WO2000078476A1 - Method to control the vibrations in a rolling stand and relative device - Google Patents
Method to control the vibrations in a rolling stand and relative device Download PDFInfo
- Publication number
- WO2000078476A1 WO2000078476A1 PCT/IB2000/000788 IB0000788W WO0078476A1 WO 2000078476 A1 WO2000078476 A1 WO 2000078476A1 IB 0000788 W IB0000788 W IB 0000788W WO 0078476 A1 WO0078476 A1 WO 0078476A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- sensors
- speed
- vibrations
- spindles
- rolls
- Prior art date
Links
Classifications
-
- 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
-
- 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
- B21B37/007—Control for preventing or reducing vibration, chatter or chatter marks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2275/00—Mill drive parameters
- B21B2275/02—Speed
- B21B2275/04—Roll speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2275/00—Mill drive parameters
- B21B2275/10—Motor power; motor current
- B21B2275/12—Roll torque
Definitions
- the invention is applied in rolling processes for plane products such as strip, sheet and large plate in which rolling stands are used and in which the working rolls receive motion by means of transmission elements connected to the motor mean by a kinematic chain.
- every rolling stand normally reduces the thickness by a value of between 30% and 60% with respect to the measurement at inlet; the limit of reduction is defined by the maximum value of the angle at which the rolled stock enters the pass, the maximum rolling torque applicable and the maximum rolling force.
- the final thickness of the rolled stock is defined either in a reversible finishing rolling mill for sheet or strip
- the reduction percentages in the individual stands can be between 65% and 10% with respect to the measurement at inlet .
- four-high rolling stands there are working rolls which act on the product to be rolled, and back-up rolls, with a greater diameter and co-operating with a relative working roll, the function of which is to support the rolling loads, preventing bending and deformations of the relative working rolls .
- Motion is supplied to the working rolls of every rolling stand, particularly in the finishing stands but also in the roughing mills, by transmission elements, known as spindles, which in trains for hot rolled strip are moved by a single drive mean through reduction units and motion-splitting units, or by two independent motors, one for each roll.
- transmission elements known as spindles
- the actual frequency of vibration of the stand is a function of the characteristics of the material being rolled in the segment clamped between the two working rolls.
- the vibrations are started more easily if the kinematic chain does not transmit the speed uniformly, for example due to pitch errors in the gears (reduction gear and splitter gear) , or defects in the spindle joints, errors in the alignment of the working rolls and other defects of a mechanical origin. Defects deriving from the grinding operations of the working rolls also lead to instantaneous variations in speed.
- This vibration in the case of rolls fed by a single motor with a motion-splitting system, substantially closes in a ring on the last part of the kinematic chain, without involving, or at least only involving to a minimum degree, the part upstream comprising the motor and the reduction unit .
- a first proposal was to increase the damping of the mechanical/electrical system by acting on the kinematic chain and/or directly on the control of the motor.
- the state of the art includes the use of damping joints or control systems applied to the motor which, as the speed of the motor and/or the torque transmitted are detected from moment to moment, introduce a damping action by acting in counter-phase on the said motor.
- JP 54-044714 provides a system to control the torque output from the motor and a feedback ring to correct any possible discrepancies with respect to the pre-set torque values.
- the vibrations occur almost completely in the circle of the pinion box/working rolls, while they are only transmitted to a minimum extent onto the upstream organs, such as the motor.
- the vibrations of the rolls in counter-phase and of substantially the same entity, close in a ring between the rolls and the motion- splitting system, and therefore they are not “seen” and cannot be detected on the motors, which are therefore insensible to and not affected by the vibrations.
- a further problem is that in current rolling mills AC motors are used, normally controlled by cycle-converters or other systems to reconstruct the controlled frequency sinusoidal waves .
- JP 60-148616 describes a control method which does not refer to the cancellation of torsional vibrations in a rolling stand, but to controlling the elastic energy accumulated on the spindles and on the transmission chain when a rolling mill is braked.
