WO2011132273A1 - Dispositif de commande de l'épaisseur de tôles, procédé de commande de l'épaisseur de tôles et programme de commande de l'épaisseur de tôles - Google Patents

Dispositif de commande de l'épaisseur de tôles, procédé de commande de l'épaisseur de tôles et programme de commande de l'épaisseur de tôles Download PDF

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Publication number
WO2011132273A1
WO2011132273A1 PCT/JP2010/057051 JP2010057051W WO2011132273A1 WO 2011132273 A1 WO2011132273 A1 WO 2011132273A1 JP 2010057051 W JP2010057051 W JP 2010057051W WO 2011132273 A1 WO2011132273 A1 WO 2011132273A1
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WO
WIPO (PCT)
Prior art keywords
rolling load
roll
rolling
backup
work roll
Prior art date
Application number
PCT/JP2010/057051
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English (en)
Japanese (ja)
Inventor
宏幸 今成
Original Assignee
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.)
Filing date
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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 PCT/JP2010/057051 priority Critical patent/WO2011132273A1/fr
Priority to AU2010351732A priority patent/AU2010351732B2/en
Priority to CN201080066250.5A priority patent/CN102858475B/zh
Priority to JP2012511448A priority patent/JP5637637B2/ja
Priority to KR1020127027080A priority patent/KR101414871B1/ko
Publication of WO2011132273A1 publication Critical patent/WO2011132273A1/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
    • B21B37/16—Control of thickness, width, diameter or other transverse dimensions
    • 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
    • B21B37/16—Control of thickness, width, diameter or other transverse dimensions
    • B21B37/18—Automatic gauge 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
    • B21B37/58—Roll-force control; Roll-gap control

Definitions

  • the present invention relates to plate thickness fluctuation caused by so-called roll eccentricity, etc., which occurs in relation to the rotation position of a work roll or the like in a plate thickness control device, plate thickness control method, plate thickness control program in a metal material rolling mill.
  • the present invention relates to a plate thickness control device, a plate thickness control method, and a plate thickness control program.
  • the thickness control method includes a monitor AGC that feeds back the measured value of the thickness gauge installed on the exit side of the rolling mill, and a gauge that uses the gauge meter thickness estimated from the rolling load and roll gap (gap between the upper and lower work rolls).
  • meter AGC Gage meter AGC: GM-AGC
  • MMC mill constant variable control by rolling load
  • Disturbances that hinder the improvement of sheet thickness accuracy include temperature fluctuations of the rolled material in hot rolling.
  • Disturbances common to hot rolling and cold rolling include other controls such as tension fluctuation due to deterioration of tension control, speed and roll gap changes by operator's manual intervention, roll structure and roll polishing system failure There is eccentricity.
  • roll eccentricity is caused by the shaft moving up and down when the keyway in a backup roll having an oil bearing receives a large rolling load of several hundred tons to a few thousand tons.
  • roll gap fluctuations occur.
  • a roll gap variation depending on roll rotation occurs due to, for example, asymmetry during roll polishing and uneven thermal expansion.
  • the work roll is referred to as a work roll (Work Roll: WR may be abbreviated), and the backup roll is referred to as a backup roll (Back UP Roll: BUR may be abbreviated). I will decide.
  • ⁇ Disturbances that depend on roll axis runout such as roll eccentricity cannot be detected by the roll gap detector.
  • the apparatus for setting the roll gap is controlled by feeding back the detection value by the roll gap detector so as to be a given gap.
  • the roll axis fluctuation does not appear in the detection value, it cannot be controlled.
  • disturbances that depend on roll axis runout appear in the rolling load because they change the actual roll gap. For this reason, it becomes big disturbances, such as said MMC using a rolling load, GM-AGC.
  • a rolling mill that rolls a metal material, resulting from roll eccentricity of the upper and lower work rolls and upper and lower backup rolls of the rolling stand.
  • It is a plate thickness control device that controls fluctuations in plate thickness, which is detected by a rolling load detector that detects the kiss roll load and rolling load, and a rolling load detector at multiple rotational positions of the upper and lower work rolls and the upper and lower backup rolls. Based on the kiss roll load, the fluctuation component of the kiss roll load due to the eccentricity of the upper work roll and the upper backup roll at each rotational position, and the lower work roll and the lower backup roll at each rotational position.
  • Kiss roll load fluctuation extraction means for separately extracting fluctuation components caused by roll eccentricity, The upper work roll and the upper backup roll at each rotational position of the rolling load detected by the rolling load detector at each rotational position based on each fluctuation component of the load at the kiss roll separately extracted by the load fluctuation extracting means at the time of rolling Rolling load vertical fluctuation extracting means for separately extracting the fluctuation component caused by roll eccentricity and the fluctuation component caused by roll eccentricity of the lower work roll and the lower backup roll at each rotational position, and rolling load vertical An operation amount for calculating a roll gap command value corresponding to each rotational position so as to reduce the plate thickness variation of the rolled metal material based on each variation component of the rolling load extracted separately by the variation extracting means.
  • a roll gap operating means for operating the roll gap, and the rolling load fluctuation caused by the rotation of the upper roll and the rolling load fluctuation caused by the rotation of the lower roll are accurately separated and separated.
  • a plate thickness control device that controls the roll gap according to each rolling load variation has been proposed (see, for example, Patent Document 1).
  • the occurrence of beats or beats will be described.
  • the upper and lower backup roll diameters are different, the upper backup roll rotation frequency is ⁇ T [rad / s] and the lower backup roll rotation frequency is ⁇ B [rad / s]. If there is no initial phase difference, the signal Y after superimposing the rotation of the upper and lower backup rolls is as follows.
  • the frequency of the sine wave (sin) is ⁇ T + ⁇ B [rad / s], and the frequency is high, that is, a short period and fine vibration appear.
  • the frequency of the cosine wave (cos) is ⁇ T ⁇ B [rad / s], and the frequency is low, that is, a long period and a large vibration appear.
