US3618348A - Method of controlling rolling of metal strips - Google Patents

Method of controlling rolling of metal strips Download PDF

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Publication number
US3618348A
US3618348A US825354A US3618348DA US3618348A US 3618348 A US3618348 A US 3618348A US 825354 A US825354 A US 825354A US 3618348D A US3618348D A US 3618348DA US 3618348 A US3618348 A US 3618348A
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United States
Prior art keywords
strip
rolling
gauge
variation
tension
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Expired - Lifetime
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US825354A
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English (en)
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Tohru Arimura
Masamoto Kamata
Morio Saito
Terumi Okamoto
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JFE Engineering Corp
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Nippon Kokan Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/46—Roll speed or drive motor control

Definitions

  • This invention relates to a method of controlling rolling of metal strips, and more particularly to a novel method of controlling the rolling speed of a metal strip when it is accelerated or decelerated, such as at the welds between a number of welded metal bands of difi'erent gauges.
  • metal plates or sheets of the required gauge are mass produced by hot and cold continuous rolling operations in order to reduce the cost of the products.
  • a metal band of a predetermined size is hot rolled from a slab and two or three such bands are welded together to form one continuous strip, which is then cold rolled to obtain a product of a given gauge.
  • process steps are most suitable for the mass production of products of the same size.
  • rolling of the products of the same size still involves various problems. For example, the strip is accelerated at the commencement of the rolling operation and decelerated near the end thereof, and as is well recognized in the art such acceleration and deceleration results in a variation in the gauge of the resultant products.
  • a metal strip is payed out from an uncoiler 1, successively rolled by a series of rolling mill stands 2, 3, 4, 5 and 6 and finally taken up by a tension reel 7.
  • the roll opening (roll gap) and the peripheral speed of the working rolls of each mill stand are related to each other according to the rule of constant flow quantity which is based on a relation that the product of the strip gauge rolled by each mill stand and the rolling speed is constant.
  • the gauge of the strip rolled by each mill stand and the rolling speed thereof are determined according to this rule.
  • a mechanism for establishing this relation includes screw down devices 14, 15, 16, 17 and 18 for respective mill stands which are operated by a control system for controlling the speed variation of a DC motor known in the art as Ward-Leonard systems and comprising motor generator sets 22-21, 26-25, 29-28, 32-31 and 35-34 which are controlled by speed regulators 20, 24, 27, 30 and 33, respectively to control the speed of the screw down device.
  • the rolling speed is controlled by varying the rotational speed of the working rolls of respective mill stands.
  • the rolls of respective mill stands are driven by Ward-Leonard systems comprised by motor generator sets 37-38, 40-41, 43-44, 46-47 and 49-59 controlled by speed regulators 56, 55, 54, 53 and 51 respectively, in the same manner as the screw down devices.
  • the speeds of motors 37, 40, 43, 46 and 49 are detected by tachometers 36, 39, 42, and 48, respectively, and are fed back to respective speed regulators in the usual manner.
  • an automatic gauge control device or an AGC system is often incorporated.
  • two such systems are employed one of which includes an X-ray gauge meter 8 which measures the gauge of the strip on the delivery side of the first stand so as to vary the roll gap in accordance with a deviation Ah, of the strip gauge from a prescribed value.
  • a signal representing the speed of the screw down driving motor 22 which is detected by the tachometer 23 and a signal produced by the gauge meter 8 are supplied to the screw down automatic control device 19 to provide the most suitable screw down. This provides the coarse control required to finish the strip to the desired gauge.
  • the AGC system provided for precise finishing on the delivery side of the final mill stand operates to detect a deviation A11 of the gauge of the finished product from a prescribed value by means of an X-ray gauge meter 9 to supply the detected error signal to the speed control device 51 via an automatic tension regulator 52.
  • the generator 50 is also controlled by the output of the tachometer 48 associated with motor 49. In this manner, the tension of the strip between the fourth and fifth mill stands is controlled to reduce said deviation Ah, to zero, thus assuring accurate gauge of the finished strip.
  • additional means such as tension meters 10, 11, 12 and 13.
  • the roll gap is adjusted at the time of acceleration and deceleration of the rolling mill, so as maintain the strip tension between adjacent mill stands at the constant value which is maintained during normal rolling operation.
  • it is necessary to predetermine the pattern of variation of the peripheral speed of the rolls of each mill stand as well as the operating pattern of the screw down corresponding to said speed pattern.
  • variations in the strip tension between adjacent mill stands during acceleration and deceleration can be instantly compensated for, so that the rolling mills can enter into stable normal operation.
  • the strip can be accelerated and decelerated without troubles even when producing many types of products in small quantities or when a strip composed of metal bands of different sizes is rolled.
  • the invention is more advantageous when rolling a continuous strip consisting of welded metal bands of the same size.
  • an object of this invention to prevent variation in the strip gauge caused by the increased and decreased rolling speed of the strip, especially at the welded portions thereof whether the rolling is hot or cold rolling.
  • it is intended to eliminate variations in the gauge of the strip caused by the acceleration at the commencement and deceleration at the end of the rolling operation of a single continuous strip of material, or caused by deceleration and acceleration at the time when welded portions of a strip formed by welding together two or more metal bands of the same size or formed by welding together metal bands of different gauges, are passed through the rolls, thus providing products of high dimensional accuracies.
  • Another object of this invention is to fully utilize the merits of conventional automatic strip gauge control systems without imparing the accuracy of the gauge during a normal rolling operation.
  • a method of controlling the rolling operation characterized by the steps of predetermining a pattern for varying with time the roll peripheral speed that can maintain the strip tension at a predetermined constant value, storing the pattern in a computer, detecting the variation in the roll opening (or gap) by at least one member selected from the group consisting of a program for maintaining said constant tension, a tension meter or a strip gauge meter installed on the delivery side of the rolling mill and a load cell mounted on the rolling mill, or combinations thereof, and effecting preliminary control of the variation with time of the roll peripheral speed, by means of the detected variation in the roll opening so as to compensate for the variation in the strip gauge.
