WO2010058457A1 - Régulateur - Google Patents

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Publication number
WO2010058457A1
WO2010058457A1 PCT/JP2008/071034 JP2008071034W WO2010058457A1 WO 2010058457 A1 WO2010058457 A1 WO 2010058457A1 JP 2008071034 W JP2008071034 W JP 2008071034W WO 2010058457 A1 WO2010058457 A1 WO 2010058457A1
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WO
WIPO (PCT)
Prior art keywords
predicted temperature
temperature
predicted
calculated
steel plate
Prior art date
Application number
PCT/JP2008/071034
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English (en)
Japanese (ja)
Inventor
直樹 下田
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東芝三菱電機産業システム株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 東芝三菱電機産業システム株式会社 filed Critical 東芝三菱電機産業システム株式会社
Priority to JP2010539068A priority Critical patent/JP5391205B2/ja
Priority to CN2008801320118A priority patent/CN102215992B/zh
Priority to KR1020117011260A priority patent/KR101285990B1/ko
Priority to PCT/JP2008/071034 priority patent/WO2010058457A1/fr
Priority to US13/129,899 priority patent/US8935945B2/en
Publication of WO2010058457A1 publication Critical patent/WO2010058457A1/fr

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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
    • B21B37/74—Temperature control, e.g. by cooling or heating the rolls or the product
    • B21B37/76—Cooling control on the run-out table
    • 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
    • B21B37/74—Temperature control, e.g. by cooling or heating the rolls or the product