- JP 60-148616 proposes precisely to create a controlled braking, suitable to prevent the rolls from moving in the opposite direction when they reach zero speed.
- the purpose of the invention is to achieve a method to control the vibrations in a rolling stand which will reduce to a minimum and cancel the vibrations of the stand during the rolling passes.
- the invention is applied on rolling stands where the rolls are commanded by a single motor by means of at least a motion-splitting system.
- the invention is based on the fact that for the most part the vibrations in the stand start and finish in the ring which comprises the splitter pinions, the spindles and the rolling rolls, and provides: - to detect the working conditions, such as in particular the torque and/or speed of rotation and/or angular position, of at least some of the elements which constitute the kinematic ring, that is to say, the working rolls, spindles, and splitter pinions; - to send the signals detected in feedback to a unit which controls the motor drive;
- the invention provides to detect the existence of vibrations in the points of the kinematic chain where the vibrations are actually evident and can be detected, that is to say, in the ring which closes between the splitter system and the rolls.
- the vibrations are minimal due to the fact that the rolls and the spindles vibrate in counter-phase and with substantially identical values, and therefore the variations of torque caused by vibrations on the motor and on the possible reduction gear are compensated and therefore practically zero.
- the invention provides to detect the torque transmitted to at least one of the spindles connected to the working rolls, advantageously to both, and/or the speed of at least one of the pinions which supply motion to the spindles .
- the actual speed of rotation of the spindles is detected.
- the actual speed of rotation of the working rolls and/or the torque transmitted to the working rolls is detected, or also detected.
- the signals are then sent to the motor control unit and processed to generate a damper torque of a frequency correlated to the frequency of the vibrations.
- Fig. 1 is a schematic view given as an example of a rolling train in which the invention is adopted;
- Fig. 2 is the diagram showing the transmission of motion to the working rolls of a four-high rolling stand of the type with a single motor;
- Fig. 3 is a block diagram of how the invention functions.
- DETAILED DESCRIPTION OF PREFERRED EMBODIMENT The rolling train 10 shown partly and schematically in Fig. 1 comprises four rolling stands 11, in this case four- high stands 11a, lib, lie and lid, arranged in sequence to perform progressive reductions in the thickness of a strip or plate 12 passing through.
- the invention is applied in the same way to roughing trains with 1 or 2 reversible or non-reversible stands, to pre-finishing trains with 1 or 2 non-reversible stands, to finishing trains with any number of stands from 3 to 8 , to reversible finishing trains of the single type, or tandems of the type known as steckel mill, included in any rolling line for plane products.
- the invention is also applied in the same way to two-high stands comprising only the working rolls, or to six-high stands comprising working rolls, back-up rolls and intermediate rolls, or also to stands with a more complex structure .
- Each stand 11 comprises, in this case, a pair of working rolls 13 and a mating pair of back-up rolls 14.
- Motion is supplied to the working rolls 13, in this case (Fig. 2) , by a single motor mean 26 which, by means of a reduction unit 15, transmits motion to a pair of splitter pinions 20 for each of the working rolls 13.
- the reduction unit 15 may be replaced by a multiplier unit, or there may be a direct motor-splitter connection without a reduction unit.
- Respective spindles 16, directly associated with the rotation shafts 17 of the relative rolls 13, are connected with the outlet pinion 20.
- sensors 18 associated with the spindles 16 there are sensors 18 suitable to measure the actual torque delivered by the motor 26 to the shafts 17 of the rolls 13.
- the sensors 18 may be of the electric type (strain gauges), of the optical type, for example laser, or of any other conventional type.
- the sensors 18 are speed sensors and are suitable to measure the momentary speed at which the spindles 16 rotate.
- the sensors 21 associated with the pinions 20 there are sensors 21 suitable to measure the momentary speed of rotation thereof.
- the sensors 21 are suitable to measure, or also measure, the angular position of the relative pinions 20.
