roll speed VRi-: L of the front machine, and the rear tension The difference between r bi and the operating points Ssi, Vhi-:!, rbsi from the setting control system, and the deviation value of the output state quantity △ Si, △ V'Ri-1 '△ T'bi. This paper scale is applicable to China National Standard (CNS) A4 specification (210X297 mm) -107-A7 A7 Printed B7 by the Employee Consumer Cooperative of the Central Prototype Bureau of the Ministry of Economic Affairs V. Invention description (105) [Number 1 0 5] X; = [AS j Δ VR Δ rb.] Τ ro 〇v /., --- (105)

= [Si-Si.VRi_1-VRsi_1rb.-rbs |] T Proportional control mechanism 2 0 respectively multiplies the deviation values AS i, △ VRi —;!, ATbi by the proportional gain f Xu, f x12, f Add 13 to 'to obtain the position deviation command component ASxi of the i-th machine pressing device. Similarly, the gain deviation value is multiplied by the proportional gains f X21, f X22, f X23 and added to obtain the speed deviation command component Δ V Rxi- of the roll drive device of the previous machine (i-1 1) l ° Fig. 4 The detailed content of the feedback control system of the 5 series control quantity. For the differential mechanism 2 6, the rear tension rbi measured by the tensiometer and the plate thickness hx * measured by the outboard plate thickness meter are input according to (number 1 0 6), and the speculation by the observation device 7 is obtained The difference between the plate thickness hMFi directly below the roll and the target plate thickness target value hsi and the rear tension target value rbei given by the setting control system 4, and the deviation values Ahi and Δτ bi of the control amount are output. As for the thickness hMF directly below the roll, please describe later. [Number 1 0 6]

yi = [Δ h. Δ rbl] T = [h.,-hMF, rb,,-rb,] T… (/ ^? 6) Integrating mechanism 21, then the deviation value of each control variable ^ hi, this The paper standard is applicable to China National Standard (CNS & A4) (210X297mm) (please read the notes on the back before filling in this page) 1. τ -108-Beigong Consumer Cooperation Du Printing Co., Ltd., Central Standards Bureau, Ministry of Economic Affairs A7 B7 V. Description of the invention (1 () 6) △ Tbi is multiplied by the integral gains f eii, f e12 and then integrated to obtain the position command component Sei of the i-th machine depression position. Similarly, After multiplying each deviation value by the integral gains f e21 and fe 22 and adding them, the integral is calculated to obtain the speed command of the roll drive device of the (i _ 1) th machine as * VRei. Figure 4 6 series table command The details of the generating mechanism 24, the command generating mechanism 24 determines the target value Ssi of the pressing command of the setting control system 4, the pressing command ASh from the proportional mechanism 20, and the pressing command Sei from the integrating mechanism 21 And generate the depression command Spi output to the depression position control device 13 of the i-th machine. Similarly, the setting is obtained The speed command of the control system 4, the speed command AVu id of the proportional mechanism 20, and the speed command V of the integral mechanism 2 1 to produce the speed command output to the roll drive device 16 of the (i-1) th machine V RpiH. Circle 4 is one of the observation devices 7 used to estimate the amount that cannot be directly measured, and indicates the plate thickness estimation device 70 used to estimate the plate thickness hMF directly below the roll. It will be located in the tandem type rolling mill The upper plate thickness Hi as the measured value of the plate thickness meter 3 1 and the incoming plate speed V ei as the measured value of the plate speed meter 3 2 and the down flow located at the i-th machine as the plate speed The output side plate speed V of the measured value of 3 4 is input to the calculation device 71, and the calculation of (number 107) is performed to obtain the output side plate thickness hMFi directly below the roll of the i-th machine. This paper size is applicable China National Standard Rate (CNS) A4 specification (210X297mm) ---------- ^ Zhang Yi-- (please read the precautions on the back before filling out this page),?!-东 _ -109 -A7 B7 printed by the Staff Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs V. Description of Invention (1〇7) [Number 1 0 7 v β. hMFi 'Η j + Offset ". (107) v 〇i When calculating the thickness hMF (number 1 0 7) directly below the roll, it includes the deviation e that cannot be directly detected. Here By using the following method to obtain the deviation, the thickness hMF located directly under the roll can be estimated. As shown in FIG. 48, there is an idle time Td between the time immediately after the roll thickness actually changes (b) and the thickness measured by the plate thickness gauge 33 (c). The idle time becomes The distance between directly below the roll and the exit plate thickness gauge 33 is divided by the exit plate speed V. The value obtained by i. In addition, in the change of the thickness of the exit side, there are rolling effects caused by the gap and tension and those caused by the deviation. The deviation e, in the same figure (a), changes in stages as illustrated, but in fact it is a gentle change caused by roll temperature or roll wear. First, the idle time device 7 2 composed of, for example, a shift register delays the output hMFi of the calculation device 71 (the offset is initially set to 0), and the phase can be compared with the plate thickness meter 3 3 Output the thickness of the tracking board (d). In the adder 73, the difference between the tracking plate thickness and the output of the plate thickness meter 3 3 is obtained, and when noise is removed through the filter 74, the deviation e is obtained. When the deviation amount e is fed back to the calculation device 71, the thickness hMFi »can be calculated as shown by the circle (e), and the idle time Td will occur from the beginning of the deviation until the deviation is removed, and during this period The deviation of the paper is based on the Chinese National Standard (CNS) A4 specification (210 X 297 gong) (please read the precautions on the back and then fill out this page)-· Order-110-A7 B7 5. Description of the invention (108) e is the error (g). However, since the actual deviation is a slow change, the change component obtained from the previous deviation e is very small and can be ignored. The plate thickness h MF i located directly below the roll thus obtained can be provided to the differential mechanism 20 as the exit-side plate thickness hi without delay. That is, when the idle time Td is about 500ms and the control period is 20ms, the plate thickness directly below the roll at the current moment will be fed back to the 25th control command on the exit side plate thickness gauge. For example, since feedback can be removed immediately and without the influence of deviation, it is possible to significantly improve the response to the thickness of the exit side and improve product quality. Printed by the Beigong Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs (please read the precautions on the back before filling in this page)-Figure 4 9 shows the control actions of the rolling control device of this embodiment. As shown in the same circle (a), when the external disturbance component occurs in the base material, the front tension τ f will change as shown in figure (b). In the past, when the front tension τ f was regarded as the state quantity, since the influence on the plate thickness was small, it was necessary to output a large control command. However, for control commands above a certain value, the amplifier of the actuator will saturate, and the control output will be as shown in the figure (c). As a result, the plate thickness h on the exit side will leave a large deviation as shown in figure (d), and a sufficient control effect cannot be obtained. In contrast, since the rear tension τ b has a great influence on the thickness of the plate, it can be controlled as shown in the figure (f), and the control output can be exerted by the unsaturated linear domain control, as shown in the figure (g) , Reduce the external disturbance components and improve the thickness accuracy. That is, this embodiment is applicable to the rolling process of the base material plate thickness of 2.3 mra and the product plate thickness of 0.233 mm, and the product plate thickness accuracy (the degree of deviation of the product plate thickness) is determined by the current AGC standard Applicable to China National Standards (CNS) A4 specification (210X297mm) -111-A7 B7 printed by the Employee Consumer Cooperative of the Central Bureau of Economic Affairs of the Ministry of Economy V. Description of Invention (109) 0.64% increased to 0.32%, approximately doubled . As described above, the roll control device of this embodiment uses the reduction position, the back tension with a large control effect, and the roll speed of the machine before the back tension control, and the control amount uses the roll directly below the idle time The thickness and the back tension of the machine can be used to output the operation command to the pressing device of its own machine and the optimal servo control system of the roll drive device of the front machine (or its own machine) and to find that there is no idle The combination of the plate thickness estimation device of the plate thickness just below the roll at the time can realize high-precision plate thickness control. (Effect of the invention) According to the first invention, in the control of the rolling mill where the operating point greatly changes, the input of the control system uses the difference value from the previous one, and by changing the control parameters, the abrupt change of the aforementioned control command can be controlled. In addition, by using predictive feedforward control at the same time, the responsiveness of the entire control system can be ensured, and the effect of being able to implement high-precision control stably. According to the second invention, in the rolling state where the rolling is abnormal or unstable, the control parameters can be optimized online and in real time. Therefore, the action of the control system can be prevented from external factors or internal parameters. The effect of the change has the effect of improving the rolling accuracy. According to the third invention, since the plate thickness and tension are also controlled, when the tension is within a certain range, the plate thickness is preferentially controlled, and when it is outside a certain range, the tension is preferentially controlled, so it can be quickly suppressed at The rapid changes in tension during rolling, while maintaining stable operation, in addition, can improve the paper size to apply the Chinese National Standard (CNS) A4 specifications (210X297 mm) --------- ^. 