Definitions

  • the present invention relates to a control device that can accurately calculate a predicted temperature value of a steel sheet rolled in a hot rolling apparatus with a relatively low calculation load.
  • a high-temperature steel sheet heated to a predetermined temperature in a slab heating furnace is transported on a transport line, and after a series of processes such as a rolling process, it is wound by a coiler.
  • a control amount for performing the rolling process such as the rolling load and the rolling torque according to the temperature of the steel sheet. Therefore, in order to calculate the control amount of this rolling process with high accuracy, it is necessary to calculate the temperature of the steel plate with high accuracy.
  • the inflow / outflow heat amount with respect to the steel sheet is calculated based on the change of the above various boundary conditions, and the change of the steel sheet surface temperature is predicted.
  • the temperature calculation inside a steel plate it is necessary to predict and calculate a change in internal temperature by calculating heat conduction caused by a temperature difference from the surface.
  • the amount of heat flowing in and out through the surface is calculated for each boundary condition, the inside of the steel plate is simplified to a uniform temperature, and the temperature calculation is performed using the heat capacity of the entire steel plate.
  • the difference between the surface temperature and the internal temperature is large at the steel plate temperature when the plate thickness is thick, such as rough rolling, and even if the surface temperature temporarily decreases due to descaling water cooling or roll heat transfer, it is As the surface temperature rises due to heat conduction, the temperature calculation simplified as described above cannot accurately calculate the change in the steel plate temperature from time to time.
  • temperature calculation is performed by the differential method considering the heat conduction between each element by dividing the cross section of the steel plate in the plate thickness direction and plate width direction. It has been broken.
  • the temperature calculation method in which such a steel plate cross section is divided into meshes and the elapsed time is also divided into pitch times and the heat conduction equation is calculated by the differential method has a problem that the number of calculations is large and the computer load increases. It is difficult to apply this temperature calculation method to online control calculation in the actual operation of a hot rolling apparatus that requires real-time performance.
  • Patent Document 1 Japanese Patent Laid-Open No. 2001-269702
  • the temperature calculation load is reduced by reducing the number of divisions in the sheet thickness direction as the rolling progresses in accordance with the thickness change of the steel sheet due to rolling.
  • Patent Document 1 Japanese Patent Laid-Open No. 2001-269702
  • the number of divisions in the plate thickness direction is reduced according to rolling, but the number of divisions in the plate width direction cannot be reduced.
  • the element division is only divided in the plate thickness direction, and the difference calculation is performed without dividing in the plate width direction.
  • the side surface temperature and the like cannot be expressed accurately due to radiation cooling or the like.
  • the present invention has been made in view of the above problems, and provides a control device that can accurately calculate the predicted temperature of a steel sheet rolled in a hot rolling device with a relatively low calculation load. .
  • the temperature estimated value of the steel plate rolled in a hot rolling apparatus can be accurately calculated with a comparatively low calculation load.
  • FIG. 1 is a configuration diagram showing a configuration of a hot rolling apparatus controlled by the control apparatus according to the first embodiment.
  • a hot rolling device 20 controlled by the control device according to the first embodiment includes a slab heating furnace 1 that heats a steel plate 14, and high-pressure water is injected from above and below the steel plate 14. 14 is roughly rolled by the high-pressure descaling section 2 for removing scale from the surface 14, the edger 3 for rolling the steel sheet 14 in the sheet width direction, the rough rolling section 4 for rough rolling the steel sheet 14, and the rough rolling section 4.
  • the roughing side thermometer 5 for measuring the temperature of the steel plate 14, the finishing side thermometer 6 for measuring the temperature of the steel plate 14 before being cut by the crop shear 7, and the leading end of the steel plate 14 are cut.
  • FIG. 2 is a configuration diagram showing the configuration of the control device according to the first embodiment.
  • the control device 100 includes a ROM 102, a RAM 103, an input unit 104, an output unit 105, and a hard disk 106, which are connected via a bus 200. ing.
  • the ROM 102 is composed of a nonvolatile semiconductor or the like, and stores an operation system or the like executed by the CPU 101.
  • the RAM 103 is composed of a volatile semiconductor or the like, and stores data necessary for the CPU 101 to execute various processes.
  • the input unit 104 is a measurement temperature measured from the hot rolling device 20 by various thermometers such as a roughing-side thermometer 5, a finishing-side thermometer 6, a finishing-side thermometer 10, and a winding thermometer 12.
  • a process value detected by a sensor or the like provided in the control device 20 is received.
  • the output unit 105 transmits various control signals generated by the CPU 101 to the hot rolling apparatus 20.
  • the hard disk 106 stores a control program executed by the CPU 101, a predicted temperature calculation program for calculating a predicted temperature, and the like.
  • the CPU 101 performs central control of the control device 100. Moreover, CPU101 is provided with the estimated temperature calculation part 101a and the control part 101b on the function.
  • the predicted temperature calculation unit 101a conceptually divides into a plurality of elements in a ring shape for each predetermined space step width from the outer periphery to the center in the cross section of the steel plate 14 in calculating the predicted temperature. And the predicted temperature calculation part 101a calculates the predicted temperature for every divided element by the difference method.
  • the control unit 101b determines a control amount for the hot rolling device 20 to heat, roll, and cool the steel plate 14, and sets the determined control amount. Based on this, the hot rolling device 20 is controlled.
  • FIG. 3 shows element division processing in the cross section of the steel plate 14 by the predicted temperature calculation unit 101a.
  • the division number N indicates the number of elements in the plate thickness direction from the upper surface portion to the center portion of the steel plate 14. Since the division number N is equal to half the plate thickness of the steel plate 14, the total division number from the upper surface portion to the lower surface portion of the steel plate 14 is 2N-1.
  • the predicted temperature calculation unit 101a first divides the elements in a ring shape from the upper and lower surfaces and side surfaces of the steel plate 14 at a half width (1/2 ⁇ ⁇ x) of the representative step size, assuming that the representative step size is ⁇ x. To do. And the predicted temperature calculation part 101a divides
