WO2016075752A1 - プラントの制御装置 - Google Patents
プラントの制御装置 Download PDFInfo
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- WO2016075752A1 WO2016075752A1 PCT/JP2014/079809 JP2014079809W WO2016075752A1 WO 2016075752 A1 WO2016075752 A1 WO 2016075752A1 JP 2014079809 W JP2014079809 W JP 2014079809W WO 2016075752 A1 WO2016075752 A1 WO 2016075752A1
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- WIPO (PCT)
- Prior art keywords
- dead time
- control
- time
- roll
- disturbance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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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
- B21B37/18—Automatic gauge control
Definitions
- This invention relates to a plant control apparatus.
- Patent Document 1 discloses a roll control method in a hot rolling line.
- the upper and lower pinch rolls are provided in front of the winder.
- the upper and lower pinch rolls sandwich and hold the rolled material.
- the gap between the upper and lower pinch rolls varies. Due to the variation, the tension of the rolled material varies between the rolling mill and the pinch roll. The tension of the rolled material varies between the pinch roll and the winder.
- the roll control method the periodic influence due to the eccentricity of the pinch roll is suppressed. Specifically, the gap between the upper and lower pinch rolls is held at the target value. As a result, fluctuations in the tension of the rolled material are suppressed.
- Patent Document 1 does not assume the dead time even when the dead time occurs until the change result of the operation amount at the operation end is measured by the sensor. For this reason, the influence of periodic disturbance cannot be suppressed.
- An object of the present invention is to provide a plant control apparatus capable of suppressing the influence of a disturbance and obtaining high control performance when a periodic disturbance is applied to a control target of the plant including a dead time. .
- the plant control apparatus is provided with a target value for a control amount of the plant to which periodic disturbance is applied, and a change result of the operation amount at the operation end for setting the control amount measured by the sensor as the target value.
- a dead time occurs until the sensor is measured by the sensor, the dead time corresponding repetitive control delays the input of the manipulated variable to the operation end by a time obtained by subtracting the dead time from the time of one period of the disturbance. Equipped.
- the input of the operation amount to the operation end is delayed by the time obtained by subtracting the dead time from the time corresponding to one period of the disturbance. For this reason, when a periodic disturbance is added to the controlled object of the plant including the dead time, the influence of the disturbance can be suppressed and high control performance can be obtained.
- FIG. FIG. 1 is a configuration diagram of a rolling mill using a plant control apparatus according to Embodiment 1 of the present invention.
- the following description is given for a control device that controls the plate thickness by rolling.
- the idea described below can be applied to control other than the plate thickness in various plants.
- the idea can be applied to control of the plate width, plate crown, flatness, and the like.
- the rolling stand for hot sheet rolling is a 4Hi mill.
- the rolling stand includes a housing 1.
- the upper work roll 2a and the lower work roll 2b are provided inside the housing 1 as rolling rolls.
- One side of the shaft of the upper work roll 2a is connected to an electric motor (not shown).
- the other side periphery of the upper work roll 2a is a work area.
- One side of the shaft of the lower work roll 2b is connected to an electric motor (not shown).
- the other side periphery of the lower work roll 2b is a work area.
- the upper backup roll 3a is provided above the upper work roll 2a as a rolling roll.
- the upper backup roll 3a supports the upper work roll 2a.
- the upper backup roll 3 a is supported on the upper part of the housing 1.
- the lower periphery of one side of the upper backup roll 3a becomes an existence area on one side of the axis of the upper work roll 2a and one side of the axis of the lower work roll 2b.
- the other side periphery of the upper backup roll 3a is a work area.
- the lower backup roll 3b is provided below the lower work roll 2b as a rolling roll.
- the lower backup roll 3b supports the lower work roll 2b.
- the lower backup roll 3 b is supported at the lower part of the housing 1.
- the lower backup roll 3b is provided below the floor surface.
- Above the lower backup roll 3b is a work area.
- the upper periphery of one side of the lower backup roll 3b becomes a region existing on one side of the axis of the upper work roll 2a and one side of the axis of the lower work roll 2b.