4.- -(Please read the precautions on the back before filling in this page), 11 ^ -112-A7 B7 printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs 5. Invention description (110) The control accuracy of both the thickness and tension, with Can improve the effect of product quality. In addition, according to the present invention, since the non-interference control is implemented using an actuator with a fast response speed corresponding to the priority control described above, interference caused by an actuator with a slow response speed can be suppressed in real time, and the thickness can be increased. The effect of the control accuracy of both tension and tension. Furthermore, according to the present invention, even when the rolling process of cold rolling or hot rolling or the combination of actuators are different, a general-purpose control system that can easily construct or change the system can be provided. According to the fourth invention, the board speed variation history of the rolled material before reaching the next machine is tracked by the board speed and the response delay time of each actuator, and according to the phase that can be changed with the board thickness The timing coordination is controlled by pressing down the feedforward command and the speed feedforward command, so it can surely offset the influence caused by the external disturbance factors on the input side, and improve the control accuracy of the thickness. In addition, since the speed feedforward control is performed to offset the tension change caused by the plate thickness change and the tension change caused by the press feedforward control at the same time, the control effect can be improved by the coordinated control of the plate thickness and the tension. According to the fifth invention, the state quantity uses the reduction position, the rear tension, and the roll speed of the front stand, while the control quantity uses the outboard thickness and the rear tension, and the optimal servo system is used to realize the rolling control, so It can greatly improve the accuracy of plate thickness. Furthermore, because the thickness of the outgoing side of the controlled quantity uses the estimated thickness just below the roll without idle time, it can respond to external disturbances in real time, while maintaining the desired thickness accuracy and improving product quality. . This paper scale is applicable to the Chinese National Standard (CNS) A4 (210X297mm) (Please read the precautions on the back before filling out this page). Order-113-3〇16i6 Printed by the Consumer Labor Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs Description of the invention (111) 1 1 Brief description of the drawing; 1 1 1 ca 1 Figure 1 shows the functions of the rolling control device of the first embodiment of the invention 1 | Composition rm Figure 〇 Please! First 1 ΓΒ1 Figure 2 Table 1 shows the configuration of the rolling mill control system of the present invention. Rai Figure 1 back 1 Figure 3 shows the structure of the table rolling table Figure 1 of Figure 1 I Figure 4 shows the schematic structure of the control system of the tandem type rolling machine fBl diagram Event 1 Item I Figure 5 is a model diagram of the function of the differential mechanism. Refill Figure 6 is a model of the function of the state feedback machine. Figure 〇 Write this page privately 1 Figure 7 The model diagram of the function of the table integral mechanism 0 1 | ΓΒ1 Figure 8 The functional structure of the table predictive command control system 〇1 I Figure 9 The functional structure of the table predictive disorder control system 〇1 1 Order Figure 1 0 Descriptive diagram of the operation of the feedback control system 〇1 I Figure 1 1 Descriptive diagram of the operation of the predictive command control system Ο 1 1 Figure 1 2 Describe the operation of the disturbance control system Explanatory drawing 〇1 1 FIG. 1 3 shows the structure of the rolling control system including the control model correction 1 and the spring device in the second embodiment of the present invention. 〇1 I FIG. 1 4 shows the operation of the rolling mill rgri chart. 1 1 I Figure 1 5 Explaining the operating points of the watch rolling mill 〇1 1 Figure 1 6 Explaining the operating points when the watch base material changes 0 1 1 Circle 1 7 is an explanatory diagram of the control operation when the base material changes. 1 1 FIG. 18 is an explanatory diagram for explaining the configuration of the control system of the DDC controller 1 1 that constitutes the optimal servo system. 0 1 | FIG. 1 9 The functional block diagram of the tM * configuration of the state detection machine 〇1 I Circle 2 0 is a description circle used to explain the rolling control operation of this embodiment. Circle 1 1 The paper size is applicable to the Chinese National Standard (CNS) A4 specification (210X 297 Mm) -114-A7 B7 Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy V. Description of the invention (112) 1 1 1 〇Circle 2 1 shows the structure of the rolling control device of the third embodiment of the invention 1 1 1 Picture 〇Please 1 first 1 rat Picture 2 2 shows in the roll speed control command system ♦ means feedback ft 1 back 1 details of control means and non-interference control means Function block ΓΒ1 Figure 1 of 0 Note 1 rsrj Figure 2 3 is a functional block diagram showing the details of the feedback control I 1 I control means and non-interference control means in the depressed position control command system. The functional block rsi circle for describing the priority control means £ krl and the control gain calculation means% on page 1 of this page 1 Figure 2 5 is a flowchart showing the processing of the priority control means and control gain calculation means 1 I sequence 〇1 1 Order Figure 2 6 is a flow chart showing the processing sequence of the non-interference priority control means ΓΒ1 Figure 1 1 Figure 2 7 is a table 1 1 1 ~~ dynamic graph of the rolling system in the embodiment of the plate thickness priority control 1 ~ like 1 I solid figure 2 8 series table in this embodiment in the tension priority control rolling system A general dynamic ΓΒ1 Figure 〇1 1 I Figure 2 9 shows the structure of the rolling mill control device 1 1 in the fourth embodiment of this embodiment. Figure 1 0 shows the structure of the thickness tracking part Mode ren Figure 〇1 1 Figure 3 1 is used to explain the pressing idle time correction plate thickness tracking part of the mold 1 I type diagram 〇1 I Figure 3 2 is used to explain the speed idle time correction plate thickness tracking part of the mold 1 1 I type ΓΒ1 Picture 0 1 1 This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X 297 mm) -115-A7 B7 printed by the Employee Consumer Cooperative of the Central Standards Bureau of the Ministry of Economy V. Invention description (113) Figure 3 3 It is a flowchart for explaining the operation of the rolling control device of this embodiment. Figure 34 is a flowchart for explaining the calculation sequence of the influence coefficient. Fig. 35 is a flowchart for explaining the calculation sequence of the speed command. Fig. 36 is a flowchart for explaining the calculation sequence of the reduction command. Fig. 37 is a timing chart for explaining the pressing command and the response of the pressing device. Fig. 38 is a time chart for explaining the speed command and the response of the roll drive device. Fig. 39 is a timing chart for explaining the pressing command and other responses of the pressing device. Figure 40 is a timing circle for explaining the speed command and other responses of the roll drive. Fig. 41 is a diagram showing the configuration of a rolling control device according to a fifth embodiment of the present invention. Fig. 42 is an explanatory diagram showing a continuous cuntrolor. Figure 4 3 is an explanatory diagram showing the relationship between the control parameters and the input and output signals of the structure shown in Figure 1. Fig. 4 is an explanatory diagram of the state feedback control system of the 4 series table. Fig. 4 is an explanatory diagram of the feedback control system of the control quantity of the 5 series table. Figure 4 6 is an explanatory diagram of the table command generation mechanism. Fig. 4 is an explanatory diagram of the mass flow plate thickness estimation device. This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) (please read the precautions on the back before filling in this page). Order-116-A7 B7 5. Description of the invention (114) Figure 4 8 series offset An explanatory diagram of the amount (offset) removal process. Figure 4 9 is an explanatory diagram showing the effectiveness of the rolling control action of this embodiment. (CNS) A4 specification (210 X 297 mm) -117-

