US3793859A - Method and apparatus for controlling crown in a plate rolling mill - Google Patents

Method and apparatus for controlling crown in a plate rolling mill Download PDF

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Publication number
US3793859A
US3793859A US00251961A US3793859DA US3793859A US 3793859 A US3793859 A US 3793859A US 00251961 A US00251961 A US 00251961A US 3793859D A US3793859D A US 3793859DA US 3793859 A US3793859 A US 3793859A
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Prior art keywords
roll
force
crown
signal
signals
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J Sterrett
A Baeslack
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AEG Westinghouse Industrial Automation Corp
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Westinghouse Electric Corp
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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
    • B21B37/28—Control of flatness or profile during rolling of strip, sheets or plates
    • B21B37/38—Control of flatness or profile during rolling of strip, sheets or plates using roll bending
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B1/00—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations
    • B21B1/02—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling heavy work, e.g. ingots, slabs, blooms, or billets, in which the cross-sectional form is unimportant ; Rolling combined with forging or pressing
    • B21B1/06—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling heavy work, e.g. ingots, slabs, blooms, or billets, in which the cross-sectional form is unimportant ; Rolling combined with forging or pressing in a non-continuous process, e.g. triplet mill, reversing mill
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2269/00—Roll bending or shifting
    • B21B2269/02—Roll bending; vertical bending of rolls
    • B21B2269/08—Back-up roll bending