  • a method of controlling the rolling operation characterized by the steps of predetermining a pattern of the variation with time of the roll peripheral speed with regard to the variation of the strip gauge at the welds, storing said pattern in a computer, detecting the variation in the roll opening by at least one member selected from the group consisting of a program regarding variation in the strip gauge at the welds, a tension gauge or a strip gauge meter installed on the delivery side of the rolling mill and a load cell mounted on the rolling mill, or combinations thereof, and effecting preliminary control of the variation with time of the roll peripheral speed by means of the detected variation in the roll opening so as to maintain the strip tension always at a constant value.
  • FIG. 1 is a diagram of a prior art control system for tandem cold rolling mills
  • FIG. 2 is a graph illustrating variations in the strip gauge on the delivery side and in the tension on the entry side of respective mill stands at welded portions of a continuously rolled metal strip;
  • FIG. 3 is a graph illustrating the generation of gauge variations in a cold rolling mill at times when it is accelerated and decelerated;
  • FIG. 4 shows variation patterns of the thickness of oil films of the bearing of the back-up roll of a cold rolling mill
  • FIG. 5 shows a variation pattern of the coefiicient of friction caused by the rolling speed of a cold rolling mill
  • FIG. 6 shows rolling speed control patterns of all mill stands when the strip gauge varies
  • FIG. 7 shows rolling speed compensating patterns for welded portions
  • FIG. 8 shows a schematic diagram of a program control system utilized to carry out the method of this invention
  • FIG. 9 shows a schematic diagram of the entire control system controlled by tension meters provided between adjacent mill stands.
  • FIG. 10 shows a modified embodiment of the control system utilizing gauge meters provided between adjacent mill stands
  • FIG. 11 shows another example of the control system employing load cells mounted on respective mill stands.
  • FIG. 12 is a diagram of a combination control system.
  • FIG. 2 shows variations with time of the strip gauge on the delivery side and of the strip tension on the entry side of each mill stand.
  • curves TF1 through TF4 shown by dotted lines represent variation in tension while solid line curves DI-Il through DH4 represent variations in the strip gauge.
  • the variation in the tension on the entry side greatly varies at points where the strip gauge on the delivery side varies. This means that stable rolling operation cannot be provided unless some effective automatic control system is developed.
  • One of the features of this invention is to provide a method of maintaining the inter-stand strip tension at a constant value.
  • the inter-stand tension could readily be maintained at a constant value.
  • the variation in the rolling speed at the time of acceleration and deceleration is very large. For example, a normal operating speed of the order of 1500 m/min. is usually reduced to about 500 m./min.
  • variation in the strip gauge with such speed variation is extremely large. The principal curves of such severe variation can be explained by using curves shown in FIG.
  • AS AS1+AS2
  • AS represents the variation in the screw down commanded
  • A8 the variation in the roll opening due to variation in the thickness of the bearing oil film.
  • Equation 3 By substituting Equation 3 into Equation 2, the following equation holds for ith stand of the rolling mill.
  • Equation 8 can be derived from Equations 5 and 6:
  • Equation I8 The increment of the rolling speed or the peripheral speed of the mill roll expressed by Equation I8 must be carefully investigated before commencing the actual rolling operation.
  • the relation between the extent of movement of the screw, or the roll opening and the increment of the peripheral speed of the roll is most important. This relation depends upon such factors as the construction of the rolling mill employed, the type of the lubricant used and the property of the material to be rolled.
  • the gauge, tension and speed of the strip should also be taken into consideration in determining the variation pattern wherein the peripheral speed of the roll is taken as the parameter.
  • mill stand number A a symbol denoting an increment
  • S the LaPlacean h Strip gauge (mm.) on the delivery side of the ith mill stand
  • T The time (in seconds) required for the strip to move from the ith mill stand to the (i+l)th mill stand
  • the peripheral speed of the roll (m./ sec.)
  • Equation 9 shows that in changing from a certain normal rolling condition to another, in order to maintain the inter-stand tension always at a constant value, it is necessary to preadjust the peripheral speed of the roll of a given mill stand in accordance with the variation in the change of the roll peripheral speed and the variation in the strip gauge on the delivery side of a precedingstand, and the variation in the strip gauge on the delivery side of said given mill stand.
  • the second term of Equation 9 shows that as the variation in the strip gauge on the delivery side of the ith mill stand reaches the (i+l)th stand after T seconds, the speed of the (i+1)th mill stand should be precontrolled by taking this effect into consideration.
  • FIG. 6 shows a plot of variation patterns of the roll peripheral speed calculated according to Equation 9, which are also utilized as the screw down patterns for all mill stands.
  • Equation 10 is changed as follows:
  • Equation 9 can be applied without any modification.
  • the variation in the strip gauge caused by the increment A5 of the roll gap due to variation in the thickness of the bearing oil film and the increment AIL of the coetficient of friction are both represented as the increment All in Equation 9 which is maintained at a predetermined value.
  • FIG. 7 shows speed compensating patterns to be utilized when welded portions are passed through a continuous cold rolling mill. With these patterns, strip gauge can be changed stably when rolling welded portions at different speeds.
  • FIG. 8 shows a block diagram of a control system utilized to carry out this invention.
  • acceleration, deceleration and strip gauge change commander 76, an on-line computer 75 and a signal converter 77 are added to the conventional automatic strip gauge control system shown in FIG. 1.
  • the on-line computer immediately computes the required quantities of variations of roll opening and roll peripheral speed for each mill stand according to the patterns stored therein.
  • FIG. 9 shows one of such alternative systems in which unique utilization is made of interstand tension meters 10, 11, 12 and 13.
  • the latter system is applicable to rolling mills having relatively low rolling speed.
  • variations in inter-stand tensions detected by various tension meters are not independent from each other.
  • variations are effected by roll peripheral speeds before and after a given tension meter, strip gauge on the delivery side and the tension of the preceding mill stand.
  • a term representing the increment of the tension should be added to Equation 9. This relation can be expressed by the following experimental equation:
  • A, B,, C' E, and F' are constants as determined by various rolling conditions described in connection with Equation 9,
  • a l represents the increment of the screw down of the ith mill stand, AV, the increment of the roll peripheral speed and Ari, the increment of tension at that time.
  • Equation 13 a pattern expressed by Equation 13 is incorporated into the on-line computer 75.