Claims (1)

AB, CD Printed by the Beigong Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 7. Patent application No. 8 3 1 1 1 2 7 5 Patent application Chinese application Patent scope amendment The Republic of China 1985 years 3 * · Month amendment 1. A rolling mill control The method is mainly to change the control parameters and the command value (target value) by setting calculations, the operation amount can be determined so that the deviation between the command value and the control amount measured in a certain period is eliminated and controlled to the desired The method of controlling the thickness of the rolling mill is characterized in that each time a plurality of state quantities of the rolling process are measured according to the aforementioned predetermined period, the state difference value from the previous value can be obtained for each state quantity, and the These state differential values are multiplied by the state feedback coefficient of one of the aforementioned control parameters to obtain the operation amount deviation of the state feedback system; in each of the aforementioned cycles, the preceding command value and / or output as calculated according to the aforementioned setting calculations are output The predicted value of the thickness of the incoming side plate, which is one of the external disturbances, is calculated, and the predicted difference value from the previous value is obtained, and it is stored in sequence until the control time point. At a point in time, multiply the prediction difference value of the following (future) steps by the prediction feed-forward coefficient of one of the aforementioned control parameters to obtain the operation amount deviation of the predictive control system; the operation amount deviation of the aforementioned state feedback system and The operation amount deviation of the aforementioned predictive control system is multiplied by the operation amount in the previous step, and it is output to the actuator of the rolling mill. 2. A roll mill control method, which is mainly to determine the operation of this paper size to apply the Chinese National Standard (CNS) A4 specification (210X297 mm) when the control parameters and the command value (target value) are changed by setting calculations respectively ) (Please read the notes on the back before filling this page) A8 B8 C8 D8 printed by the Staff Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. 6. The range of patent applications in order to eliminate the deviation of the command value from the control quantity measured according to a certain weekly measurement and control the rolling mill at the desired plate thickness. The method is characterized in that each time a plurality of state quantities of the rolling process are measured according to the predetermined period, the state difference values from the previous value are obtained for each state quantity, and these state difference values are compared with the aforementioned control The state quantity feedback coefficient of one of the parameters is multiplied to obtain the operation quantity deviation U1 of the state feedback system; just after a certain step given in advance in each cycle, the future command value and the control time point that has been memorized (future) each The command value of the step, and obtain the command difference value from each previous value, multiply these command difference values by the command feedforward coefficient FR, one of the aforementioned control parameters, and obtain the operation amount deviation of the command feedforward system U2; multiply the aforementioned operation amount deviation U 1 and U 2 by the operation amount in the previous step, and output it to the actuator of the rolling mill. 3. A control method of the rolling mill, which is mainly to determine the operation amount when the control parameters and the command value (target value) are changed by setting calculations, respectively, so that the command value and the control amount to be measured according to a certain period The rolling mill control method that eliminates deviations and controls the desired plate thickness is characterized in that each time a plurality of state quantities of the rolling process are measured in accordance with the aforementioned predetermined period, each state quantity is obtained from the previous value. State difference values, and multiplying these state difference values by the state quantity feedback coefficient FX, one of the aforementioned control parameters, to obtain the operation amount deviation U1 of the state feedback system; except that it will be measured every time according to the aforementioned certain period , And at least included in this paper standard is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) (please read the notes on the back before filling this page) Binding · Order A8 B8 Printing Bag for Employees Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs C8 D8 Sixth, the range of the applied patents predicts the deviation of the side plate thickness deviation minus the previous value to obtain the difference between the predicted difference and the tracking of the aforementioned side plate thickness deviation Position, when it is estimated that this part reaches directly under the roller, the aforementioned predicted external chaotic difference value is multiplied by each of the predicted (future) predicted external chaotic difference values and the predicted external chaotic feedforward coefficient F d of one of the aforementioned control parameters, Obtain and predict the operation amount deviation U 3 of the external chaos feedforward system; multiply the operation amount deviations U 1 and U 3 by the operation amount in the previous step, and output it to the actuator of the rolling mill. 4. A rolling mill control method, which is mainly to change the control parameter and the command value (target value) by setting calculations, the operation amount can be determined so that the command value and the measured control value are measured according to a certain cycle The rolling mill control method that eliminates deviations and controls the desired plate thickness is characterized in that each time a plurality of state quantities of the rolling process are measured in accordance with the aforementioned predetermined period, each state quantity is obtained from the previous value State difference value, and multiply these state difference values by the state quantity feedback coefficient of one of the aforementioned control parameters to obtain the operation quantity deviation U1 of the state feedback system: a certain step given in advance in each cycle in the foregoing Value and the command value of each step in the future (in the future) after the control time has been memorized to obtain the command difference value from each previous command value, and the command difference coefficient of these command values and one of the aforementioned control parameters is 1 ^ 1 ^ is multiplied to obtain the operation amount deviation U2 of the command feedforward system; except that it will be measured every time according to the aforementioned certain period, and includes at least the prediction of the side plate thickness deviation The value of the paper is calculated by subtracting the previous value from the previous deviation. The paper size is applicable to the Chinese National Standard (CNS) A4 specification (2! 0X297mm) (please read the precautions on the back and fill in this page). Pack. Order 4 ' A8 B8 C8 D8 VI. Outside the scope of the patent application, and tracking the position of the thickness deviation part of the inlet side, when it is estimated that this part reaches directly below the roller, the difference between the above-mentioned predicted external chaos and the future (future) prediction Multiplying the chaotic difference value and the predicted external chaotic feedforward coefficient F d of one of the aforementioned control parameters to obtain the operating amount deviation U 3 of the predicted external chaotic feedforward system; the aforementioned operating amount deviations U 1, U 2 and U 3 Multiply the operation amount in the previous step and output it to the actuator of the rolling mill. 5. For the rolling mill control method according to item 4 of the patent scope, the aforementioned operation amount is the deviation of the thickness of the exit side, the deviation of the load, the deviation of the roll speed and the deviation of the tension of the exit side f, and the aforementioned command value is the deviation of the thickness command to the] tension command Deviations, these deviations are the difference from the predetermined value calculated according to each setting. 6. According to the rolling mill control method according to item 4 or 5 of the patent application, the operation amount and the deviation of the operation amount are composed of a roll-down position component and a roll speed component, and are obtained for each component. Printed by the Staff Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs (please read the precautions on the back and then fill out this page) 7. If you apply for the rolling mill control method of item 5, the aforementioned load deviation can be used to measure the gap between the rolls Replaced by depressing position deviation. 