  • FIG. 8B shows an example of the waveform of sin (w T t) and sin (w B t) superimposed (solid line) and cos ⁇ (w T ⁇ w B ) t / 2 ⁇ (dashed line). Show. The horizontal axis is time (s). It can be seen that the envelope of the superimposed waveform is represented by a long-period wave (broken line).
  • a plate thickness control device capable of operating the roll gap of the rolling stand using a rolling load measured during rolling without using a kiss roll load.
  • the purpose is to provide.
  • the first feature of the plate thickness control device is that a metal material is provided between the upper roll set of the upper roll set and the lower roll set of the lower work roll and the backup roll.
  • a thickness control device for controlling a thickness variation of a rolled material manufactured by rolling a rolling load detecting means for detecting a rolling load on the metal material, and a rolling detected by the rolling load detecting means
  • Rolling load vertical distribution means for distributing the load up and down based on the ratio of the upper rolling load generated in the upper roll set and the lower rolling load generated in the lower roll set;
  • the upper roll set and the front Rolling load up / down fluctuation value extracting means for extracting the upper rolling load fluctuation value and lower rolling load fluctuation value generated in relation to the rotation position of the lower roll set, and the rolling load up / down fluctuation value extracting means Based on the upper rolling load fluctuation value and the lower rolling load fluctuation value,
  • a second feature of the sheet thickness control apparatus is that the operation amount calculation means is configured to perform the rolling until the upper roll set and the lower roll set rotate for a predetermined time or more.
  • a work roll gap command value between the upper work roll and the lower work roll is calculated based on the upper rolling load fluctuation value and the lower rolling load fluctuation value separately extracted by the load vertical fluctuation value extraction means.
  • rolls of upper and lower backup rolls based on the integrated value of the rolling load fluctuation value calculated by the rolling load fluctuation value extraction means
  • a work flow between the upper work roll and the lower work roll is identified based on the identified roll knitting core quantity. Calculating a gap instruction value lies in.
  • a third feature of the sheet thickness control device is that the rolling load up-and-down distribution means has a ratio for vertically distributing the rolling load detected by the rolling load detection means, Immediately after exchanging the backup roll, it is set to 0.5, and after exchanging the backup roll, the subsequent rolled material is set based on the deviation of the rolling load in the operation amount calculating means of the current rolled material.
  • a fourth feature of the sheet thickness control apparatus is characterized in that the rolling load vertical distribution means has a ratio for vertically distributing the rolling load detected by the rolling load detection means, Immediately after exchanging the backup roll, set to 0.5, and after exchanging the backup roll, after the next rolled material, the amplitude of the periodic function using the integrated value of the rolling load fluctuation value in the operation amount calculation means of the current rolled material And setting a ratio to the sum of the amplitude for the upper roll set and the amplitude for the lower roll set.
  • the thickness control method is characterized in that a metal material is rolled between an upper roll set of an upper roll set and a lower roll set of a lower work roll and a backup roll.
  • a thickness control method for controlling a thickness variation of a rolled material manufactured by the method wherein a step of detecting a rolling load on the metal material, and the detected rolling load is generated in the upper roll set Based on the ratio of the upper rolling load and the lower rolling load generated in the lower roll set, the step of allocating up and down, the upper roll set and the lower roll set distributed up and down Based on the rolling load, the upper rolling load fluctuation value and the lower rolling load generated in relation to the rotational positions of the upper roll set and the lower roll set.
  • a work roll gap command value between the upper work roll and the lower work roll is calculated based on the extracted upper rolling load fluctuation value and lower rolling load fluctuation value. And a step of manipulating a work roll gap between the upper work roll and the lower work roll based on the calculated work roll gap command value.
  • the thickness control program is characterized by rolling a metal material between an upper roll set of an upper roll set and a lower roll set of a lower work roll and a backup roll.
  • the rolling load fluctuation component generated in relation to the roll rotation position such as roll eccentricity using the rolling load measured during rolling of the metal material without using the kiss roll load, that is, the roll A rolling load fluctuation component due to eccentricity or the like is extracted, and the roll gap of the rolling stand can be manipulated so as to reduce the rolling load fluctuation.
  • FIG. 1 is an overall configuration diagram showing a plate thickness control apparatus according to a first embodiment of the present invention.
  • a plate thickness control apparatus is a control apparatus including a rolling mill that rolls a rolled material 1 made of a metal material, and includes a housing 2, an upper work roll 3a, and a lower work roll 3a.
  • the work roll constituted by the side work roll 3b, the backup roll 4 constituted by the upper backup roll 4a and the lower backup roll 4b, the rolling means 5 for applying the rolling load to the rolled material 1, and the rolling load are detected.
  • Rolling load detection means 6 a roll rotation number detector 7 for detecting the rotation number of the roll, a roll reference position detector 8 for detecting a predetermined reference position every time the backup rolls 4a and 4b make one rotation, and a work roll A roll gap detector 9 that detects a gap between 3a and 3b, that is, a roll gap, is provided.
  • the upper work roll 3a and the upper backup roll 4a constitute the upper roll set of the present invention
  • the lower work roll 3b and the lower backup roll 4b constitute the lower roll set of the present invention.
  • the sheet thickness control apparatus includes a rolling load vertical distribution means 10, a rolling load vertical fluctuation extraction means 11, an operation amount calculation means 12, Roll gap operating means 13.
  • the rolling load up-and-down distribution means 10 uses the upper work roll 3a and the upper backup, which are upper roll sets, to detect the rolling load detected by the rolling load detection means 6 at a plurality of rotational positions of the work rolls 3a and 3b and the backup rolls 4a and 4b. Based on the ratio between the upper rolling load generated in the roll 4a and the lower rolling load generated in the lower work roll 3b and the lower backup roll 4b as the lower roll set, the upper and lower rolling loads are distributed vertically.