  • a screw down change command is given to each stand, since the variations in tension at respective preceding mill stands are measured by respective tension meters 10, 11, 12 and 13 and applied to the converter 77, while the roll peripheral speeds are being measured by tachometers 36, 39, 42, 45 and 48 and are then supplied to the same converter.
  • Signals supplied to the converter 77 are 0011- verted into digital quantities and are then supplied to the computer 75 to obtain the desired increment of the roll peripheral speed necessary for a given mill stand.
  • Such increments are applied to roll peripheral speed adjusting 9 mechanisms 56, 55, 54, 53 and 51 to promptly compensate for variations in inter-stand tensions whereby they are maintained constant assuring the stable normal rolling operation.
  • Equation 13 While the above description refers to rolling at accelerated and decelerated speeds of welds between strips of different gauges, to effect the same rolling operation for a continuous strip of the same (or constant) gauge, Equation 13 must be modified. More particularly as has been discussed in connection with Equation 11, it is necessary to use a compensating pattern wherein the increment Ah of the strip gauge is made to zero. Accordingly, all of the first to third terms in Equation 13 are eliminated thus obtaining following equation;
  • FIG. shows a modified control system wherein a strip gauge meter is installed on the delivery side of each mill stand to effect the variable speed rolling operation.
  • X-ray gauge meters 8, 9, 57, 58 and 59 identical to those shown in FIG. 1 are installed on the delivery sides of respective mill stands.
  • Equation 9 or 8 can be applied without any modification for the variable speed rolling control of welds between strips of different gauges as well as a continuous strip of the same gauge.
  • signals measured by strip gauge meters 8, 57, 58, 59 and 9 and tachometers 36, 39, 42, 45 and 48 are applied to the computer 75 via converter 77 and the computed values are fed to respective mill stands.
  • FIG. 11 shows a still further modification of the control system wherein conventional load cells are substituted for strip gauge meters shown in FIG. 10.
  • load cells 60, 61, 62, 63 and 64 are mounted on respective mill stands and the detected rolling forces are applied to the computer 75 through the converter 77 together with signals detected by tachometers associated with respective rolls.
  • the relationship among the rolling force, strip gauge and rolling speed of this control system is identical to that already discussed in connection with FIG. 3. Accordingly, various equations described withreference to FIG. 8 are applicable to this control system without any modification.
  • Equation 8 for the variable speed rolling of a continuous strip of the same gauge and Equation 9 for the variable speed rolling of welds between strips of different gauges are stored in the on-line computer 75 to perform computing based on the measured values of respective load cells. Control values thus obtained are successively applied to next succeeding mill stands.
  • the modified control system employing load cells can correctly determine without any time lag variations in strip gauge on the delivery sides of respective stands and is cheaper than the employing strip gauge meters.
  • control system shown in FIG. 1 is more advantageous than that shown in FIG. 10.
  • FIG. 12 shows one example of such a combination control system utilizing inter-stand tension meters 1013 shown in FIG. 9 and load cells 6064 shown in FIG. 11.
  • the control system shown in FIG. 12 is essentially a program control system controlling the roll peripheral speed variation of respective mill stands according to Equation 9.
  • this control system it is difiicult to compensate for the strip gauge error Ah, other than those caused by the screw down change command so that it is necessary to use the following equation instead of Equation 9.
  • Equation 16 is a modified form of Equation 1
  • the increment or error A'h, of the strip gauge caused by external disturbances and expressed by Equation 16 can be readily determined. More particularly, where the increment AP, deviates from M-AS, it is necessary to substitute Equation 9 for Equation 16 to perform continuous correction by assuming that the variation in the strip gauge is caused by other factors than the screw down change command.
  • the inter-stand tension meters shown in FIG. 9 can immediately detect whether such two step control can maintain the inter-stand tension at a constant value or not. Utilization of such inter-stand tension meters can detect and compensate for even a very small variation in the tension.
  • Equation 12 contains many terms already analyzed by Equation 9. It is necessary to consider unknown increments alone so that suflicient compensation can be made with following equation.
  • the pattern for varying with time the roll peripheral speed according to Equation 17 is relatively simple so that it is not necessary to rely upon the on-line computer 75. Since F, and F' are factors that can be experimentally determined from the above described rolling conditions, by providing minor loops containing amplifiers 65, 66, 67, 68 and 69, 70, 7-1 of suitable amplification factors, minute variations in the inter-stand tension can be readily compensated for. Such a minor loop control system with feedback circuits has a quicker response than the control system shown in FIG. 10.
  • FIG. 12 shows one example of combination systems wherein merits and faults of the basic systems balance each other, it being understood that any combination of said four basic systems may be utilized. Selection of a particular combination is determined dependent upon various apparatus associated with the rolling mill and the speed setting.
  • variable speed rolling operations can be transferred to the normal rolling operation without any accompanying variation in the inter-stand tension regardless of the gauge of the hot rolled metal bands welded together.
  • elimination of adjusting time at the time of changing the size of the products and reduction of undesired gauge variations in the resulting products greatly increases productivity.
  • a method of maintaining the interstand tension constant at the time of a predetermined change in roll peripheral speed by predicting and automatically further controlling the roll peripheral speed at each stand during a rolling operation comprising:
  • a method as set forth in claim 1 wherein said change in roll opening is detected by the combination of a predetermined fixed program, measuring inter-stand tension, and measuring rolling force at a stand.
  • a method of maintaining the inter-stand tension constant at the time of a predetermined change in roll peripheral speed by predicting and automatically further controlling the roll peripheral speed at each stand during a rolling operation comprising:
  • a method as set forth in claim 8 wherein said change in roll opening is detected by measuring the rolling force at a stand with a rolling force meter.
  • a method as set forth in claim 8 wherein said change in roll opening is detected by the combination of a pre-determined fixed program, measuring inter-stand tension, and measuring rolling force at a stand.
  • a method as set forth in claim 8 wherein said change in roll opening is detected by the combination of a pre-determined fixed program, measuring inter-stand tension, and measuring the thickness of the strip at the delivery side of a stand.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Metal Rolling (AREA)
US825354A 1968-05-21 1969-05-16 Method of controlling rolling of metal strips Expired - Lifetime US3618348A (en)