- sensors 29 associated with the shafts 17 of the working rolls 13 and suitable to measure the momentary speed and/or angular position and/or the torque transmitted directly to the working rolls 13.
- the signals detected by one and/or the other of the sensors 18, 21 and 29 along the kinematic chain in the zone which is most subject to vibrations during the rolling passes are sent in feedback to a control unit 19 which processes them according to appropriate algorithms, possibly comparing them with pre-memorised tabular reference values.
- the signals detected by the sensors 18, 21 or 29 allow to detect the torsional vibrations which start in the closed ring which comprises the lower pinion 20, the lower spindle
- the vibrations are detected where they are evident and can be measured, and not outside the ring, where they are substantially cancelled, or are substantially reduced, due to the fact that the rolls and the relative spindles vibrate in counter phase to each other .
- control unit 19 Based on this processing, the control unit 19 generates a correction signal indicated in the Figures by the reference number 22, which is sent to the control system of the motor
- the damper control device is indicated in its entirety by the reference number 23, and comprises the afore-cited control unit 19, the sensors 18 associated with the spindles 16, the sensors 21 associated with the pinions 20 and the sensors 29 associated with the shafts 17 of the rolls 13.
- the electric signal 22 generated by the control unit 19 according to the signals of torque and/or speed and/or position detected by the respective sensors 18, 21 and 29 is added to the electric signal supplied to the motor 26 by the speed regulator 24.
- the speed regulator 24 controls the drive of the motor 26 in a conventional manner, with a feedback ring, according to the data detected by the relative speed transducer 25.
- Fig. 3 also shows the current control ring, indicated in its entirety by the reference number 27, and the torque control circuit, indicated by the reference number 28.
- the signals relating to the speed of the motor 26 and to the current supplied to the motor 26 detected by the feedback ring controlled by the regulator 24 are also sent to the control unit 19.
- the invention therefore allows to correct the vibrations and the oscillations which start in a rolling stand 11, analysing the working conditions, in terms of torque and/or speed, of the motion-transmission elements nearest the rolls 13 and hence more subjected to and influenced by said vibrations .
- the feedback control occurs by introducing a correction, in terms of amplitude and/or phase, to the electrical sizes, particularly the current, feeding the motor 26; the correction is continued until the values detected by the sensors 18 and 21 show that the vibrations have been minimised or eliminated.
- the damper intervention is purely electrical, it does not involve mechanical dampers which may have negative effects on the correct transmission of motion and consequently on the efficient functioning of the working rolls 13.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Metal Rolling (AREA)
- Cylinder Crankcases Of Internal Combustion Engines (AREA)
- Centrifugal Separators (AREA)
- Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP00931494A EP1192015A1 (en) | 1999-06-18 | 2000-06-13 | Method to control the vibrations in a rolling stand and relative device |
AU49442/00A AU4944200A (en) | 1999-06-18 | 2000-06-13 | Method to control the vibrations in a rolling stand and relative device |
CA002377563A CA2377563A1 (en) | 1999-06-18 | 2000-06-13 | Method to control the vibrations in a rolling stand and relative device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ITUD99A000112 | 1999-06-18 | ||