Definitions

  • ABSTRACT 1 Plate width and roll diameter input signa s are trans- [211 App]' 251961 lated into roll and bending force spring constant representations which are multiplied by total roll and 52 U.S. c1. 72/8, 72/20 bending feree g respectively, and added to 51 1m. (:1 B2110 37/00 sired roll and crown representations to produce e 581 Field of Search 72/8, 19, 20, 21 crown error g The error signal is proportionally integrated to provide a bending force reference signal [56] Ref Cit d which is employed to develop the proper roll bending UNITED STATES PATENTS forces to produce the desired crown.
  • the prior art has provided many systems for controlling the gauge of strip or plate which is produced in a rolling mill. Typically, this is accomplished through the use of a mill screwdown control system which regulates the rolling forces applied to so-called back-up roll bearings (in a four-high mill) to establish a total rolling force considered to exist at the approximate center of the back-up rolls. It is known, however, that application of the rolling forces to the ends of the rolls results in gauge variations across the rolled plate due to bending force moments. This gauge variation is referred to as crown which is a measure of the maximum deviation of gauge from a straight-line drawn across the plate.
  • the work rolls of some mills have been ground to have a predetermined amount of roll crown.
  • the bending moments vary with plate width and roll diameter, as well as changes in the roll and bending forces themselves, the roll crown does not provide complete compensation.
  • signal as employed herein is generic to any representation of the particular quantity involved whether shown herein as produced by an analog or digital component.
  • the term representation will be used to cover both analog and digital signals and is, therefore, the equivalent of signal. Since the method provided is for automatic control, however, representations (such as charts) which are not suitable for direct translation into automatic steps in the control are not considered to be equivalent.
  • FIG. 1 is a block diagram of a system employing the invention
  • FIG. 2 is a schematic diagram of a control systememploying the present invention as well as the improved features of copending application constituting reference 1 above;
  • FIGS. 3A and 3B are presented to indicate thegeneral relationship between roll and bending forces and crown;
  • FIG. 4 is a schematic diagram of one form of generator 210 shown in FIG. 2;
  • FIGS. 4A and 4B are charts setting forth the relationships which must be solved by generator 210;
  • FIG. 5 is a schematic diagram illustrating suitable forms for spring constant generators 220 and 230 of FIG. 2;
  • FIGS. 5A and 5B are charts setting forth the relationships which must be solved by the generators of FIG.
  • FIG. 6 is a schematic and functional diagram setting forth suitable means for producing the bendingforce reference signal.
  • FIG. 7 is a schematic diagram of a bending force reference generator 290 of FIG. 2.
  • FIG. 1 wherein a system employing the present invention is shown in block diagram form.
  • the system includes a screwdown control providing a means of positioning drive side and operator side bearings for the top back-up roll 1.
  • the metal to be rolled is passed between a top work roll 2 and a bottom work roll 3, the position of which is controlled through a bottom back-up roll 4.
  • Rolling pressures which are caused by working the metal are measured by conventional means such as load cells referenced as 5-Dr for the drive side and S-Op for the operators side, producing signals Pdr and Pop, respectively.
  • Roll bending forces for both top roll 1 and bottom roll 4 are developed through drive and operator side hydraulic servo valve and valve spool position regulators 110 which operate in a conventional manner to develop bending forces which are measured by top and bottom load cells 6 and 7.
  • the relationship between the load cells and bending forces measured is set forth in the following chart:
  • bottom back-up roll 4 is controlled through conventional servo valve and valve spool position regulators 120 which receive gauge error reference signals GEdr and GEop with the position of roll 4 on the drive and operator sides being represented by load cells 8-Dr and 8-Op, respectively.
  • the drive side and operator side position signals are referenced as Qdr and Qop, respectively. It will be understood that while the actual signal produced by load cell 8 may be representative of the positioning force, it is readily translated into a position representation as employed herein.
  • Controllers 110-Dr and ll0-Op receive drive and operator side roll bending force error signals BEdr and BEop, respectively, which are produced by back-up roll bending force control system 200. ll0-Dr and 1l0-Op respond to BEdr and BEop by allowing oil flow into or out of the bending cylinders until BEdr and BEop 0.
  • System 200 receives the measured roll and bending force signals previously mentioned as well as representations of the following: desired crown (C); roll crown (Cr); plate width (Wp); roll diameter (Dbu); and estimated initial roll force (Pe).
  • system 200 In addition to providing the drive and operator side oil flow reference signals for controllers 110, system 200 also provides certain signals utilized in gauge correlation control system 300.
  • a signal Bref (the required roll bending force) is produced which forms the basis for developing signals BEdr and BEop previously mentioned and signal MGb represents a factor which, when multiplied by Bref, enables system 300 to compensate for gauge changes caused by anticipated bending force.
  • System 300 additionally receives a total bending force signal Pt corresponding to the summation of signals Pdr and Pop previously mentioned and signals V and NCyl defined below which are used in the gauge correction control.
  • System 300 also receives signals Pdr and Pop directly as well as representations of plate width (Wp) and roll diameter (Dbu).
  • a signal represented as LEVEL is utilized to permit adjustment of roll 4 to a horizontal position.