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US (1) US3618348A (enrdf_load_stackoverflow)
AT (1) AT297157B (enrdf_load_stackoverflow)
BE (1) BE733411A (enrdf_load_stackoverflow)
DE (1) DE1925990A1 (enrdf_load_stackoverflow)
FR (1) FR2009024A1 (enrdf_load_stackoverflow)
GB (1) GB1264876A (enrdf_load_stackoverflow)
NL (1) NL6907749A (enrdf_load_stackoverflow)
SE (1) SE381195B (enrdf_load_stackoverflow)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3727441A (en) * 1970-03-16 1973-04-17 Hitachi Ltd Thickness control apparatus for rolling mill
US3760621A (en) * 1970-08-26 1973-09-25 Nippon Kokan Kk Control method of tension in rolling mills (1)
US3762195A (en) * 1970-03-09 1973-10-02 Hitachi Ltd Thickness control apparatus for rolling mill
US3766762A (en) * 1970-08-29 1973-10-23 Nippon Kokan Kk Control method of tension in rolling mills (2)
US4311030A (en) * 1978-12-14 1982-01-19 Nippon Steel Corporation Method and apparatus for controlling temper-rolled profile of cold rolled steel strip after continuous annealing
US5233852A (en) * 1992-04-15 1993-08-10 Aluminum Company Of America Mill actuator reference adaptation for speed changes
AT408035B (de) * 1998-10-08 2001-08-27 Voest Alpine Ind Anlagen Verfahren zur aktiven kompensation periodischer störungen
CN115365307A (zh) * 2022-05-23 2022-11-22 重庆钢铁股份有限公司 一种轧制节奏控制方法及装置