8. A kind of rolling mill control device, which mainly has a detection device that can measure the majority of state quantities of the rolling mill according to a certain period, and the detected state quantity is used to generate the operation amount corresponding to the actuator, which is characterized by It has: a setting control device that corrects the control parameters of each control system accompanying the calculation of the command (target value) of the rolling mill or the change of the operating point; the aforementioned state value and previous time measured by the detection device can be calculated The value of this paper is applicable to China National Standard Falcon (CNS) Α4 specification (210Χ297mm) A8 Βδ C8 D8. Sixth, the first difference means for obtaining the state difference value and the difference between the state value and the reason A first feedback control system constituted by a state feedback control means that multiplies the first control parameters set by the aforementioned setting control device to obtain the first operation amount deviation. : 2nd feedback control consisting of a control amount feedback control means that obtains a control amount deviation of the second operation amount so as to eliminate the deviation between the control amount of a part of the preceding / mentioned state amount and the instruction given by the aforementioned setting control device System; by means of a tracking device that can be given a certain step in advance from the aforementioned setting control device at a certain cycle every time in advance of the future command value, a tracking means that sequentially shifts and memorizes at each step, based on The command value of each step after the time point of the system, and the second difference means for obtaining the difference value from each previous command value and the difference between these command values and the second control parameter set by the setting control device The first feedforward control system composed of the command feedforward control means for obtaining the third operation amount deviation by multiplying; and having the ability to multiply the aforementioned first operation amount deviation, second operation amount deviation and third operation amount deviation The operation amount integration means determines the output means of the operation amount output to the actuator. Printed by the Beigong Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs (please read the precautions on the back before filling in this page) 9. For the rolling mill control device of item 8 of the scope of patent application, the aforementioned detection device is equipped with a side plate thickness detector, Tension tester, reduction load test and roll speed tester. 1 0. The rolling mill control device as claimed in item 8 or 9 of the patent application scope is equipped with a detection means that can measure the thickness of the incoming side plate at each predetermined cycle, calculates the difference from the previous value, and obtains the external disorder difference value The third difference method, in addition to memorizing the random difference values, also speculates that the paper size reached the right under the roll is applicable to the Chinese National Standard (CNS) 84 specifications (210Χ297 mm) ABCD Ministry of Economic Affairs Central Standards Bureau staff consumption Printed by the cooperative. 6. Tracking means for the scope of the patent application, multiplying the control timing and the external chaotic difference value of the next step by the third control parameter set by the aforementioned setting control device to calculate the fourth operation amount deviation. The second feedforward control system constituted by the anticipatory disturbance feedforward control means integrates the deviation of the fourth operation amount by the integration means. ,. / / \ / 1 1. For the rolling mill control device of patent application item 8 ′ 9, the actuator is composed of a roll down device and a roll drive device, and the aforementioned operation amount is pressed down for each roll The position component and the roll speed component are obtained. The former is output to the roll-down device, and the latter is output to the roll-driving device. / 1 2.-A rolling mill control method, which is mainly to obtain the deviation between the setting value determined according to the rolling form and the actual measured value of the state or control quantity detected according to a certain period, and with certain control parameters This deviation implements feedback control to determine the operation command of the actuator, and is characterized by: the inverse setting calculation of the aforementioned rolling form, so that a certain rolling parameter is matched with the aforementioned measured value, and according to the available The adaptive modification of the control model can be matched with the above-mentioned measured values of certain rolling parameters, and determine a certain state of the rolling process. 13. As in the rolling mill control method of item 12 of the patent application scope, the aforementioned certain rolling parameters include the adaptive correction coefficient of the rolling load. 14. If the rolling mill control method of item 13 of the patent scope is applied, the adaptation correction coefficient of the rolling load is obtained by the regression method based on the predicted value and the measured value of the rolling load of the aforementioned rolling model . 1 5. If the size of the rolled paper for which the scope of patent application is 1, 2, 13, or 14 is applied, the Chinese National Standard (CNS) A4 specification (210X297 mm) is applied -------'--- * — Install ------ order ----- "line (please read the precautions on the back before filling in this page) Employee consumption cooperation of Central Falcon Bureau of the Ministry of Economic Affairs Du Printed A8 B8 C8 _______ D8 VI. Scope of patent application Machine control method to obtain the difference between the set values corresponding to the measured values of all or some of the elements of the above-mentioned state quantity and control quantity, when the evaluation value obtained based on the deviation values exceeds the predetermined value The allowable time is judged to be a certain state of the aforementioned rolling process. 16. As in the rolling mill control method according to item 15 of the patent application, the aforementioned evaluation values are the self-multiplying average error of the deviation of the rolling position, the deviation of the rolling speed, the deviation of the rear tension and the deviation of the thickness of the exit side. 1 7. If the rolling mill control method of the patent application scope item 1, 2, 13 or 14 is detected, the unsteady operation state when the rolling speed is accelerated or decelerated is detected, and it is judged as a certain state of the foregoing rolling process During the performance holding period of the ¥ stable operation state, the adaptive correction of the aforementioned control model is implemented by a certain trigger period. 18. If the rolling mill control method of item 12, 3, or 14 of the patent application scope, the aforementioned certain rolling parameters that can be matched with the aforementioned measured values are reflected in the setting calculation of the aforementioned rolling model. 1 9. A rolling mill control device, which mainly includes: a detection device that can detect the actual value of the state quantity or control amount of the rolling mill according to a certain period, a setting control device with a rolling model to determine the operating point, such as The DDC control device that determines the operation command of the actuator by setting the deviation of the actual performance value corresponding to the set target value (setting value) every time the operating point is changed to zero, is characterized by having: The inverse setting calculation of the rolling model can make certain rolling parameters such as the adaptive correction coefficient of the rolling load compatible with the aforementioned rolling parameter calculation means of the measured value, and the paper size that can be simulated by the DDC can be obtained according to the certain rolling parameters Applicable to China National Standard (CNS) A4 specification (210X297mm) 1-HL — II -...... III (please read the precautions on the back before filling in this page). Ordered by the Ministry of Economic Affairs Central Standards Bureau Staff Consumer Cooperative Print A8 B8 C8 D8 VI. The linearization method of the state equation of the control model of the patented system and the calculation and update of the DDC control according to the state equation The control model of the control parameters of the control device is composed of a control model adapted to the correction device and a starting device that judges a certain state of the rolling process and outputs a start signal that can execute the aforementioned control mode adaptive correction device. 2 0. As for the rolling mill control device of item 19 of the patent application scope, the aforementioned starting device is provided with: the measured values of all or part of the elements of the aforementioned state quantity and control quantity, and the corresponding setting values and Determine the deviation between each, and when the evaluation value obtained based on the deviation exceeds the pre-set _ Xu value, it is judged as the above-mentioned certain state, and the event detection device that outputs the above-mentioned start signal and when the roller is detected When the rolling speed is not stable, such as acceleration or deceleration, it is determined to be a certain state of the rolling process. The duration of this unstable state is prior to the above-mentioned state detection device and is output according to a certain start cycle. The device for detecting unstable operation of the aforementioned start signal. 