  • the rolling load up / down variation extracting means 11 relates to the rotational positions of the upper roll set and the lower roll set based on the rolling load of the upper roll set and the lower roll set distributed up and down by the rolling load up / down distribution means 10. Thus, the upper rolling load fluctuation value and the lower rolling load fluctuation value generated are extracted.
  • the operation amount calculation means 12 is based on the fluctuation components above and below the rolling load separately extracted by the rolling load vertical fluctuation extraction means 11 so as to reduce the plate thickness fluctuation of the rolled material 1 being rolled.
  • a roll gap command value corresponding to each rotational position is calculated.
  • the roll gap operating means 13 is for operating the roll gap corresponding to each rotational position based on the roll gap command value calculated by the operation amount calculating means 12.
  • the roll gap operating means 13 uses, for example, a value obtained by adding the roll gap correction amount calculated by the operation amount calculating means 12 to the roll gap amount obtained by MMC or GM-AGC as a set value of the roll gap. , Controlling the reduction means 5.
  • the plate thickness control apparatus is configured as described above, and the roll gap and speed are appropriately adjusted so that the rolled material 1 has a desired plate thickness on the exit side.
  • the work rolls 3a and 3b are rolled.
  • the work rolls 3a and 3b are supported by the upper backup roll 4a from above and the lower work rolls 3a and 3b are supported from below by the lower backup roll 4b. It is configured so that there is less deflection.
  • the backup rolls 4 a and 4 b are rotatably supported with respect to the rolling mill housing 2 and have a structure that can sufficiently withstand a rolling load applied to the rolled material 1.
  • roller-down means 5 There are two types of rolling-down means 5, one based on motor control (referred to as electric pressure reduction) and one based on hydraulic control (referred to as hydraulic pressure reduction). For this reason, in order to perform rolling load control corresponding to a wave component having a short period such as disturbance due to roll eccentricity, generally, hydraulic pressure reduction capable of high-speed response is employed. Further, the gap between the work rolls 3 a and 3 b, that is, the roll gap is adjusted by the reduction means 5.
  • the rolling load detection means 6 is, for example, a method of directly measuring a rolling load with a load cell (Load Cell) embedded between the rolling mill housing 2 and the reduction means 5 or a pressure detected by the hydraulic reduction means.
  • the rolling load is detected by a method of calculating the rolling load.
  • the roll rotation number detector 7 is provided on the work rolls 3a and 3b and the shaft (not shown) of the electric motor that drives the work rolls 3a and 3b, and detects the rotation number of the work rolls 3a and 3b. .
  • the roll rotation number detector 7 detects, for example, a pulse output unit that outputs a pulse corresponding to the rotation angle of the work rolls 3a and 3b, and a pulse output from the pulse output unit to detect the work rolls 3a and 3b. Is provided so as to be able to detect a more detailed rotation angle as well as the rotation number of the work rolls 3a and 3b.
  • the roll reference position detector 8 detects the reference position by, for example, detecting a detection object provided on the backup rolls 4a and 4b by a sensor such as a proximity switch every time the backup rolls 4a and 4b make one rotation. To do. Further, for example, by using a pulse generator (Pulse Generator), a pulse depending on the rotation angle of the backup rolls 4a and 4b is taken out, and the reference position is detected by detecting the rotation angle of the backup rolls 4a and 4b. .
  • FIG. 1 shows the case where the roll reference position detector 8 is attached only to the upper backup roll 4a, the roll reference position detector 8 is attached to the backup rolls 4a and 4b, and each of the backup rolls 4a and 4b. You may comprise so that a reference position may be detected.
  • the roll gap detector 9 is provided between, for example, the backup rolls 4a and 4b and the rolling-down means 5, and detects a roll gap that is indirectly formed between the work rolls 3a and 3b.
  • FIG. 2 is a diagram showing the concept of rolling load measured by the plate thickness control apparatus according to the first embodiment.
  • FIG. 2 shows a rolling load 101 when roll eccentricity does not occur, and a rolling load 102 when roll eccentricity occurs, and 1 in the backup rolls 4a and 4b from time t1 to time t2. This is the amount of rotation.
  • the rolling load 101 is time t, that is, the rotation of the roll, due to the temperature change or the plate thickness change of the rolled material 1 even when the roll eccentricity does not occur in the backup rolls 4a and 4b. Fluctuates with.
  • the rolling load 102 is obtained by superimposing the rolling load fluctuation due to other than roll eccentricity on the rolling load fluctuation component due to roll eccentricity.
  • the specific control in the plate thickness control apparatus described below accurately separates the rolling load fluctuation due to roll eccentricity and the rolling load fluctuation due to other than roll eccentricity, and the rolling load fluctuation due to roll eccentricity is separated from the main plate. It is a basic idea to control with a thickness control device and to control rolling load fluctuations other than roll eccentricity with the MMC or GM-AGC.
  • FIG. 3 is a diagram for explaining the positional relationship between the work rolls (WR) 3a and 3b and the backup rolls (BUR) 4a and 4b.
  • the backup rolls (BUR) 4a and 4b are provided with a position scale 14 for detecting the rotational position. Further, a reference position 4c that is preset in a part of the backup rolls (BUR) 4a and 4b and rotates in conjunction with the rotation of the backup rolls (BUR) 4a and 4b is shown.
  • the position scale 14 is provided, for example, immediately outside the backup rolls (BUR) 4a and 4b so as to surround the backup rolls (BUR) 4a and 4b, and the entire circumference of the backup rolls (BUR) 4a and 4b is n.
  • a scale is provided so as to be equally divided, that is, every predetermined angle (360 / n degrees) around the rotation axis of the backup rolls (BUR) 4a and 4b.
  • the reference position 14a (fixed reference position) of the position scale 14 is set to 0 and numbering is performed up to the (n-1) th.
  • the position scale 14 is provided to explain the rolling load up / down fluctuation extracting means 11 and the like, and the scale itself may not be attached to actual equipment.