  • Gauge correction signals GEdr and GEop are applied to controllers l-Dr and l20-Op, respectively, to cause positioning of roll 4 through suitable push-up cylinders.
  • Bending force control system 200 includes means 210 for generating a roll diameter adjustment factor MGb as a function of an input representation of roll diameter (Dbu).
  • Signal MGb is applied to spring constant generators 220 and 230 producing signals Mcb and Mcp as a function of signal MGb and a representation of plate width (Wp).
  • Total rolling and bending signals Pt and Bt produced through summing circuits 240? and 2408, respectively, are used in a crown error generator 250 to produce a crown error signal Ce.
  • Generator 250 receives an estimated initial rolling force signal Pe through a switch SIS to simulate the presence of bending due to rolling load before metal enters the mill so as to permit establishment of initial forces before the actual rolling begins.
  • Switch SIS then represents the fact that the metal is in the mill and, when closed, presents signal Pt to generator 250 in place of the initial es timate Fe.
  • the crown error signal Ce is generated in a manner more specifically described below and is applied to a dead-band circuit 260 which drives a proportional integrator 270 providing output signal Bref.
  • the dead band may be omitted in some cases depending on the mill characteristics.
  • Signal Bref is limited by a bending force limiter 280 which receives a representation of maximum force and signal Pt.
  • the components thus far described are those included in system 200. It will be understood that while terms generally considered to be analog have been used, the various functions of the components just described may be performed as well with a digital computer with wired logic or with a programmed computer.
  • Control system 200 also includes 290 and- B-force control (see FIG. 7) for the drive and operator sides.
  • 290 has individual B-force controllers 293 for the drive side and 296 for the operator side.
  • the drive side controller 293 matches the average of the two roll bending force signals Bdrb (291) and Bdrt (292) to the roll bending force reference Bref, as modified by rheostat 294.
  • the difference is the bending force error BEdr for the drive side.
  • BEdr is the oil flow or spool position reference for ll0-DR the drive side hydraulic servo valve spool position regulator.
  • the l 10-DR valve spool is positioned proportional to BEdr to control oil flow into or out of the roll bending cylinder as determined by the polarity of BEdr.
  • the resulting oil flow changes Bdrb and Bdrt until the average force equals Bref and BEdr 0.
  • the operation of the operating side is the same.
  • Rheostats 294 and 295 permit trimming of Bref to shift the center of the roll crown as required to balance the mill.
  • Signal Bref is utilized in both reference generator 290 and in gauge correction for bending force generator 310 which forms part of system 300.
  • Signal Gcb produced by generator 310 is combined with signals V and NCyl in a summing circuit 320 producing a signal referenced as Qo*Ms.
  • Qo*Ms is the basic position reference for the bottom roll cylinders for an empty mill.
  • Ms is a factor which is used to multiply a force representation to translate it into a position measurement.
  • signals Qdr and Qop are also multiplied by the factor Ms to translate the force measurement into a position signal. It will be understood that if transducers are utilized for the function of 8-Dr and 8-Op of FIG. 1 where a direct representation of position is possible, the multiplication by factor Ms is no longer required.
  • Signal NCyl represents nominal cylinder position at calibration and may be considered to be an initial reference positon whereas signal V represents roll gap variation due to bearing oil film thickness changes caused by mill speed and rolling force. The gap variation occurs primarily because the bearing oil thickness increases as a function of speed increase and decreases as rolling force increases.
  • Signals LEVEL and Qo*Ms are utilized along with signals Qdr and Qop in generator 330 to produce drive side and operator side difference signals DQdr and DQop. These difference signals represent the position change from the actual measured cylinder positions and the position to correct for the factors introduced into summing circuit 320. Gauge correction must also be made for mill stretch changes on both the drive and operator sides.
  • generators 340dr and 3400p are provided, both of which receive a signal MGp representing a roll force spring constant as produced by generator 360.
  • the spring constant MGp is produced as a function of both strip width (Wp) and roll diameter (Dbu) and is used to permit translation of actual rolling force measured signals into gap changes.
  • a change in mill stretch during rolling is represented by difference signals (DPdr for the drive side and Dpop for the operator side) which are combined with corresponding position change signals produced by generator 330 in a suitable summing circuit 350.
  • circuits 350dr and 3500p are the gauge error controllers and produce signals GEdr and GEop, respectively, as will be noted in FIG. II.
  • changes in DPdr and DPop must be balanced by changes in DQdr and DQop respectively to maintain a constant roll gap.
  • FIGS. 3A and 3B for a general description as to the relationship between crown and various forces in the system.
  • the forces on roll 1 are represented by the signals previously defined with reference to FIG. 1.
  • drive and operator side rolling forces or pressures Pdr and Pop are shown as applied to inner bearings and top bending forces on the drive and operator sides Bdrt and Bopt are shown as being applied to respective outer bearings.
  • the effect of forces Pdr and Pop is to develop a crown deviation in the direction of total rolling force Pt shown in FIG. 3A.
  • the bending force B equals zero, the crown becomes a function of only rolling force.