2 A rolling mill control method is a rolling mill control method that can simultaneously control the plate thickness and tension. It is characterized in that when the deviation of the tension from the actual measured value of the target value is within a certain tension range set in advance (allowable value) ), The plate thickness control is given priority, and when it is outside the above-mentioned certain tension range, the tension control is given priority. 2 2. For the rolling mill control method according to item 21 of the patent application range, the above-mentioned certain tension range (allowable value) is set to each category that is distinguished by a majority according to the value of the aforementioned target value of tension. This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm)-(Please read the precautions on the back before filling this page)-• a Printed by Beigong Consumer Cooperative, Central Standards Bureau, Ministry of Economic Affairs ^ 016! 〇 ? 8s D8 VI. Patent application scope 2 3. If the rolling mill control method of the patent application scope item 2 1 or 22, the above-mentioned plate thickness control has priority, so that the plate thickness control gain used for plate thickness control is relative to the use The tension control gain for tension control is high. 24. As in the rolling mill control method according to item 23 of the patent scope, the aforementioned plate thickness control gain is a function of the deviation of the measured value of the plate thickness relative to the target value of the plate thickness. 2 5. If the rolling mill control method of the patent application item 21 or 22, the aforementioned priority of tension is to make the tension control gain for tension plate thickness control relative to the thickness control gain for plate thickness control as high. 2 6. For the rolling mill control method of item 25 of the patent application, the aforementioned tension control gain sets the value when the aforementioned tension control is prioritized to be higher than the value when it is not prioritized. 2 7. For the rolling mill control method according to item 21 or 22 of the patent application, the measured value of the plate thickness uses the estimated value directly below the roll, and the measured value of the tension uses the estimated value of the rear tension. 2 8. A kind of roller mill control method, which is mainly a rolling mill control method that makes the actuator of the pressing device and the roller driving device operate, and simultaneously controls the thickness and tension of the roller, which is characterized by: fast response speed The actuator implements non-interference control, which can eliminate the interference with the tension or plate thickness caused by the plate thickness or tension control. 2 9. For the rolling mill control method according to item 28 of the patent application, the aforementioned non-interference control, when the response speed of the aforementioned reduction device is fast, the deviation of the plate thickness from the target value of the measured value relative to the plate thickness or It is based on the deviation of the plate thickness to the control command of the aforementioned roll drive device and multiplied by the tension. The non-dry paper size uses the Chinese National Standard (CNS) A4 specification (210X297 mm) (please read the precautions on the back before filling in this Page)-Installation · Order A8 Βδ C8 D8 printed by the Staff Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs. 6. Patent application range. Non-interference reduction commands for disturbance control gain are output to the aforementioned reduction device. 3 0. For the rolling mill control method according to item 28 of the patent application, the aforementioned non-interference control, when the response speed of the aforementioned reduction device is fast, it will be based on the measured deviation of the tension from the target value of the tension or based on The tension deviation and the control command to the roll drive device and the non-disturbing reduction command multiplied by the non-disturbing control gain of the plate thickness are output to the reduction device. 3 1. As for the rolling mill control method of the patent application No. 28, 29 or 30, the aforementioned non-interference control is implemented in accordance with the phase of the interference generated by the actuator with a slow response speed. 32.-A roll mill control method, which is mainly a roll mill control method that allows the actuators of the pressure + device and the roll drive device to control the plate thickness and tension at the same time. It is characterized by: implementing a measured value When the tension deviation relative to the tension value is within a certain tension range (allowable value) set in advance, the thickness control is given priority, and when it is outside the above-mentioned certain tension range, the tension control is given priority Control: By implementing non-interference control on the actuator with a fast response speed, the interference caused by the aforementioned priority control implemented on the actuator with a slow response speed can be eliminated. 3. In the case of the rolling mill control method according to item 32 of the patent application scope, in the case where the roll driving device implements the plate thickness control and the reduction device implements the tension control for cold rolling, when the plate thickness is When the control is prioritized, the control command value to the roll drive device is greater than the control command value to the press device, and the Chinese national standard (CNS) A4 specification (210X297 (Please read the precautions on the back before filling in this page) -Installation. Order J -10-Printed and printed by A8 B8 C8 D8 of the Central Standardization Bureau of the Ministry of Economic Affairs. The generated tension non-interference control command value is output to the aforementioned pressing device with a fast response speed. 3 4. As in the rolling mill control method according to item 32 of the patent application scope, in the case of hot rolling where the rolling device implements the aforementioned sheet thickness control and the roll drive apparatus performs the aforementioned tension control, when the aforementioned tension control When priority is given, the control command value to the roll drive device is greater than the control command value to the press device, and the plate thickness non-interference control command value generated according to the control command value to the roll drive device is greater Output to the aforementioned depressing device with fast response speed. 35. For any method of roller mill control according to items 3 2 to 3 4 of the patent application scope, the aforementioned roller drive device is a front stand. 36.—A roll mill control method, which is mainly to make the roller drive as if the deviation between the target value of the plate thickness and the rear tension set for each station by the setting calculation is eliminated from the actual measured value or the estimated value. The rolling mill control method that controls the operation of the device and the pressing device and controls the thickness and tension of the rolled material at the same time is characterized in that: when the roll driving device with a large response time constant is mainly used to implement the thickness control, the In the case of cold rolling that performs tension control mainly by the aforementioned reduction device with a small response time constant; relative to the aforementioned tension range set in advance for each category that is differentiated according to its size with respect to the target value of the aforementioned rear tension (Allowable value), when the deviation between the target tension value of the rear tension and the measured value is within the above-mentioned certain tension range, the thickness control instruction value is higher than the other. This paper standard applies the Chinese National Standard (CNS ) A4 specification (210X297 mm) _ -11------------ .. ^ ------, order ------ 1 4 (Please read the notes on the back first (Fill in this page again) ABCD Printed and applied for patent scope by the Staff Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs, and when it is outside the aforementioned tension range, the tension control command is given priority over the other; when the plate thickness is preferentially controlled, order The aforementioned thickness control command value and the non-disturbing control command value multiplied by the tension non-disturbing control gain delay a non-disturbing command idle time obtained based on the response time constants of the roll driving device and the pressing device before applying tension Before the non-priority control, it is subtracted from the aforementioned tension control command value. 3 7-The control device of the rolling mill, which is mainly a setting control method for setting the target value by the detection device according to the setting calculation, such as eliminating the deviation between the target value of the plate thickness and tension and the measured value The feedback control means to be controlled and the pressing device and the roll drive device that act according to the control instructions from the control means are composed of a roll mill control device capable of simultaneously controlling the plate thickness and tension. With respect to a certain tension range (allowable value) set in advance for each category of the target value for distinguishing tension, when the tension deviation is within this range, the thickness control is given priority, and when the tension deviation is within this range Outside, the tension control is given priority, and the priority control means that determines the control gain of the aforementioned feedback control means. 