  • ⁇ WT0 is the rotation angle of the work roll 3 when the reference position 4c of the backup rolls (BUR) 4a, 4b coincides with the fixed reference position 14a
  • ⁇ WT is the backup roll (BUR) 4a, 4b is the rotation angle of the work roll 3 after rotating by ⁇ BT .
  • ⁇ represents an angle
  • the left side W of the subscript represents the work roll 3
  • B represents the backup roll 4
  • the right side T of the subscript represents the upper side
  • B represents the lower side.
  • the rotation angles of the backup rolls (BUR) 4a, 4b are the reference positions 4c of the backup rolls (BUR) 4a, 4b from the fixed reference position 14a to the backup rolls (BUR) 4a, 4b.
  • the rotation angle of the backup rolls (BUR) 4a and 4b is 90 degrees
  • the reference position 4c of the backup rolls (BUR) 4a and 4b is changed from the fixed reference position 14a to the backup rolls (BUR) 4a and 4b. It shows that it is in a position rotated 90 degrees in the direction of rotation.
  • the state in which the rotation angle of the backup rolls (BUR) 4a, 4b is at the closest scale of the position scale 14 (for example, the jth scale of the position scale 14) is the rotation angle of the backup rolls (BUR) 4a, 4b.
  • a description will be given assuming that the number is j.
  • the roll reference position detector 8 may be configured by a body.
  • the proximity sensor provided at the reference position 4c of the backup rolls (BUR) 4a, 4b is embedded in the reference position 14a by rotating together with the backup roll 4 and reaching the fixed reference position 14a.
  • the detected object is detected by the proximity sensor. That is, it is recognized that the reference position 4c of the backup rolls (BUR) 4a and 4b has passed the fixed reference position 14a.
  • the roll reference position detector 8 is not essential for the present invention.
  • the division positions from the fixed reference positions 0 to n ⁇ 1 are made equal to the division of the rolling load recording area (P 0 to P n-1 in FIG. 5) in FIG.
  • the rolling load at is stored in the recording area.
  • the calculation processing capability of the controller must be high, so it is necessary to pay attention to the contradictory relationship between the fineness of control and the calculation capability.
  • the backup roll rotation angle represents an angle at which the backup roll reference position moves from the fixed reference position according to the rotation of the backup rolls 4a and 4b.
  • the backup roll rotation angle being 90 degrees indicates that the backup roll reference position is 90 degrees in the rotation direction of the backup rolls 4a and 4b from the fixed reference position.
  • the backup roll rotation angle number is i.
  • FIG. 4 is a diagram showing a change in rolling load accompanying a change in the rotation angle of the backup roll.
  • the rolling load indicates P10
  • the rotation angle number of the backup roll 4 is The rolling load changes as P 11 , P 12 , P 13 ,.
  • the rotation angle number becomes 0 again from (n ⁇ 1)
  • the rolling load P 20 is collected, the rolling loads P 10 and P 20 are connected by the straight line 103.
  • This straight line 103 can be regarded as a rolling load excluding a rolling load fluctuation due to roll eccentricity. Therefore, the rolling load fluctuation due to roll eccentricity can be obtained from the difference between the rolling load P 11 , P 12 , P 13 ... P 20 measured at each rotation angle number and the straight line.
  • the actually measured value (actual value) of the rolling load P ij includes a noise component in addition to the rolling load fluctuation due to temperature fluctuation, plate thickness fluctuation, tension fluctuation, etc., and rolling load fluctuation due to roll eccentricity. There are many cases. For this reason, the actual value of the actual rolling load P ij is not distributed on a gentle curve as shown in FIG. 4, but the rolling load P i0 at the starting point and the rolling load P at the end point to be connected to obtain the straight line. It may be difficult to specify (i + 1) 0 .
  • the measured rolling loads P i0 , P i1 , P i2 , P i3 ... P (i + 1) regarded as a variation component of the difference [Delta] P ij between the n average value of rolling load P i0, P i1, P i2 , P i3 ... P i (n-1), due to roll eccentricity rolling force be able to.
  • the advantage of this method is that the collection of the actual value of the rolling load can be reduced to the (n-1) th section, and it is strong against fluctuations in the rolling load due to noise or the like. Note that it is also an effective means to reduce the noise component by filtering the actual value of the rolling load.
  • the rolled material 1 is an upper and lower work roll 3a whose gap and speed are appropriately adjusted so that a desired thickness is obtained on the exit side of the present apparatus. , 3b.
  • the work rolls 3a and 3b are supported by the backup rolls 4a and 4b so as to reduce the deflection in the roll width direction.
  • the backup rolls 4 a and 4 b are supported by the rolling mill housing 2 and have a structure that can withstand the rolling load of the rolled material 1.
  • the gap between the upper and lower work rolls 3 a and 3 b is adjusted by the rolling-down means 5.
  • reduction means 5 There are two types of reduction means 5, one based on electric motor control (referred to as electric reduction) and one based on hydraulic control (referred to as hydraulic reduction).
  • electric reduction electric motor control
  • hydraulic reduction hydraulic pressure reduction is often used because high-speed response is required to control disturbance such as roll eccentricity with a short cycle.
  • the rolling load detection means 6 detects the rolling load.
  • the rolling load is embedded between the rolling mill housing 2 and the rolling-down means 5 and uses a load cell (Load ⁇ ⁇ Cell) for directly measuring the rolling load, or the rolling load is detected from the pressure detected by the hydraulic rolling-down means. There is a way to calculate the rolling load.
  • the roll speed detector 7 is attached to the work rolls 3a and 3b or the motor shaft that drives the work rolls 3a and 3b, and detects the roll speed. Some can output a pulse corresponding to the roll rotation angle, and may be used to detect the roll rotation angle. If the ratio of the diameters of the work rolls 3a, 3b and the backup rolls 4a, 4b is known, if there is no slip between the work rolls 3a, 3b and the backup rolls 4a, 4b, the rotation speed and rotation angle of the work rolls 3a, 3b The rotation speed and rotation angle of the backup rolls 4a and 4b can be easily obtained.