- the other side periphery of the lower backup roll 3b is a work area.
- the reduction device 4 is provided above the upper backup roll 3a.
- the reduction device 4 is an electric reduction device.
- the reduction device 4 is a hydraulic reduction device that is driven by hydraulic pressure.
- the hydraulic reduction device can be controlled at high speed.
- the reduction device 4 includes a one-side reduction device 4a and another-side reduction device 4b.
- the one side reduction device 4a is provided on one side of the upper backup roll 3a.
- the other side reduction device 4b is provided on the other side of the upper backup roll 3a.
- the load detector 5 is provided below the lower backup roll 3b.
- the load detector 5 includes a one-side load detector 5a and an other-side load detector 5b.
- the one-side load detector 5a is provided on one side of the lower backup roll 3b.
- the other side load detector 5b is provided on the other side of the upper backup roll 3a.
- the roll gap detector 6 is provided below the reduction device 4.
- the roll gap detector 6 includes a one-side roll gap detector 6a and an other-side roll gap detector 6b.
- the one-side roll gap detector 6a is provided on one side of the upper backup roll 3a.
- the other side roll gap detector 6b is provided on the other side of the upper backup roll 3a.
- the input side of the rolling load measuring device 7 is connected to the output side of the load detector 5.
- the input side of the roll gap measuring device 8 is connected to the output side of the roll gap detector 6.
- the input side of the plate thickness controller 9 is connected to the output side of the rolling load measuring device 7.
- the input side of the plate thickness controller 9 is connected to the output side of the roll gap measuring device 8.
- the input side of the roll gap operating means 10 is connected to the output side of the plate thickness controller 9.
- the output side of the roll gap operating means 10 is connected to the input side of the reduction device 4.
- the thickness gauge 12 is provided on the exit side of the rolling stand as a sensor.
- the output side of the thickness gauge 12 is connected to the input side of the thickness controller 9.
- the rolled material 13 is made of metal.
- the rolled material 13 is formed of iron.
- the rolled material 13 is formed of aluminum.
- the rolled material 13 is formed of copper.
- Rolled material 13 is sandwiched between rotating upper work roll 2a and lower work roll 2b. As a result, the rolled material 13 extends thinly.
- the upper backup roll 3a suppresses the deflection in the width direction of the upper work roll 2a.
- the lower backup roll 3b suppresses the deflection in the width direction of the lower work roll 2b.
- the one side load detector 5a detects a load applied to one side of the lower backup roll 3b.
- the other side load detector 5b detects a load applied to the other side of the lower backup roll 3b.
- the rolling load measuring device 7 calculates the sum of the detected value of the one side load detector 5a and the detected value of the other side load detector 5b as a sum load.
- the rolling load measuring device 7 calculates the difference between the detected value of the one side load detector 5a and the detected value of the other side load detector 5b as a differential load.
- a roll bending apparatus not shown
- the rolling load measuring device 7 performs calculation when correcting the detection value of the load detector 5 with the roll bending force.
- the roll gap detector 6 does not directly detect the gap (roll gap) between the upper work roll 2a and the lower work roll 2b.
- the roll gap detector 6 detects the amount by which the reduction device 4 pushes down the upper backup roll 3a.
- the roll gap measuring device 8 calculates the roll gap based on the detection value of the roll gap detector 6. At this time, the roll gap measuring device 8 considers the positional relationship among the upper backup roll 3a, the upper work roll 2a, the lower work roll 2b, the lower backup roll 3b, and the like.
- the plate thickness controller 9 adjusts the set value of the roll gap based on the calculated value of the rolling load measuring device 7 and the calculated value of the roll gap measuring device 8. In this case, the plate thickness controller 9 adjusts the setting value of the roll gap with the mill modulus M C and plastic coefficient Q C.
- the roll gap operating means 10 adjusts the roll gap based on the set value adjusted by the plate thickness controller 9. As a result, the rolled material 13 has a desired plate thickness.
- the plate thickness of the rolled material 13 is measured by a plate thickness meter 12.
- FIG. 2 is a control block diagram for illustrating the plant control apparatus according to Embodiment 1 of the present invention.