38. As for the rolling mill control device of claim 37, the priority control means includes a plate thickness control gain and a tension control gain set by the setting control means, corresponding to the priority control One of them is a control gain adjustment coefficient calculation method that is adjusted at a higher level than the other. 3 9. If the application of the patent scope item 3 7 or 3 8 is controlled by the rolling mill, the paper size is applicable to the Chinese National Standard (CNS) Α4 specification (210Χ297 mm) ----- installation ------ order-- ---- Line (please read the precautions on the back before filling in this page) -12-ABCD printed by the Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 々, apply for a patent scope device, which can be eliminated by the aforementioned feedback control system Non-disturbance control means consisting of tension non-interference control means for interference with tension caused by plate thickness control and / or plate thickness non-interference control means for eliminating interference with plate thickness caused by tension control. 4 0. The rolling mill control device as claimed in item 39 of the patent scope has a tension non-interference control gain and a tension non-interference control means that can be set separately for the tension non-interference control means and the plate thickness non-interference control means from the setting control means. The plate thickness non-interference control gain corresponds to the magnitude relationship between the response time constant of the aforementioned reduction device and roll drive device, making it a valid or ineffective non-interference control gain adjustment means. < 4 1. For the rolling mill control device as claimed in item 40, the non-interference control gain adjustment means, when the response time constant of the reduction device is small, and the feedback control means allows the plate of the roll drive device When the thickness control is preferentially implemented, the aforementioned plate thickness non-interference control gain is made effective, and the aforementioned tension non-interference control means is implemented. 4 2. As for the rolling mill control device of claim 3, 7 or 38, the non-interference control means has a delay that can correspond to the difference in response time constant between the rolling device and the rolling drive device Delay means. 4 3. If the control equipment of the rolling mill is applied for items 3 7 or 38 of the patent application, the plate can be estimated based on the thickness of the inlet side, the inlet speed and the outlet speed measured by the aforementioned detection device The thick plate thickness estimation means calculates the plate thickness deviation based on the difference between the target thickness of the plate thickness and the plate thickness directly below the roll. The size of this paper is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) ---------- I installed-- (please read the precautions on the back before filling this page) Order-13-Economy A8 B8 C8 D8 is printed by the Employees ’Cooperative of the Central Standards Bureau of the Ministry. 6. Patent application scope 4 4. If the patent application scope item 3 7 or 38 of any one of the rolling mill control device has a controllable state The amount of reduction position, tension and speed of each roll from the setting value of the setting control means and the measured value of the deviation of the state quantity feedback means are eliminated, and together with the aforementioned feedback control means constitute the best servo system. 4 5.-A rolling mill control device, which is mainly a feedback control method that can simultaneously control the deviation of the measured plate thickness and tension from its target value, such as the control of the plate thickness or tension to the tension Or the interference caused by the thickness of the plate can be canceled and controlled by the non-interference control means and the corresponding pressure control action from the control means is composed of the pressing device and the roller drive device, which can simultaneously control the plate thickness and tension The rolling mill control device is characterized by having: the control gain corresponding to the thickness deviation set by the feedback control system and the control gain corresponding to the tension can correspond to the applied cold rolling process or hot rolling process The difference and / or the control gain adjustment means to change the thickness priority or tension priority control and the tension non-interference control gain corresponding to the plate thickness deviation set by the aforementioned non-interference control system correspond to the plate thickness of the tension deviation Non-disturbing control gain, adjusted according to the response time constant of the aforementioned reduction device and the aforementioned roller drive device The non-interference control gain adjustment means. 46. A kind of rolling control method, which is mainly a multi-roll mill control method that can implement feed-forward control for the rolling device and the rolling drive device respectively, and the thickness and tension of the rolled material. ： Depending on a certain period of time to detect each set of pressing device, roll peripheral speed, and the paper size of the outgoing side, the Chinese National Standard (CNS) Α4 specification (210Χ297mm) is applied --L ------ ^ 丨 Installation- ----- Subscribe ----- Bu line (please read the precautions on the back before filling in this page) A8 Βδ C8 D8 々 printed by the Employee Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs The board speed between the next machine; the history data row of the aforementioned board thickness corresponding to the position from the detection device of the board thickness on the exit side to the next machine can correspond to the previous station The board speed detected on the outgoing side is shifted, and the board thickness detected most recently is memorized; from the next machine side in the history data row, select the The movement of the rolled material in response to the delay time Plate thickness data corresponding to the distance, and according to the selected plate thickness data, the reduction command output to the reduction device that performs the reduction feedforward control is obtained, and similarly according to the response delay time of the roll drive device, and From the sheet thickness data selected in the foregoing history data row, the speed command output to the roll drive device for speed feedforward control is obtained. 4 7.-A rolling control method, which is mainly a multi-roll mill control method that can implement feedback and feed-forward control of the reduction device and the roll drive device, and the thickness and tension of the rolled material, and its characteristics Lies in: detecting the pressing device, the peripheral speed of the roll, the plate thickness at the exit side, and the tension and the plate speed with the next machine according to a certain period; adding the aforementioned pressing position, the peripheral speed of the roll and the tension Feedback, and calculate the first reduction command and the first speed command for each machine; divide the number corresponding to the position from the detection position of the thickness of the exit side to the position directly below the roll of the next machine The history data of the plate thickness memorized in the 100 million interval can correspond to the moving distance of the rolled material from the previous detection time point estimated from the previous plate speed detected on the exit side of the front machine, so that The foregoing resume data is shifted toward the next machine, and the paper size is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) (please read the precautions on the back before filling out this page). -S01616 A8 B8 C8 D8 Printed by Beigong Consumer Cooperative of the Central Bureau of Economic Affairs of the Ministry of Economy ： Baijishulu tag »Select the movement distance of the rolled material that is moved in response to the delay time within the response time of the presetting and pressing device and the roll driving device set in the history data column, and the distance is the same as the distance Describe the distance between the next machine side and the corresponding plate thickness. Calculate the 2nd pressing command for pressing feed-forward according to the plate thickness selected by the pressing response delay time 9 and delay according to the speed response The thickness selected at the time is used to obtain the speed A. / ,. The second speed command 9 is fed, and the first press command and the second press command are added to control Descend device 9 In addition, add the first speed command and the second speed command to control the roll drive device 0 4 8 Rolling control method -X-fc if applying for patent scope item 4 7 . The second speed command is used to suppress the change in the rolling phenomenon caused by the change in the plate thickness detected on the outgoing side of the machine _ 4 9 7 or 4 8 of the rolling control method 9 ^ · --description response delay time includes < *-Describe the idle time of the reduction device 9 and a * Describe the speed response delay time including the idle time of the roll drive