  • the roll reference position detector 8 detects the reference position by a proximity switch or the like every time the backup rolls 4a and 4b make one rotation.
  • a pulse generator or the like may be attached to extract a pulse depending on the rotation angle, and the rotation angle itself may be detected, but it is possible to detect at least a reference position for each rotation.
  • FIG. 1 shows the case where the backup rolls 4a and 4b are attached to either or both of them.
  • the rotation angle of the work rolls 3a, 3b is known, the diameter ratio of the work rolls 3a, 3b and the backup rolls 4a, 4b can be determined from the diameter ratio of the backup rolls 4a, 4b.
  • the rotation angle can be calculated from the following equation.
  • the roll reference position detector 8 in FIG. 1 is not essential to the present invention.
  • the roll gap detector 9 is installed between the backup rolls 4a and 4b and the reduction means 5, and indirectly detects the gap between the work rolls 3a and 3b.
  • the rolling load upper and lower distribution means 10 assumes that the rolling load P detected by the rolling load detection means 6 is generated separately for the upper backup roll 4a and the lower backup roll 4b, and the upper backup roll.
  • the rolling load PT generated in 4 a and the rolling load P B generated in the lower backup roll 4 b are separated and output to the rolling load vertical fluctuation extracting means 11.
  • FIG. 5 is a block diagram showing in detail a configuration example of the rolling load up / down fluctuation extracting means 11 and the operation amount calculating means 12 of the sheet thickness control apparatus according to the first embodiment.
  • the rolling load up / down fluctuation extracting means 11 has an upper load fluctuation extracting means 111 and a lower load fluctuation extracting means 112.
  • the upper load fluctuation extracting unit 111 calculates fluctuation components caused by roll eccentricity of the rolling load PTj at a plurality of rotational positions of the upper backup roll 4a. To extract.
  • the lower load fluctuation extraction unit 112 is based on the rolling load P B separated by the rolling load up-and-down distribution unit 10 and changes due to roll eccentricity of the rolling load P Bj at a plurality of rotational positions of the lower backup roll 4b. The component is extracted.
  • the upper load fluctuation extracting unit 111 includes a rolling load recording unit 111a, an average value calculating unit 111b, and a deviation calculating unit 111c.
  • the lower load fluctuation extracting unit 112 includes a rolling load recording unit 112a, an average value calculating unit 112b, and a deviation calculating unit 112c.
  • the rolling load recording means 111a is n rolling load recording means provided corresponding to the respective rotation angle numbers of the backup rolls 4a and 4b.
  • Each rolling load recording means 111a, backup rolls 4a, 4b is rolling load P Tj when reaching the rotation angle number corresponding is recorded a predetermined time period.
  • the deviation calculating means 111c is provided corresponding to each rolling load recording means 111a, respectively, and the deviation ⁇ P Tj from the average value of the rolling load PTj recorded in the corresponding rolling load recording means 111a is calculated as a backup roll. Every time 4a and 4b rotate, it calculates and outputs. The same applies to the rolling load recording means 112a, the average value calculating means 112b, and the deviation calculating means 112c of the lower load fluctuation extracting means 112.
  • the operation amount calculation means 12 includes an upper addition means 121, a lower addition means 122, an upper switch 123, a lower switch 124, and a roll gap correction amount calculation means 125.
  • the upper addition means 121 adds the fluctuation component due to roll eccentricity of the rolling load PTj output from the upper load fluctuation extraction means 111 for each rotation angle number.
  • the lower addition means 122 adds the fluctuation component due to roll eccentricity of the rolling load P Bj output from the lower load fluctuation extraction means 112 for each rotation angle number.
  • Upper switch 123 has been added for each rotation angle numbers by an upper adder means 121, the fluctuation component due to roll eccentricity of a rolling load P Tj, i.e. the upper rolling load variation value of the backup roll 4a which is a deviation of the rolling load P Tj It is output according to the rotation angle number.
  • the lower switch 124 backs up the fluctuation component due to roll eccentricity of the rolling load P Bj added by the lower addition means 122 for each rotation angle number, that is, the lower rolling load fluctuation value that is the deviation of the rolling load P Bj. This is output according to the rotation angle number of the roll 4b.
  • the roll gap correction amount calculation means 125 calculates a roll gap correction amount according to the rotation angle number of the backup rolls 4a and 4b based on the output value of the upper switch 123 and the output value of the lower switch 124. is there.
  • the upper addition means 121 and the lower addition means 122, and the upper switch 123 and the lower switch 124 have the same configuration.
  • the upper addition means 121 includes a limit 121a, a switch 121b, and an adder 121c.
  • the limit 121a checks the upper and lower limits of the deviation ⁇ P Tj input from each deviation calculating means 111c.
  • the switch 121b is turned on every time the upper backup roll 4a makes one revolution, that is, every time the average value calculation means 111b finishes calculating, and simultaneously outputs the deviation ⁇ P Tj input from the limit 121a.
  • the adder 121c is provided corresponding to each rotation angle number of the upper backup roll 4a, and adds a deviation output from the switch 121b for each rotation angle number.
  • the upper switch 123 and the lower switch 124 have the same configuration.
  • the rolling load detection means 6 can only collect one value as the rolling load for one stand. Therefore, the rolling load vertical distribution means 10 generates the rolling load P detected by the rolling load detection means 6 by the following formula, for example, by the rolling load PT generated in the upper backup roll 4a and the lower backup roll 4b. to separated into a rolling load P B.
  • P T Rolling load generated in the upper backup roll 4a
  • P B Rolling load generated in the lower backup roll 4b
  • P Total rolling load actual value (detected value by the rolling and rolling load detecting means)
  • R Ratio of the total rolling load P to be distributed to the rolling load PT generated in the upper backup roll 4a.