- the rolling process 14 to be controlled is affected by the mill constant M and the plasticity factor Q.
- the rolling process 14 includes a first influence coefficient 14a and a second influence coefficient 14b.
- the first influence coefficient 14a corresponds to the influence of the roll gap on the rolling load.
- the first influence coefficient 14a is ⁇ MQ / (M + Q).
- the second influence coefficient 14b corresponds to the influence of the rolling load on the plate thickness.
- the second influence coefficient 14b is 1 / M.
- the rolling process 14 is considered the roll eccentricity disturbance [Delta] S D and the rolling load disturbance [Delta] P D is applied. Can not be detected roll eccentricity disturbance [Delta] S D directly. Rolling load disturbance [Delta] P D are included in the rolling load to be measured. Only the rolling load disturbance ⁇ P D cannot be measured separately.
- the plate thickness controller 9 implements a monitor AGC 15, a gauge meter AGC 16, an MMC (mill constant variable control) 17, etc. for the rolling process 14.
- the dead time block 18 is a sheet thickness meter from the center of the upper work roll 2a and the lower work roll 2b when the actual change amount ⁇ h ACT of the rolled material 13 rolled by the upper work roll 2a and the lower work roll 2b. 12 shows that the plate thickness meter 12 detects the change in plate thickness measurement value ⁇ h MES after the time TL transported to 12 has elapsed. Time TL is a dead time.
- the monitor AGC 15 calculates the GM plate thickness target value change amount ⁇ h REF based on the deviation between the product plate thickness target value change amount ⁇ h X REF and the plate thickness measured value change amount ⁇ h MES .
- the first control block 16a is generally expressed using a mill modulus M C measured in actual.
- a coefficient ⁇ 1 for adjusting the response is added to the first control block 16a.
- the GM plate thickness change amount ⁇ h GM is obtained.
- the gauge meter plate thickness target value change amount ⁇ h GM AIM and the GM plate thickness target value change amount ⁇ h REF are added together.
- the plate thickness target value change amount ⁇ h GM REF is obtained.
- the deviation between the plate thickness target value change amount ⁇ h GM REF and the GM plate thickness change amount ⁇ h GM is input to the PI controller 16b.
- the PI controller 16b is represented by a proportional gain KPG , an integral gain KIG, and a Laplace operator s.
- the roll gap symbol S is used with a subscript, ⁇ , and the like.
- the output of the PI controller 16b is input to the compensation gain 16c.
- the compensation gain 16c is represented by the identified mill constant M C , plastic coefficient Q C , and coefficients ⁇ 1 and ⁇ 2 for adjusting the response.
- plastic coefficient Q C is calculated separately off-line.
- plastic coefficient Q C is of values identified by the actual data.
- the compensation gain 16c calculates a roll gap command value ⁇ S SET . At this time, the compensation gain 16c normalizes the operation output. In this case, adjustment of the PI controller 16b is not necessary even if the mill constant M, plastic coefficient Q, and coefficients ⁇ 1 and ⁇ 2 to be controlled change.
- the MMC 17 requests the reduction device 4 for a high-speed response. For this reason, the MMC 17 is not applied when the reduction device 4 is not a hydraulic reduction device that can realize a high-speed response.
- second control block 17a is represented using mill modulus M C identified.
- MMC17 by adjusting the coefficient alpha 2 of the second control block 17a, may adjust the response. For example, by increasing the coefficient alpha 2, the response becomes faster.
- the hydraulic pressure reduction response 17b corresponds to the response of the hydraulic pressure reduction device.
- the hydraulic pressure reduction response 17b is determined based on a value obtained by superimposing the output of the compensation gain 16c and the output of the second control block 17a. As a result, the roll gap is adjusted.
- FIG. 3 is a simplified control block diagram for explaining the outline of the plant control apparatus according to Embodiment 1 of the present invention.
- the monitor AGC 15 is represented by one block.
- the gauge meter AGC 16 is represented by one block.
- the MMC 17 is represented by one block.
- the dead time block 18 is represented by one block.