device 〇5 0 • * Kind of rolling control method 1 Its main system is ~ ' — A multi-roller mill control method that controls the thickness and tension of the rolled material by controlling the thickness and tension of the rolled material through the feedback and feed-back control of the reduction device and the roll drive device at a fixed cycle 9 Features: • The pressure of each machine is detected according to a certain cycle The lower device, the roller speed, and the paper size are applicable to the Chinese National Standard (CNS) A4 (2IOX297 mm) • 16 · A8 B8 C8 D8 printed by the Employee Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs Thickness and tension and plate speed with the next machine; a plurality of positions corresponding to the positions divided from the detection position of the plate thickness on the exit side to the position immediately below the roll of the next machine Memory Interval The memorized data series of the aforementioned plate thickness can correspond to the moving distance of the rolled material from the previous detection time point estimated from the speed of the aforementioned plate detected on the outgoing side of the front machine, so that Shift in the next machine direction, and memorize the plate thickness detected this time in the memory interval vacated by the shift; select from the previous history data row and the previously set pressure The moving distance of the rolled material moving in the response delay time of the lower device and the roll drive device is equivalent, and corresponds to the thickness of each distance from the next machine side; the delay time according to the response delay time The first plate thickness is selected to obtain the reduction command for pressing feedforward control, and the speed command for speed feedforward control is determined based on the second plate thickness selected by the speed response delay time, at the same time The above-mentioned pressing command and the above-mentioned speed command capable of suppressing variations in plate thickness different from each other are output. 5 1 rolling mill control device, which is mainly a multi-roll mill control device that can control each reduction device and roll drive device by feedback control means and feed forward control means, and controls the thickness and tension of the rolled material It is characterized by having: set up on each machine: plate thickness detection means for detecting the thickness of the exit side of the rolled material, pressure position detection means for detecting the roll-down position, for detecting The detection method of the roll peripheral speed of the roll and the paper standard of the next machine are applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) HI HI ^ ϋ— ———— I —ΜΜ 士 n (Please read the precautions on the back before filling in this page) Line 17-A8 B8 C8 D8 printed by the Staff Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs Detection means and tension detection means for tension; according to the reduction position from the reduction position detection means, the roll peripheral speed from the roll peripheral speed detection means and the tension from the tension detection means, For each station, the feedback control means composed of the first reduction command for operating the aforementioned reduction device and the first speed command for operating the aforementioned roll drive device is calculated; based on the aforementioned plate thickness from the exit side of the front stand The plate thickness data of the detection means and the plate speed from the aforementioned plate speed detection means, and the plate thickness tracking means of memorizing the plate thickness history data of each measured point of the rolled material until the next stop, The input means for setting the idle time of each response of the pressing device and the roll driving device, based on the idle time of the pressing device from the input means and the idle time of the roll driving device and the plate speed, The pressing idle time correction plate thickness tracking means and the speed idle time correction plate thickness tracking means for correcting the memory position of the history data of the tracking means calculate the second pressure based on the history data from the aforementioned pressing idle time correction plate thickness tracking means Press the command to reduce the feedforward algorithm and correct the thickness tracking hand based on the idle time Feedforward control means composed of the speed feedforward calculation means for calculating the second speed command based on the history data and; adding the first pressing command to the second pressing command and outputting it to the pressing device In addition, the first speed command and the second speed command are added and output to the roll drive device to constitute an output means. The size of this paper is applicable to the Chinese National Standard (CNS) A4 (210X297mm) I pack-(please read the precautions on the back and then fill out this page) (-Line 18 ~ AB B8 C8 D8 Employee of Central Bureau of Standards, Ministry of Economic Affairs Printed by consumer cooperatives, patent application scope 5 2. If the rolling control device of the patent application scope item 51 is pressed, the idle time correction plate thickness tracking means is based on the plate detected by the aforementioned plate speed detection means Speed to determine the moving distance of the rolled material during the idle time of the pressing device, and from the historical data, the thickness information that the distance to the next station is equivalent to the moving distance becomes the first The memory position of the previous history data is shifted, and the speed idle time correction plate thickness tracking means determines the rolled material during the idle time of the pressing device according to the plate speed detected by the plate speed detection means The moving distance moved, and from the above-mentioned resume data, the plate thickness data whose distance to the next stop is equivalent to the moving distance becomes the first The memory position of the history data is shifted. 5 3. If the rolling control device of item 51 of the patent scope is applied, press the idle time to correct the plate thickness tracking means, according to the plate speed detected by the aforementioned plate speed detection means Determines the moving distance of the rolled material during the idle time of the pressing device, and selects the thickness data from the history data to the next station that corresponds to the moving distance, and the speed idle time is corrected The plate thickness tracking means determines the moving distance of the rolled material during the idle time of the pressing device according to the plate speed detected by the plate speed detecting means, and selects from the previous history data to Plate thickness data whose distance to the next stop is equal to the aforementioned moving distance 'The pressing forward feed calculation method calculates the second pressing instruction based on the plate thickness selected by the pressing idle time correction plate thickness tracking means The speed feedforward calculation method calculates the second speed command according to the plate thickness selected by the speed idle time correction plate thickness tracking means (Please read the precautions on the back first and then fill out this page) k Pack. The standard paper size is applicable to the National Standard (CNS) 84 4 (210X297 mm) 301616 A8 B8 C8 D8 Employee Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs Printing 6. Patent application scope 5 4 • A rolling mill control method 9 It is mainly a multi-variable control that can detect the multiple state quantities of the rolling mill composed of multiple units and the actual value of the control quantity according to a certain period In order to eliminate the error between the actual performance value and the setting value set by the setting control device such as the operating point or the macro standard, the rolling mill control method 9 is characterized in that the reduction position > the back tension and the roll speed are used as state quantities The feedback control is implemented to eliminate the difference between the actual performance value and the set value (operating point). 9 In addition, the feedback control is implemented to eliminate the control amount. The error between the performance value cha and the setting value (giant standard value) 〇5 5 — A rolling mill control method whose main system is — The state quantity of the rolling mill composed of multiple units and the actual performance of multiple control quantities can be detected according to a predetermined period Value 9 and a multi-variable control in order to eliminate the error between the actual value and the setting value of the operating point or target set by the setting control device 9 The rolling mill control method 9 is characterized by implementing feedback control to make -Xt- The error between the actual value of the state quantity and the set value (operating point) is eliminated9. In addition, the feedback control is performed using the thickness and tension of the output side as the control variables to eliminate the error between each actual value and the set value (giant value) .5 6 • A rolling mill control method 9 The main one is that a rolling mill composed of multiple units can be detected according to a certain period Rolling mill control method 9 that implements multivariable control in order to eliminate the error between the actual value and the operating point set by the internal setting control device or the setting value of Juju, etc. The characteristics are: • The reduction position> the rear tension and the roll speed of the table are regarded as the state. The paper size is applicable to the Chinese National Standard Falcon (CNS) A4 specification (2IOX297 mm) ~ 20-A8 B8 C8 D8 Implement feedback control to eliminate the difference between the actual performance value and the set value (operating point). In addition, take the output side plate thickness and the rear tension as the control amount, and implement the feedback control to eliminate the actual performance value and the set value (target value) ) Error. 