  • the ratio R to the total rolling load P to be distributed to the rolling load PT generated in the upper backup roll 4a is a value in the vicinity of 0.5, that is, When the total rolling load actual value P is allocated to the rolling load generated in the backup rolls 4a and 4b, a value close to 1/2 of P is allocated to each of the upper and lower sides.
  • the rolling load fluctuation component due to roll eccentricity or the like by the other backup rolls 4a and 4b can be almost canceled by the upper and lower adders 121c and 122c. The reason for this will be described later.
  • the rolling load recording means 111a holds the rolling load at the backup roll rotation angle numbers 0, 1, 2,..., N ⁇ 1 for one rotation of the upper backup roll 4a.
  • the average value calculation means 111b calculates the average value when the rotation angle number n-1 is reached.
  • the deviation calculating means 111c determines the difference between the rolling load at the backup roll rotation angle numbers 0, 1, 2,..., N ⁇ 1 and the average value as the rolling load fluctuation due to roll eccentricity etc. Output to.
  • a straight line expression may be calculated from P 0 at the start point and P n at the end point, and the difference between the straight line and the rolling load at each position may be calculated.
  • Rolling load fluctuations due to roll eccentricity at the backup roll rotation angle number are checked with upper and lower limits at the limits 121a and 122a, and when the calculation of the average value is completed, the switches 121b and 122b are simultaneously turned on to determine the deviation of the rolling load.
  • a certain rolling load fluctuation value ⁇ P 0 , ⁇ P 1 ,..., ⁇ P n ⁇ 1 is sent to adders ( ⁇ 0 , ⁇ 1 , ⁇ 2 ,..., ⁇ n ⁇ 1 ) 121 c and 122 c and added together.
  • the adders ( ⁇ 0 , ⁇ 1 , ⁇ 2 ,..., ⁇ n-1 ) 121c and 122c are cleared to zero before the rolled material 1 is rolled, and the backup rolls 4a and 4b rotate once to calculate an average value. Every time is completed, the deviation of the rolling load is added once. This procedure is performed by the upper addition means 121 and the lower addition means 122.
  • the upper addition means 121 and the upper switch 123 constituting the operation amount calculation means 12 in FIG. 5 calculate the rolling load deviation (upper rolling load fluctuation value) ⁇ P AT by the upper backup roll 4a, while the lower addition means 122.
  • the lower switch 124 calculates a rolling load deviation (lower rolling load fluctuation value) ⁇ P BT by the lower backup roll 4b
  • the roll gap correction amount calculation means 125 calculates the upper backup roll for the upper backup roll by the following equations 6 and 7. and low gap correction amount [Delta] S T, calculates a lower row the gap correction amount for side backup roll [Delta] S B.
  • the roll gap correction amount [Delta] S is a manipulated variable, since the roll gap can not be vertically separately operated, the roll gap correction amount calculating means 125, as in the following equation 8, and the upper and lower rows gap correction amount [Delta] S T, Add ⁇ S B and output.
  • M Mill constant
  • Q Plastic coefficient of rolled material
  • ⁇ S B Low gap correction amount for lower backup roll
  • ⁇ S Low gap correction amount
  • ⁇ P AT Upper backup Rolling load deviation due to roll (upper rolling load fluctuation value)
  • ⁇ P BT Deviation of rolling load by lower backup roll (lower rolling load fluctuation value)
  • the roll gap operating means 13 gives the low gap correction amount ⁇ S according to Expression 8 to the reduction means 5 in addition to the roll gap amount such as MMC or GM-AGC.
  • r is a ratio represented by the following formula 10.
  • D T ⁇ D B that is, r ⁇ 1.
  • this assumption does not limit the validity of setting R to a value in the vicinity of 0.5, and r> 1 may be used. This is for convenience of explanation.
  • the axial movement distance is considered, since the axial movement distance is directly related to the fluctuation of the rolling load, it can be replaced with the fluctuation of the rolling load.
  • FIG. 6 is a diagram illustrating an example of temporal changes in roll eccentric amounts y 1 and y 2 [mm] of the backup rolls 4a and 4b.
  • T 0 T 0
  • the value accumulated in the upper roll adder 121c is the integrated value Y T (j) of the axial movement amount of the upper backup roll 4a at the position j of the upper backup roll 4a and the lower value at the position j of the upper backup roll 4a. This is the sum of the integrated values Y B (j) of the amount of axial movement of the side backup roll 4b. Since Y T (j) is an integrated value of the period T T with T 0 as an initial value, it is calculated by the following equation (13).
  • Y B (j) is also an integrated value of the period T T with T 0 as an initial value, and is therefore calculated by the following equation 14 and more specifically by the following equation 15.
  • equation 15 becomes the following equation 17.
  • the integrated value of the sin of the angle obtained by multiplying the full angle 2 ⁇ [rad] of the circle by ⁇ 1 / n and adding to ⁇ is zero. That is, every time m sin values are integrated, the integrated value Y B (j) of the axial movement amount of the lower backup roll 4b becomes zero.
  • 1 / (1-r) is not necessarily an integer depending on the ratio of the backup rolls 4a and 4b, but when 1 / (1-r) is a value close to an integer, Y B (j) becomes a value close to zero each time the sin value is integrated.
  • the beat Y which is a superposition of y 1 and y 2 , is expressed by the following Expression 18 as in Expression 1.
  • Equation 16 gives the beat long cycle m ⁇ T T, and the integrated value Y B (j) of the axial movement amount of the lower backup roll 4b becomes zero for each m ⁇ T T.
  • the integrated value Y T (j) of the axial center movement amount of the upper backup roll 4a is monotonously increased without the roll eccentricity control, and the lower backup roll 4a rotates each time the upper backup roll 4a rotates. Since the specific gravity of the integrated value Y B (j) of the axis 4 of the roll 4b with respect to Y T (j) decreases, the upper roll eccentricity of the upper backup roll 4a is added to the upper roll adder 121c shown in FIG. The components are mainly accumulated.