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4937910B1 (enrdf_load_stackoverflow) * 1970-06-18 1974-10-14
JPS6010810B2 (ja) * 1975-08-25 1985-03-20 株式会社日立製作所 圧延機の板厚制御方法
DE102018007847A1 (de) * 2018-10-04 2020-04-09 Carl Krafft & Söhne GmbH & Co. KG Verfahren zum Erfassen von Nutzungsdaten von Walzen

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3762195A (en) * 1970-03-09 1973-10-02 Hitachi Ltd Thickness control apparatus for rolling mill
US3727441A (en) * 1970-03-16 1973-04-17 Hitachi Ltd Thickness control apparatus for rolling mill
US3760621A (en) * 1970-08-26 1973-09-25 Nippon Kokan Kk Control method of tension in rolling mills (1)
US3766762A (en) * 1970-08-29 1973-10-23 Nippon Kokan Kk Control method of tension in rolling mills (2)
US4311030A (en) * 1978-12-14 1982-01-19 Nippon Steel Corporation Method and apparatus for controlling temper-rolled profile of cold rolled steel strip after continuous annealing
US5233852A (en) * 1992-04-15 1993-08-10 Aluminum Company Of America Mill actuator reference adaptation for speed changes
EP0638374A1 (en) * 1992-04-15 1995-02-15 Aluminum Company Of America Mill actuator reference adaptation for speed changes
AT408035B (de) * 1998-10-08 2001-08-27 Voest Alpine Ind Anlagen Verfahren zur aktiven kompensation periodischer störungen
CN115365307A (zh) * 2022-05-23 2022-11-22 重庆钢铁股份有限公司 一种轧制节奏控制方法及装置

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NL6907749A (enrdf_load_stackoverflow) 1969-11-25
SE381195B (sv) 1975-12-01
AT297157B (de) 1972-03-10
BE733411A (enrdf_load_stackoverflow) 1969-11-03
GB1264876A (enrdf_load_stackoverflow) 1972-02-23
FR2009024A1 (enrdf_load_stackoverflow) 1970-01-30
DE1925990A1 (de) 1970-03-26

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