  • the predicted temperature calculation unit 101a similarly divides the element and divides it to the central element. Moreover, each ring-shaped element is divided into an upper half and a lower half except for the central element so that the upper surface and the lower surface can be calculated separately. In this way, the predicted temperature calculation unit 101a divides the steel plate 14 into a total of 2N ⁇ 1 elements.
  • the predicted temperature calculation unit 101a calculates the volume and boundary area of each element.
  • the unit length is taken in the conveyance direction of the steel plate 14, and the volume of each element in the steel plate 14 having the plate thickness H and the plate width B and the boundary area between each element or the periphery are calculated.
  • the volume of the first element V 1, the volume of the second component V 2, the volume of the third component V 3, the volume of the first N elements V N, the (2N-3) elements of the volume , V 2N-3 , the volume of the (2N-2) th element is V 2N-2
  • the volume of the (2N-1) th element is V 2N-1
  • the predicted temperature calculation unit 101 a Using Equation 7, V 1 , V 2 , V 3 , V N , V 2N-3 , V 2N-2 , and V 2N-1 are calculated.
  • V 1 , V 2 , V 3 , V N , V 2N-3 , V 2N-2 , and V 2N-1 represent volumes per unit length of 1 mm in the conveying direction of the steel plate 14.
  • the unit for the length of 1 mm is omitted and expressed in (mm 2 ).
  • the boundary area between the first element and the surrounding area is A 1-out
  • the boundary area between the first element and the second element is A 1-2
  • the boundary surface between the second element and the third element The area is A 2-3
  • the boundary area between the (N-1) th element and the Nth element is A (N-1) -N
  • the (2N-3) th element and the (2N-2) th element A (2N-3)-(2N-2))
  • the boundary area between the (2N-2) and (2N-1) elements is A (2N-2)-( 2N-1)
  • the predicted temperature calculation unit 101a uses the following Equations 8 to 14.
  • a 1-out , A 1-2 , A 2-3 , A (N-1) -N , A (2N-3)-(2N-2) , A (2N-2)-(2N-1) , A (2N-1) -out are calculated respectively.
  • a 1-out , A 1-2 , A 2-3 , A (N-1) -N , A (2N-3)-(2N-2) , A (2N-2)-(2N-1 ) , A (2N-1) -out represents the boundary area per unit length of 1 mm in the conveying direction of the steel sheet 14, and therefore, here, the unit for the unit length of 1 mm is omitted and expressed in (mm) .
  • the predicted temperature calculation unit 101a calculates the inflow / outflow heat amount during the time interval ⁇ t in each element.
  • FIG. 4 is a diagram illustrating the inflow / outflow heat amount of each cross-section element in the steel plate 14.
  • the steel plate 14 includes a slab heating furnace 1, a high pressure descaling unit 2, an edger 3, a rough rolling unit 4, a crop shear 7, and a finish entry side. It is conveyed through the descaling unit 8, the finish rolling unit 9, and the run-out laminar spray cooling unit 11.
  • the steel sheet 14 has various inflow and outflow heat such as radiation, cooling, heat generated by processing friction, and roll heat transfer in a process in which a series of processes are performed by the hot rolling apparatus 20.
  • the inflow / outflow heat with these boundary conditions is the following expression 15 as inflow / outflow heat to the first element (upper side) and the (2N-1) element (lower side) that surround the outermost side in the steel plate 14.
  • Expression 16 can be expressed.
  • the radiation outflow heat, the cooling outflow heat, the convection outflow heat, the friction inflow heat, the roll heat removal, the processing heat generation, and the heat conduction amount used in Expression 15 and Expression 16 are respectively the general heat transfer theory and rolling theory. Calculated using the theoretical formula used.
  • the predicted temperature calculation unit 101a calculates the inflow heat amount (W / mm) during the time interval ⁇ t to the i-th element (i is 2 or more and (2N ⁇ 2) or less) using the following Equation 17. To do.
  • the inflow / outflow heat of each internal element is heat conduction due to a temperature difference from an adjacent element and processing heat generation in the rolling zone.
  • the predicted temperature calculation unit 101a calculates the amount of temperature change during the time step ⁇ t of the i-th element using the following Equation 18.
  • the predicted temperature calculation unit 101a calculates the temperature after the lapse of the time step ⁇ t as the predicted temperature using Expression 19.
  • the predicted temperature calculation unit 101a calculates the inflow / outflow heat amount, temperature change amount, and temperature of each divided element from the first element to the (2N-1) element for each time step, and the entire conveyance of the steel plate 14 is performed. This time step process is repeated until the required time is reached, and the temperature distribution of the steel sheet 14 is calculated.
  • the predicted temperature calculation unit 101a includes the side surface of the steel material 14 that is hot-rolled by the hot rolling device 20 and is divided into elements in a ring shape from the outside to the inside.
  • the predicted temperature by the difference method can be calculated in consideration of the temperature and the boundary condition. In this way, by dividing the steel material 14 into elements in a ring shape, the number of divisions can be reduced compared to dividing into two-dimensional meshes by dividing each in the plate thickness and plate width directions.
  • the computer load of online control calculation can be reduced.
  • the predicted temperature of the steel sheet rolled in the hot rolling device 20 can be accurately calculated with a relatively low calculation load.
  • control device 100 Similar to the control device 100 according to the first embodiment shown in FIG. 2, the control device 100 according to the second embodiment includes a CPU 101, a ROM 102, a RAM 103, an input unit 104, an output unit 105, And a hard disk 106.
  • the predicted temperature calculation unit 101a of the CPU 101 included in the control device 100 according to the second embodiment further calculates a time step width of the difference method based on the boundary condition of the steel plate 14, and changes the calculated time step width. Thus, the predicted temperature for each of the divided elements is calculated.
  • FIG. 5 is a diagram schematically illustrating boundary conditions that change the temperature of the steel sheet 14 in the hot rolling apparatus 20.
  • the boundary condition refers to an area of the environment that changes the inflow and outflow of heat with respect to the steel plate 14, and in the schematic diagram shown in FIG. 5, the boundary conditions include AC1, AC2, and AC3 that are air-cooled conveyance areas.
  • WC which is a water cooling conveyance area
  • RL which is a rolling area
  • the high pressure descaling unit 2 corresponds to the water-cooled conveyance WC.
  • the rough rolling section 4 and the finish rolling section 9 correspond to the rolling zone RL, and the other transport zones correspond to the air-cooled transport zones AC1, AC2, and AC3.
  • the temperature change amount (dT / dt) per unit time in each boundary condition is expressed by the following Expression 20 derived from Expression 18.