  • crown becomes the function of bending force alone. In this case, it might be considered to be negative crown where the gauge at the center of the strip is less than that at the edges. A straight-line is shown to represent zero crown where the control necessary to obtain such a result must be a function of both the bending and the rolling forces.
  • spring constants In order to provide the proper correction for crown as a function of the bending and rolling forces, spring constants must be determined relating roll crown change to roll and bending forces as set forth in FIGS. 5A and 5B.
  • the precise mathematical expressions for these relationships are quite complex and this disclosure relates to practicable means of obtaining the spring constants to the accuracy required by the rolling process. Although the precise equations differ, a study of these mill characteristic curves revealed a simplification was possible within the required accuracy.
  • the factor which is found common to both the rolling and bending force spring constants for the bending of the roll is the change in slope as a function of back-up roll diameter. It was also found that the same factor could be used to express the relationship between roll bending force and roll gap contraction as a function of backup roll diameter as shown in FIG.
  • the bending reference is scaled in pounds times 10 and the abscissa is scaled in terms of the roll gap change in inches which would result from a bending force corresponding to Bref.
  • the roll diameter adjustment factor is then based upon the 80-inch diameter curve in FIG. 4A which is substantially a straightline.
  • the 80-inch diameter curve of FIG. 4A is used as a reference so that, in FIG. 4B, the ratio of Mgb at Dbu/Mgb at 80 is shown as unity l) for an 80-inch diameter. It will be noted then that the ratio is plotted in FIG. 45 changes as an approximate linear function of Dbu expressed by the following equation:
  • Mgb at Dbu/Mgb at 80" l 0.055(80-D) for a particular mill.
  • Mgb at 80" be the per unit slope.
  • MGb Ka Kc*Dbu Suitable values for the constants Ka and Kc may be determined by substituting slope values for MGb as follows:
  • MCp MGb K80(Wp-30)
  • MCb Meswsmwsa
  • K80 and K80 are the reference slope factors for MCp and MCb respectively so thatthe previously derived value of MGb can be used as the roll diameter correction factor.
  • MCp is found to be an approximate linear function of plate width (Wp)
  • MCb is found to be a function of plate width squared (Wp)
  • Wp plate width squared
  • Wp 30 is produced by an inverting summing amplifier 233 which receives a representation of the 30-inch constant from potentiometer 234 and this is applied to a multiplier 236 which receives a signal representing K80*MGb to produce a representation of spring constant MCp.
  • K80 is provided by a potentiometer 222 and a representation of Wp is produced by multiplier 22] with a signal representing MCb being produced by a multiplier 223.
  • the analog arrangement of FlG. 5 may be replaced with a suitable digital equivalent.
  • circuits 260, 270 and 280 may be obtained through conventional analog circuits or may be programmed in a digital computer.
  • Signal Bref is then used in the circuit of FIG. 7 to de velop the drive side and operator side bending reference signals where provision is made through the use of potentiometer 294 and 295 to adjust the references to center of offset the crown as desired.
  • Signal BEdr is produced by a summing amplifier 293 which receives an inversion of signal Bdrd provided by a scaling amplifier 291 and signal Bdrt produced by a sealing amplifier 292.
  • a similar function is performed in summing amplifier 296 which receives an inversion of signal Bopb through an amplifier 297 and inversion of signal Bopt through an inverting amplifier 298.
  • l10-Dr and ll0-Op regulate the oil flow to the bending cylinders so that BEdr and BEop become zero.
  • the present invention provides a system for automatically controlling crown to produce the desired crown considering all of the factors which are necessary.
  • the gauge control providing a measured rolling force signal
  • the combination comprising: first means for measuring roll bending forces and producing corresponding bending force signals; and second means responsive to input signals representing desired crown, roll crown, plate width, and roll diameter and to said rolling force and bending force signals, said second means including roll force and bending force spring constant generators responsive to representations of plate width and roll diameter for producing corresponding roll force and bending force spring constant signals, and further including an error signal generator responsive to said desired crown and roll crown input representations, and to said spring constant signals and said rolling force and bending force signals, for producing an error signal representing the change in bending force required to produce plate having the desired crown.
  • a bending force limiter is included responsive to a representation of total rolling force for limiting said bending force reference signal to prevent the total of rolling force and bending force from exceeding a predetermined limit.
  • said second means includes means for producing a roll diameter adjustment factor signal which is used in the means producing said spring constant signals to adjust said signals for changes in roll diameter.
  • the method of controlling bending forces in a rolling mill to obtain a desired plate crown comprising the steps: translating plate width and roll diameter input signals into roll force and bending force spring constant signals; generating an error signal as the function of desired crown and roll crown input signals and the product of rolling force times the roll force spring constant signal plus bending force times the bending force spring constant signal to produce a bending force reference signal.
  • both of said spring constant signals are produced as functions of a signal representing a roll diameter adjustment factor.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Metal Rolling (AREA)
US00251961A 1972-05-10 1972-05-10 Method and apparatus for controlling crown in a plate rolling mill Expired - Lifetime US3793859A (en)