  • the roll eccentric component of the lower backup roll 4b is mainly accumulated in the lower roll adder 122c.
  • the ratio R to the total rolling load P to be allocated to the upper rolling load PT is a value in the vicinity of 0.5, that is, when the total rolling load actual value P is allocated to the rolling load generated in the backup rolls 4a and 4b. It can be seen that a value close to 1 ⁇ 2 of P may be distributed vertically.
  • roll rotation such as roll eccentricity
  • roll rotation is performed using a rolling load measured during rolling of a metal material without using a kiss roll load.
  • the rolling load fluctuation component generated in relation to the position, that is, the rolling load fluctuation component due to roll eccentricity or the like is extracted, and the roll gap of the rolling stand can be manipulated so as to reduce the rolling load fluctuation.
  • the board thickness control apparatus of 1st Embodiment when there exists fluctuation
  • Can control variable components that can not be analyzed by frequency analysis when not rolling, no thickness gauge is required, and there is no deterioration in accuracy due to tracking errors, and even if there is a difference in diameter between the backup rolls 4a and 4b, high accuracy
  • the plate thickness control device of the embodiment it is possible to provide a high-precision plate thickness control device, plate thickness control method, and plate thickness control program that facilitates roll management and that does not have equipment restrictions. .
  • the ratio R to the total rolling load P to be distributed to the rolling load PT generated on the upper backup roll 4a is set to a value in the vicinity of 0.5. Therefore, when the total rolling load actual value P is allocated to the rolling load generated in the backup rolls 4a and 4b, a value close to 1/2 of P is allocated to each of the upper and lower sides.
  • the rolling load fluctuation components due to roll eccentricity by the other backup rolls 4a and 4b can be almost canceled by the vessels 121c and 122c.
  • the fact that a large value is accumulated in the j-th adder 121c means that the eccentricity amount at the j-th position is large. The same applies to the lower adder 121c.
  • the values of the upper and lower adders 121c and 122c that is, the upper and lower
  • the roll eccentricity of each backup roll 4a, 4b is identified, and the frequency and period of roll eccentricity are calculated from the rotational speed based on this.
  • FIG. 7 is an explanatory diagram showing a change in the value stored in the adder 121c of the upper addition means 121. As shown in FIG.
  • the horizontal axis represents the number of the adder in the adder 121c
  • the vertical axis represents the value of each adder in the adder 121c
  • the value 201 (bar graph) of each adder in the adder 121c and each position.
  • Each adder 121c may contain noise or the like, and a sine wave can be obtained by a least square method or the like.
  • the operation amount calculation means 12 uses the load value stored in the adder 121c to calculate the upper work roll 3a and the lower work using the equation 8 for converting the load into the roll gap according to the second embodiment.
  • the work roll gap command value between the roll 3b is calculated, and the roll gap operation means 13 is based on the work roll gap command value calculated by the operation amount calculation means 12, and the upper work roll 3a and the lower work roll 3b Manipulate the work roll gap between.
  • the rolling load measured during the rolling of the metal material can be obtained without using the kiss roll load, similarly to the first embodiment.
  • the rolling stand is used to extract the rolling load fluctuation component generated in relation to the roll rotation position, such as roll eccentricity, that is, the rolling load fluctuation component due to roll eccentricity, etc., and to reduce the rolling load fluctuation.
  • the roll gap can be manipulated.
  • the values of the upper and lower adders 121c and 122c that is, the upper and lower backup rolls 4a and 4b, respectively.
  • Roll eccentricity amount can be identified, and since the frequency and cycle of roll eccentricity are calculated from the rotational speed of the backup rolls 4a and 4b, the frequency and cycle of roll eccentricity can be easily obtained.
  • the roll gap of the rolling stand can be manipulated so as to reduce the rolling load fluctuation, and the ratio R to the total rolling load P to be distributed to the upper rolling load PT is set to a value in the vicinity of 0.5.
  • R which is a ratio to the total rolling load P to be distributed to the upper rolling load PT
  • R which is a ratio to the total rolling load P to be distributed to the upper rolling load PT
  • the upper and lower backup rolls 4a, 4b roll eccentricity amount is a periodic function such as a sine wave as described above. Therefore, the ratio of the amplitude of the sine wave after the identification of the backup rolls 4a and 4b is used as the ratio of the next material as R.
  • the amplitude of the sine wave identified by the adder 121c of the upper backup roll 4a is 0.9
  • the amplitude of the sine wave identified by the adder 121c of the lower backup roll 4b Is 1.1
  • the ratio of the roll eccentricity of the backup rolls 4a and 4b can be obtained by calculating the absolute value of the value stored in the addition without identifying with a periodic function.
  • the rolling load up / down distribution means 10 sets the ratio R for distributing the rolling load detected by the rolling load detection means 6 up and down to 0.5 immediately after the backup roll replacement, After the replacement of the backup roll, after the next rolled material, the periodic function is calculated using the integrated values of the upper and lower rolling load fluctuation values ⁇ P AT and ⁇ P BT which are deviations of the rolling load in the operation amount calculation means 12 for the current rolled material.
  • the amplitude may be identified, and the ratio of the amplitude for the upper work roll 3a and the upper back-up roll 4a and the sum of the amplitudes for the lower work roll 3b and the lower back-up roll 4b may be set, or rolling
  • the ratio R for allocating the rolling load detected by the load detecting means 6 up and down is set to 0.5 immediately after the backup roll replacement, After the exchange of the roll-up roll, after the next rolled material, it may be set based on rolling load fluctuation values ⁇ P AT and ⁇ P BT which are deviations of the rolling load in the operation amount calculation means 12 of the current rolled material.
  • this ratio may contain noise, it is also possible to reduce the influence of noise by using a filter as shown in the following equation (20).