  • the predicted temperature calculation unit 101a calculates the average temperature change amount (dT / dt) per unit time of the entire steel sheet 14 in each boundary condition, that is, in the air-cooled conveyance areas AC1 to AC3, the water-cooled conveyance area WC, and the rolling area RL. Is calculated.
  • the predicted temperature calculation unit 101a calculates an average temperature change amount (dT / dt) per unit time of the entire steel sheet 14 in the air-cooled conveyance areas AC1 to AC3 using the following Expression 22.
  • the predicted temperature calculation unit 101a calculates an average temperature change amount (dT / dt) per unit time in the water-cooled conveyance area WC using the following Expression 23.
  • the predicted temperature calculation unit 101a calculates an average temperature change amount (dT / dt) per unit time in the rolling zone RL using the following Expression 24.
  • the predicted temperature calculation unit 101a uses the following Equation 25 to calculate the time increment ⁇ t applied in the temperature difference calculation under the boundary conditions of the air cooling conveyance zones AC1 to AC3, the water cooling conveyance zone WC, and the rolling zone RL. calculate.
  • ⁇ T inc is a temperature change reference amount per time step in the temperature calculation, and represents a temperature change amount necessary for temperature calculation accuracy.
  • ⁇ T inc uses a value within 1 ° C.
  • the time increment ⁇ t obtained by Equation 25 represents the time required for the temperature to change by 1 (° C.) on average.
  • the water cooling conveyance area WC has a larger heat transfer amount Q water due to water cooling heat transfer than the air cooling conveyance areas AC1 to AC3, so the time increment ⁇ t is shorter than that of the air cooling conveyance areas AC1 to AC3.
  • FIG. 6 is a diagram for explaining the temperature change of the steel plate 14 in the hot rolling apparatus 20.
  • the predicted temperature calculation unit 101a a time step, Delta] t 1 the air conveyance zone AC1 ⁇ AC3, water cooled conveyance zone WC In Delta] t 2, while changing the rolling zone RL in Delta] t 3, the temperature Difference calculation is performed.
  • the time step needs to satisfy the constraints of the following formula depending on the space step size.
  • the time increment is changed by changing the boundary conditions such as the air-cooled conveyance areas AC1 to AC3, the water-cooled conveyance area WC, and the rolling area RL.
  • the boundary conditions such as the air-cooled conveyance areas AC1 to AC3, the water-cooled conveyance area WC, and the rolling area RL.
  • control device 100 Similar to the control device 100 according to the first embodiment shown in FIG. 2, the control device 100 according to the third embodiment includes a CPU 101, a ROM 102, a RAM 103, an input unit 104, an output unit 105, And a hard disk 106.
  • the predicted temperature calculation unit 101a of the CPU 101 provided in the control device 100 according to the third embodiment further includes a roughing side thermometer 5, a finishing input side thermometer 6, and a finishing side temperature installed in the hot rolling device 20. Based on the measured temperature measured by the total 10 and the winding thermometer 12, the predicted temperature for each divided element is corrected to obtain a new predicted temperature.
  • the predicted temperature calculation processing by the predicted temperature calculation unit 101a of the CPU 101 provided in the control device 100 according to the third embodiment will be described in detail below.
  • FIG. 7 is a diagram illustrating a predicted temperature calculation process performed by the predicted temperature calculation unit 101a of the CPU 101 included in the control device 100 according to the third embodiment.
  • the predicted temperature calculation unit 101a measures the steel sheet measured from the hot rolling device 20 by the roughing side thermometer 5, the finishing input side thermometer 6, the finishing side thermometer 10, and the winding thermometer 12.
  • the upper and lower limits of the measurement temperature TACT are checked.
  • the upper and lower limit limiting unit 101c of the predicted temperature calculation unit 101a stores therein a function as shown in FIG. 7, and when the supplied measured temperature T ACT is between the lower limit LL1 and the upper limit UL1, upper and lower limit restricting section 101c outputs a value corresponding to the measured temperature T ACT as a measurement temperature.
  • the upper and lower limit limiting unit 101c outputs LL1 as the measurement temperature, and when the supplied measurement temperature T ACT is equal to or higher than the upper limit UL1, as the measurement temperature UL1 is output.
  • the predicted temperature calculation unit 101a takes the calculated predicted temperature T 1 Cal of the first element (upper side) and the measured temperature output from the upper / lower limit limiting unit 101c and the deviation. Specifically, the subtraction unit 101d calculates a difference dT 1 between the calculated predicted temperature T 1 Cal of the first element (upper side) and the measured temperature output from the upper and lower limit limiting unit 101c.
  • the predicted temperature calculation unit 101a performs the lower limit check on the difference dT 1 output from the subtraction section 101d. Specifically, the lower limit limiting portion 101e on the predicted temperature calculation unit 101a stores a function as shown in FIG. 7 therein if the difference dT 1 supplied is lower LL2 ⁇ limit UL2, upper lower limiting unit 101e outputs a value corresponding to the difference dT 1 as the difference dT. Further, when the difference dT 1 supplied is lower LL2 less, the upper limit restricting section 101e, when outputs LL2 as a difference dT, the difference dT 1 is supplied at the upper limit UL2 or more, the UL2 as the difference dT Output.
  • the predicted temperature calculation unit 101a multiplies the difference dT that has cleared the upper / lower limit check by the upper / lower limit limiting unit 101e by the adjustment gain ⁇ , and adds it to the predicted temperature T 1 Cal of the original first element (upper surface). .
  • the adjustment gain takes a value between “0.0” and “1.0”. If the adjustment gain value is “0.0”, the measured temperature is not corrected and the adjustment gain value is If it is “1.0”, the measured temperature is replaced.
  • the multiplication unit 101f multiplies the difference dT by the adjustment gain ⁇ , and the addition unit 101g adds the predicted temperature T 1 Cal to ⁇ Dt to calculate the predicted temperature T 1 cor .
  • the predicted temperature calculation unit 101a calculates the corrected predicted temperature T 1 cor of the first element (upper surface) using the following Equation 27.
  • the predicted temperature calculation unit 101a uniformly adds the same correction amount as described above for the predicted temperature of each element inside the steel plate 14. Specifically, the addition unit 101g calculates the predicted temperature T i cor by adding the predicted temperature T i Cal to ⁇ Dt.
  • the predicted temperature calculation unit 101a calculates the predicted temperature T i Cor after the correction of the i-th element using the following formula 28.
  • the control apparatus 100 which concerns on the 3rd Embodiment of this invention, based on the measured temperature measured with the thermometer installed in the hot rolling apparatus 20, the temperature of each division
  • the present invention can be applied to a control device that controls a hot rolling device.