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JP (1) JPS5817685B2 (ja)
AT (1) AT321234B (ja)
BE (1) BE799343A (ja)
CA (1) CA967266A (ja)
DE (1) DE2322292A1 (ja)
ES (1) ES414584A1 (ja)
FR (1) FR2184001B1 (ja)
IT (1) IT987244B (ja)
ZA (1) ZA732641B (ja)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3875776A (en) * 1972-12-11 1975-04-08 Hitachi Ltd Method of and apparatus for controlling a rolling mill
US3877270A (en) * 1972-12-30 1975-04-15 Schloemann Siemag Ag Rolling mill including means for compensating for roll bending
US4458515A (en) * 1982-05-03 1984-07-10 Ishikawajima-Harima Jukogyo Kabushiki Kaisha Method and apparatus for variably controlling transverse rigidity of rolling machine
CN112007957A (zh) * 2019-05-30 2020-12-01 上海梅山钢铁股份有限公司 一种热轧精轧辊系综合凸度补偿自学习控制方法
CN112742881A (zh) * 2019-10-30 2021-05-04 宝山钢铁股份有限公司 一种用于热轧精轧机组控制带钢走偏的弯辊力使用方法

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3024570A1 (de) * 1980-06-28 1982-01-21 Küsters, Eduard, 4150 Krefeld Einrichtung zur einwirkung auf warenbahnen mit mindestens einer walze
DE3109536C3 (de) * 1981-03-13 1994-04-14 Escher Wyss Ag Regelanordnung für ein Quarto-Metallwalzwerk
DE3341870A1 (de) * 1983-11-19 1985-05-30 Brown, Boveri & Cie Ag, 6800 Mannheim Verfahren und schaltungsanordnung zur verminderung parabolischer planheitsfehler bei kaltwalzwerken
DE102005041178B3 (de) * 2005-08-31 2006-11-30 Eduard Küsters Maschinenfabrik GmbH & Co. KG Verfahren und Vorrichtung zur Erfassung des Durchlaufs von Materialdickstellen durch einen von zumindest einer anstellbaren Walze begrenzten Walzenspalt

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3318124A (en) * 1964-12-10 1967-05-09 Westinghouse Electric Corp Workpiece shape control
US3518858A (en) * 1966-11-30 1970-07-07 Nippon Kokan Kk Method of continuously controlling the correcting apparatus for workpiece shape during rolling
US3531960A (en) * 1966-12-15 1970-10-06 United Eng Foundry Co Gauge control method for rolling mills and like apparatus
US3625036A (en) * 1969-04-28 1971-12-07 Gen Electric Gage control method including consideration of plate width effect on roll opening
US3709010A (en) * 1966-11-26 1973-01-09 Nippon Kokan Kk Method for automatically controlling thickness of a workpiece in a rolling mill
US3714805A (en) * 1971-11-11 1973-02-06 Wean United Inc Control system and method for concurrent automatic gage and crown control of a rolling mill

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3318124A (en) * 1964-12-10 1967-05-09 Westinghouse Electric Corp Workpiece shape control
US3709010A (en) * 1966-11-26 1973-01-09 Nippon Kokan Kk Method for automatically controlling thickness of a workpiece in a rolling mill
US3518858A (en) * 1966-11-30 1970-07-07 Nippon Kokan Kk Method of continuously controlling the correcting apparatus for workpiece shape during rolling
US3531960A (en) * 1966-12-15 1970-10-06 United Eng Foundry Co Gauge control method for rolling mills and like apparatus
US3625036A (en) * 1969-04-28 1971-12-07 Gen Electric Gage control method including consideration of plate width effect on roll opening
US3714805A (en) * 1971-11-11 1973-02-06 Wean United Inc Control system and method for concurrent automatic gage and crown control of a rolling mill

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3875776A (en) * 1972-12-11 1975-04-08 Hitachi Ltd Method of and apparatus for controlling a rolling mill
US3877270A (en) * 1972-12-30 1975-04-15 Schloemann Siemag Ag Rolling mill including means for compensating for roll bending
US4458515A (en) * 1982-05-03 1984-07-10 Ishikawajima-Harima Jukogyo Kabushiki Kaisha Method and apparatus for variably controlling transverse rigidity of rolling machine
CN112007957A (zh) * 2019-05-30 2020-12-01 上海梅山钢铁股份有限公司 一种热轧精轧辊系综合凸度补偿自学习控制方法
CN112742881A (zh) * 2019-10-30 2021-05-04 宝山钢铁股份有限公司 一种用于热轧精轧机组控制带钢走偏的弯辊力使用方法

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JPS4948535A (ja) 1974-05-10
DE2322292A1 (de) 1973-11-29
CA967266A (en) 1975-05-06
ES414584A1 (es) 1976-06-16
FR2184001A1 (ja) 1973-12-21
ZA732641B (en) 1974-04-24
IT987244B (it) 1975-02-20
BE799343A (fr) 1973-11-12
FR2184001B1 (ja) 1977-09-23
AT321234B (de) 1975-03-25
JPS5817685B2 (ja) 1983-04-08

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