- FIG. 4 is a diagram for explaining the overall configuration of the plant control apparatus according to Embodiment 1 of the present invention.
- the control device is represented by a dead time corresponding repetitive controller 20, a round transfer function 21, and a control block diagram 22.
- the control deviation e is represented by a difference between the target value or command value r and the feedback value of the control amount y2.
- the control deviation e is input to the dead time corresponding repetitive controller 20.
- the dead time corresponding repetitive controller 20 calculates the manipulated variable u.
- the manipulated variable u is input to the round transfer function 21.
- the round transfer function 21 corresponds to a block obtained by combining the monitor AGC 15, the gauge meter AGC 16, the MMC 17, and the rolling process 14 in FIG. 3.
- the round transfer function 21 is a system that does not include dead time.
- the round transfer function 21 outputs a signal y 1 to be controlled.
- Signal y 1 is input to control block diagram 22.
- the control block diagram 22 corresponds to the dead time block 18 of FIG.
- the control block diagram 22 represents the dead time.
- Control block diagram 22 outputs a signal y 2.
- the signal y 2 is delayed by a dead time with respect to the signal y 1 .
- FIG. 5 is a control block diagram using the plant control apparatus according to Embodiment 1 of the present invention.
- FIG. 5 is a diagram in which the rolling process 14, the monitor AGC 15, the gauge meters AGC 16 and the MMC 17 of FIG.
- the control block diagram 22 of FIG. 4 is replaced by the dead time block 18 of FIG. If the block of FIG. 2 is used, it can expand
- the dead time corresponding repetitive controller 20 is inserted between the control deviation e and the monitor AGC 15 with respect to the existing control system.
- FIG. 6 is a control block diagram of the main part of the plant control apparatus according to Embodiment 1 of the present invention.
- the dead time corresponding repetitive controller 20 includes a block 20a, a block 20b, a block 20c, and a block 20d.
- the signal lines that return from the signal e2 on the output side of the block 20b, the block 20c, and the block 20c to the signal e1 are blocks and signal lines that are to be added when repetitive control is applied when there is no dead time in the control target.
- Block 20b is a low-pass filter F (s).
- the low-pass filter F (s) is described by a first-order lag system.
- the block 20c is a repeated corresponding part.
- the block 20c sets the period L [s] of the disturbance as a dead time. That is, the block 20c outputs a signal with a delay of L [s] when the signal is input.
- L [s] is known.
- the dead time L [s] can be specified.
- the period of the roll eccentric disturbance synchronized with the rotation of the rolling roll can be calculated based on the roll diameter and the roll rotation speed.
- the block 20a is a dead time corresponding part.
- Block 20a is a time delay L-T L [s] only control deviation e, and outputs a signal e 1.
- Signal e1 is added to the signal e 2 side out of the block 20c.
- the signal e 3 is produced.
- the block 20a does not output a signal during the time L ⁇ T L [s] from the start of control. While the block 20a does not output the signal e 1, the signal does not pass through a path passing through the block 20b and the block 20c. Therefore, the control device comprises a bypass path control deviation e is added to the signal e 3 passes through the block 20d.
- gain K is set. For example, the gain K becomes a value close to 1 during the period from the start of control to the time L ⁇ T L [s]. Thereafter, the gain K becomes zero.
- FIG. 7 is a diagram for explaining functions of the plant control apparatus according to Embodiment 1 of the present invention.
- the control device When a periodic disturbance is applied, the control device accepts the input of the disturbance during the first one cycle of the disturbance. At this time, the control device does not output the operation amount. The control device determines an operation amount for suppressing the disturbance of the same period after the second time based on the disturbance of the first period.
- the sheet thickness actual change amount ⁇ h ACT (solid line) is conveyed from the rolling stand to the sheet thickness meter 12.
- the plate thickness meter 12 measures the plate thickness measurement value change amount ⁇ h MES (broken line).
- the signal of the actual thickness change amount ⁇ h ACT corresponding to the phenomenon occurring immediately below the rolling stand at that time is changed.
- the timing of the operation amount by the control device is shifted by the amount of the dead time TL from the timing of the change in sheet thickness that occurs immediately below the rolling stand. For this reason, good control cannot be performed.