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  • Mechanical Engineering (AREA)
  • Control Of Metal Rolling (AREA)

Abstract

Régulateur comportant une section (101a) de calcul de température prédite servant à diviser la section droite d’une tôle (14) d’acier destinée à être chauffée et laminée dans un appareil (20) de laminage à chaud en une pluralité d’éléments de forme circulaire, de la périphérie au centre, pour chaque taille de pas d’espace, et à faire varier une taille de pas de temps en fonction d’une condition à la frontière pour calculer une température prédite pour chacun des éléments issus de la division par un calcul aux différences, et une unité (101b) de régulation servant à déterminer une variable régulée nécessaire à l’appareil (20) de laminage à chaud pour chauffer et laminer la tôle (14) d’acier en fonction des températures prédites calculées par la section (101a) de calcul de température prédite.
PCT/JP2008/071034 2008-11-19 2008-11-19 Régulateur WO2010058457A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2010539068A JP5391205B2 (ja) 2008-11-19 2008-11-19 制御装置
CN2008801320118A CN102215992B (zh) 2008-11-19 2008-11-19 对热轧装置进行控制的控制装置
KR1020117011260A KR101285990B1 (ko) 2008-11-19 2008-11-19 제어 장치
PCT/JP2008/071034 WO2010058457A1 (fr) 2008-11-19 2008-11-19 Régulateur
US13/129,899 US8935945B2 (en) 2008-11-19 2008-11-19 Control system

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PCT/JP2008/071034 WO2010058457A1 (fr) 2008-11-19 2008-11-19 Régulateur

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WO2010058457A1 true WO2010058457A1 (fr) 2010-05-27

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US (1) US8935945B2 (fr)
JP (1) JP5391205B2 (fr)
KR (1) KR101285990B1 (fr)
CN (1) CN102215992B (fr)
WO (1) WO2010058457A1 (fr)

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