5 7. For the rolling mill control method according to item 56 of the patent application scope, the feedback control of the aforementioned state quantity is to obtain the deviations from the aforementioned setting values (operating points) corresponding to the aforementioned state quantities, respectively, and these deviations Multiply the proportional gain to generate the first operation command value corresponding to the deviation of the state quantity; the feedback control of the aforementioned control quantity is to obtain the deviation from the aforementioned set value (target value) corresponding to the aforementioned control quantity, respectively, and These deviations are multiplied by the integral gain to perform integration, and a _ 2 operation command value corresponding to the deviation of the control amount is generated; the third operation command value generated according to the sum of the aforementioned first operation command value and the aforementioned second operation command value is output To the actuator. 58. For the rolling mill control method as claimed in item 5 of the patent scope, the first, second and third operation command values are the reduction position command value for changing the roll gap and the speed for changing the roll speed The command value is composed and obtained for each component separately. Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs (please read the precautions on the back before filling in this page) 5 9. For the rolling mill control method of patent application No. 58, the aforementioned reduction position command is output to the pressure The lower device, and the aforementioned speed command value is output to the roll drive device. 60. For the rolling mill control method according to item 59 of the patent application scope, the aforementioned roller driving device is a front roller driving device. 6 1. For the rolling mill control method according to any one of the patent application items 5-6 ~ 60, the aforementioned sheet thickness is used just below the roll. The sheet thickness is based on the Chinese National Standard (CNS) A4 specification (210X297mm) -21-A8 B8 C8 D8 printed by the Beigong Consumer Cooperative of the Central Bureau of Economic Affairs of the Ministry of Economic Affairs 6. The speculative value of the scope of patent application. 6 2. For the rolling mill control method according to item 61 of the patent application range, the above-mentioned speculation value of the plate thickness directly under the roll is based on the calculation value obtained by the mass flow theorem based on the incoming side plate thickness. The thickness obtained by the outboard thickness gauge minus the offset value obtained by tracing the calculated value to the tracking thickness of the outboard thickness gauge is obtained by feedback. 6 3.-A kind of rolling mill control device, which is mainly equipped with: a detection device and control that can detect the actual value of multiple state quantities or multiple control quantities of multiple rolling mills composed of multiple sets according to a certain period The rolling mill control device composed of a DDC control device that eliminates the difference between the operating point or target setting value determined by the setting control device and the actual performance value is characterized in that: the DDC control device is an optimal servo system, It has a state feedback control method that can implement the feedback control using the reduction position, the rear tension and the roll speed of the front machine as the state quantity, and a control amount feedback that uses the output side plate thickness and the rear tension as the control quantity to implement the feedback control Means of control. 64. As for the rolling mill control device according to item 63 of the patent scope, the state feedback control means has a differential mechanism that can obtain the deviations from the setting values corresponding to the respective state quantities, and multiplies these deviations. Proportional gain, a proportional mechanism that generates an operation command value corresponding to the deviation of the state quantity; the control quantity feedback control means has a differential mechanism that can obtain the deviation from the setting value corresponding to each of the control quantities, and the deviation Multiplying the integral gain and implementing the integral, and the integral mechanism that generates the operation command value corresponding to the deviation of the control amount; This paper standard is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) --- a ---!- -'Installation-- (Please read the precautions on the back before filling in this page) Order-22-Printed by A8 B8 C8 D8 c of the Beigong Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs. The operation instruction value of the mechanism and the aforementioned integral mechanism determines the instruction generation means of the operation instruction value to be output to the actuator. 065. The rolling mill control device, the aforementioned proportional mechanism and integral mechanism generate an operation command composed of a reduction command component for changing the reduction position and a speed command component for changing the roll speed, and the aforementioned command generation means is for each The components are added to generate a reduction position operation command value and a speed operation command value, and the aforementioned reduction position operation command value is output to the reduction device, and the aforementioned speed command value is output to the roll drive device in the foreground. / 6 6. The rolling mill control device as claimed in item 6 3, 6 4 or 65, has a plate thickness and plate speed at the entrance side of the machine from the aforementioned detection device and a plate at the exit side The plate thickness directly under the roll of the machine is estimated based on the speed, and the plate thickness directly under the roll is regarded as the plate thickness on the output side and output to the observation device of the differential mechanism of the control amount feedback control means. 6 7.-A type of rolling mill control device, which is mainly equipped with: a detection device that can detect the actual value of the state quantity or control quantity of a series of tandem rolling mills composed of multiple sets according to a certain period. Model, and the control device that can determine the operating point according to the non-linear rolling state, and output the operation command to each of them so that the deviation between the set operating point or the target setting value and the actual performance value can be eliminated The rolling mill control device composed of the rolling device of the machine and the roller driving device is characterized in that: the aforementioned DDC control device is provided with: the reduction position and the back tension can be used in accordance with the Chinese National Standard (CNS) ) A4 specification (210X297 mm) " -23-II nt— nb— n 1 ^ I v (please read the precautions on the back before filling this page) S0161 A8 B8 C8 D8, patent application scope and roll speed at the front desk As the aforementioned state quantities, the depressing position setting value of these state quantities, the back tension set the deviation of the roll speed setting value, and these deviations are divided into gain and the second proportional gain , And the state quantity feedback corresponding to the state command component and the speed command component is generated. The output side plate thickness and the rear tension are regarded as the deviations of the aforementioned control side corresponding to the control amount of the output side plate thickness setting value, and these deviations are respectively Multiply the first integral minute gain to generate the control amount feedback control means corresponding to the reduced speed command component of the control amount deviation, and; the position control component and speed command from the aforementioned state quantity feedback control means and pre-control means The target position value and the speed target of the control equipment are added to generate the pressing position operation command and the speed, and the former is output to the pressing device of the machine, and the latter is fed to the command generating means of the roller driving device. Calculate and determine the value by not multiplying the state deviation control system, the rear tension gain refers to the first proportional depression method corresponding to the front and the front; and obtain the force setting value and the second product order component and description Control quantity feedback control component and from the set value, according to each component operation instruction, and will be printed on the front machine of the Ministry of Economic Affairs Central Standards Bureau Staff Consumer Cooperative (please read the precautions on the back before filling this page) The paper size is applicable to China National Standard (CNS) A4 specification (210X297mm) 24