IT1999UD000112A IT1310575B1 (en) | 1999-06-18 | 1999-06-18 | ENGINE CONTROL PROCEDURE IN A DILAMINATION CAGE AND RELATED DEVICE |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2000078476A1 true WO2000078476A1 (en) | 2000-12-28 |
Family
ID=11422981
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/IB2000/000788 WO2000078476A1 (en) | 1999-06-18 | 2000-06-13 | Method to control the vibrations in a rolling stand and relative device |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP1192015A1 (en) |
AU (1) | AU4944200A (en) |
CA (1) | CA2377563A1 (en) |
IT (1) | IT1310575B1 (en) |
WO (1) | WO2000078476A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105259755A (en) * | 2015-10-19 | 2016-01-20 | 燕山大学 | Intelligent control method of inhibiting rolling mill torsional oscillation |
CN105992657A (en) * | 2014-02-14 | 2016-10-05 | 东芝三菱电机产业系统株式会社 | Motor speed control device for rolling mill |
CN114833194A (en) * | 2022-05-19 | 2022-08-02 | 河北纵航机械制造有限公司 | Full-automatic cotton gin |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5444714A (en) * | 1977-09-14 | 1979-04-09 | Mitsubishi Electric Corp | System for controlling torsional vibration of mechanical drive system |
JPS60148616A (en) * | 1984-01-11 | 1985-08-05 | Nippon Steel Corp | Controlling method of rolling mill |
US5263113A (en) * | 1990-10-02 | 1993-11-16 | Kabushiki Kaisha Toshiba | Method and apparatus for controlling the speed of a motor |
-
1999
- 1999-06-18 IT IT1999UD000112A patent/IT1310575B1/en active
-
2000
- 2000-06-13 AU AU49442/00A patent/AU4944200A/en not_active Abandoned
- 2000-06-13 EP EP00931494A patent/EP1192015A1/en not_active Withdrawn
- 2000-06-13 WO PCT/IB2000/000788 patent/WO2000078476A1/en not_active Application Discontinuation
- 2000-06-13 CA CA002377563A patent/CA2377563A1/en not_active Abandoned
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5444714A (en) * | 1977-09-14 | 1979-04-09 | Mitsubishi Electric Corp | System for controlling torsional vibration of mechanical drive system |
JPS60148616A (en) * | 1984-01-11 | 1985-08-05 | Nippon Steel Corp | Controlling method of rolling mill |
US5263113A (en) * | 1990-10-02 | 1993-11-16 | Kabushiki Kaisha Toshiba | Method and apparatus for controlling the speed of a motor |
Non-Patent Citations (3)
Title |
---|
BUTLER D H E ET AL: "COMPENSATION OF A DIGITALLY CONTROLLED STATIC POWER CONVERTER FOR THE DAMPING OF ROLLING MILL TORSIONAL VIBRATION", CONFERENCE RECORD OF THE INDUSTRY APPLICATIONS SOCIETY ANNUAL MEETING,US,NEW YORK, IEEE, vol. MEETING 25, 1990, pages 583 - 588, XP000204084, ISBN: 0-87942-553-9 * |
PATENT ABSTRACTS OF JAPAN vol. 003, no. 066 (E - 115) 7 June 1979 (1979-06-07) * |
PATENT ABSTRACTS OF JAPAN vol. 009, no. 313 (M - 437) 10 December 1985 (1985-12-10) * |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105992657A (en) * | 2014-02-14 | 2016-10-05 | 东芝三菱电机产业系统株式会社 | Motor speed control device for rolling mill |
US20160339492A1 (en) * | 2014-02-14 | 2016-11-24 | Toshiba Mitsubishi-Electric Industrial Systems Corporation | Motor speed control device for rolling mill |
US10232419B2 (en) | 2014-02-14 | 2019-03-19 | Toshiba Mitsubishi-Electric Industrial Systems Corporation | Motor speed control device for rolling mill |
CN105259755A (en) * | 2015-10-19 | 2016-01-20 | 燕山大学 | Intelligent control method of inhibiting rolling mill torsional oscillation |
CN105259755B (en) * | 2015-10-19 | 2018-02-09 | 燕山大学 | A kind of intelligent control method for suppressing torsional vibration of rolling mill |
CN114833194A (en) * | 2022-05-19 | 2022-08-02 | 河北纵航机械制造有限公司 | Full-automatic cotton gin |
Also Published As
Publication number | Publication date |
---|---|
CA2377563A1 (en) | 2000-12-28 |
AU4944200A (en) | 2001-01-09 |
EP1192015A1 (en) | 2002-04-03 |
IT1310575B1 (en) | 2002-02-19 |
ITUD990112A1 (en) | 2000-12-18 |
ITUD990112A0 (en) | 1999-06-18 |
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