  • Equation 20 k: an index indicating the present k + 1: an index indicating what should be used next time k-1: an index indicating one time before the present c: a gain for filtering.
  • a metal material is measured during rolling without using a kiss roll load, as in the first and second embodiments.
  • the rolling load can be used to extract the rolling load fluctuation component generated in relation to the roll rotation position, such as roll eccentricity, and to operate the roll gap of the rolling stand so as to reduce this rolling load fluctuation.
  • R which is a ratio to the total rolling load P to be distributed to the upper rolling load PT , is set to a value in the vicinity of 0.5.
  • R which is a ratio to the total rolling load P to be distributed to the upper rolling load PT .
  • R which is a ratio to the total rolling load P to be distributed to the upper rolling load PT .
  • the roll eccentricity of the upper and lower backup rolls 4a and 4b is set to the value of the upper and lower adder 121c group. Since it can be identified by a periodic function such as a sine wave, the ratio of the amplitude of the sine wave after identification of the backup rolls 4a and 4b can be used as the ratio of the next material, and roll eccentricity can be easily performed. And the roll gap of the rolling stand can be manipulated so as to reduce rolling load fluctuations.
  • the present invention can be applied to a hot rolling apparatus for rolling a metal material hot.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Metal Rolling (AREA)

Abstract

L'invention porte sur la commande de l'épaisseur de tôles. Le dispositif selon l'invention comprend : un moyen de détection de charge de laminage (6) qui détecte la charge de laminage sur une matière métallique ; un moyen de répartition verticale de charge de laminage (10) qui répartit verticalement la charge de laminage détectée sur la base d'une comparaison d'une charge de laminage du côté supérieur engendrée par un jeu de cylindres du côté supérieur et une charge de laminage du côté inférieur engendrée par un jeu de cylindres du côté inférieur ; un moyen d'extraction de valeur de variation verticale de charge de laminage (11), qui extrait une valeur de variation de la charge de laminage du côté supérieur et une valeur de variation de laminage du côté inférieur engendrée relativement à la position de rotation du jeu de cylindres du côté supérieur et du jeu de cylindres du côté inférieur, sur la base des charges de laminage réparties dans la direction verticale du jeu de cylindres du côté supérieur et du jeu de cylindres du côté inférieur ; un moyen de calcul de valeur de manipulation (12), qui calcule une valeur d'ordre de l'écartement des cylindres de travail entre un cylindre de travail du côté supérieur (3a) et un cylindre de travail du côté inférieur (3b), sur la base d'une valeur extraite de la variation de la charge de laminage du côté supérieur et d'une valeur extraite de la variation de la charge de laminage du côté inférieur ; et un moyen de manipulation d'écartement entre cylindres (13) qui manipule l'écartement des cylindres de travail entre le cylindre de travail du côté supérieur (3a) et le cylindre de travail du côté inférieur (3b), sur la base de la valeur calculée de l'ordre d'écartement entre cylindres de travail.
PCT/JP2010/057051 2010-04-21 2010-04-21 Dispositif de commande de l'épaisseur de tôles, procédé de commande de l'épaisseur de tôles et programme de commande de l'épaisseur de tôles WO2011132273A1 (fr)

Priority Applications (5)

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PCT/JP2010/057051 WO2011132273A1 (fr) 2010-04-21 2010-04-21 Dispositif de commande de l'épaisseur de tôles, procédé de commande de l'épaisseur de tôles et programme de commande de l'épaisseur de tôles
AU2010351732A AU2010351732B2 (en) 2010-04-21 2010-04-21 Gage controller, gage control method, and gage control program
CN201080066250.5A CN102858475B (zh) 2010-04-21 2010-04-21 板厚控制装置、板厚控制方法、板厚控制程序
JP2012511448A JP5637637B2 (ja) 2010-04-21 2010-04-21 板厚制御装置、板厚制御方法、板厚制御プログラム
KR1020127027080A KR101414871B1 (ko) 2010-04-21 2010-04-21 판두께 제어 장치, 판두께 제어 방법, 판두께 제어 프로그램이 기록된 기록매체

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JP6766970B1 (ja) * 2019-06-14 2020-10-14 東芝三菱電機産業システム株式会社 板厚制御装置および板厚制御方法

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KR101912052B1 (ko) * 2014-11-11 2018-10-25 도시바 미쓰비시덴키 산교시스템 가부시키가이샤 플랜트의 제어 장치
DE112014006275B4 (de) * 2014-11-27 2024-05-08 Mitsubishi Electric Co. Walze-zu-Walze-Fördersteuerungsvorrichtung
CN104815849B (zh) * 2015-04-07 2016-11-30 首钢京唐钢铁联合有限责任公司 一种定宽机夹送辊位置控制系统精度补偿的方法
JP7131964B2 (ja) * 2018-05-24 2022-09-06 三菱重工業株式会社 推定装置、推定システム、推定方法およびプログラム
JP7091560B2 (ja) * 2019-01-25 2022-06-27 Ｐｒｉｍｅｔａｌｓ Ｔｅｃｈｎｏｌｏｇｉｅｓ Ｊａｐａｎ株式会社 圧延設備および圧延方法
KR102337326B1 (ko) 2019-08-28 2021-12-08 도시바 미쓰비시덴키 산교시스템 가부시키가이샤 롤 상태 모니터 장치
CN111389927B (zh) * 2020-03-05 2022-03-22 南京钢铁股份有限公司 单机架炉卷轧机薄规格钢板窄厚度公差控制方法
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CN102858475A (zh) 2013-01-02
JPWO2011132273A1 (ja) 2013-07-18
JP5637637B2 (ja) 2014-12-10
AU2010351732B2 (en) 2015-03-05
KR101414871B1 (ko) 2014-07-03
CN102858475B (zh) 2015-11-25
AU2010351732A1 (en) 2012-11-08

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