- the control device delays the signal of the plate thickness measurement value change amount ⁇ h MES by L ⁇ T L [s].
- the signal timing of the plate thickness measurement value change amount ⁇ h MES matches the signal timing of the plate thickness actual change amount ⁇ h ACT in the upper part of FIG.
- the processing at this time is performed in the block 20a of FIG.
- the input of the operation amount to the operation end is delayed by the time obtained by subtracting the dead time from the time for one period of the disturbance. For this reason, when a periodic disturbance is added to the controlled object of the plant including the dead time, the influence of the disturbance can be suppressed and high control performance can be obtained.
- board thickness of the rolling material 13 can be controlled accurately.
- the gain K becomes a value close to 1 during the time L ⁇ T L [s] from the start of the control. Thereafter, the gain K becomes zero. For this reason, the control can be performed even during the time L ⁇ T L [s] from the start of the control.
- FIG. FIG. 8 is a control block diagram for illustrating a plant control apparatus according to Embodiment 2 of the present invention.
- symbol is attached
- the control block diagram of FIG. 8 is obtained by adding a changeover switch 23 to the control block diagram of FIG.
- One of the input sides of the changeover switch 23 is connected to the input side of the dead time corresponding repetitive controller 20.
- the other side of the input side of the changeover switch 23 is connected to the output side of the dead time corresponding repetitive controller 20.
- the output side of the changeover switch 23 is connected to the input side of the monitor AGC 15.
- the time delay repeatable controller 20 even when the time delay repeatable controller 20 is added to a control device that is already operating, the amount of operation to the operation end via the time delay repeatable controller 20. It is possible to immediately select whether or not to input. As a result, a flexible control system can be obtained. For example, it is possible to easily compare the control performance depending on the presence / absence of the dead time repetitive controller 20. When it becomes inconvenient due to the addition of the dead time corresponding repetitive controller 20, the dead time corresponding repetitive controller 20 can be immediately disconnected.
- Embodiment 1 and Embodiment 2 may apply the control apparatus of Embodiment 1 and Embodiment 2 to mills other than 4Hi mill.
- the dead time corresponding repetitive controller 20 may be applied to a plant control device other than the rolling mill. Also in this case, when a periodic disturbance is applied to the plant control apparatus including the dead time, the influence of the disturbance can be suppressed and high control performance can be obtained.
- the plant control apparatus can be used for a system that suppresses the influence of the disturbance and obtains high control performance when a periodic disturbance is applied to the plant control apparatus including dead time. .
Abstract
Description
図1はこの発明の実施の形態1におけるプラントの制御装置を利用した圧延機の構成図である。以下の説明は、圧延による板厚を制御する制御装置を対象に行われる。以下の説明による考えは、各種プラントにおいて、板厚以外の制御に対しても適用できる。例えば、当該考えは、板幅、板クラウン、平坦度等の制御に対しても適用できる。
ロールギャップ操作手段10は、板厚制御器9により調整された設定値に基づいてロールギャップを調整する。その結果、圧延材13は、所望の板厚になる。圧延材13の板厚は、板厚計12により計測される。
図2はこの発明の実施の形態1におけるプラントの制御装置を説明するための制御ブロック図である。
図3はこの発明の実施の形態1におけるプラントの制御装置の概要を説明するための制御ブロック図を簡略化した図である。
図4はこの発明の実施の形態1におけるプラントの制御装置の全体構成を説明するための図である。
図5はこの発明の実施の形態1におけるプラントの制御装置を利用した制御ブロック図である。
図6はこの発明の実施の形態1におけるプラントの制御装置の要部の制御ブロック図である。
図7はこの発明の実施の形態1におけるプラントの制御装置の機能を説明するための図である。
図8はこの発明の実施の形態2におけるプラントの制御装置を説明するための制御ブロック図である。なお、実施の形態1と同一又は相当部分には同一符号を付して説明を省略する。
Claims (3)
- 周期的な外乱が加わるプラントの制御量に対する目標値が与えられ、センサで測定される制御量を前記目標値とするための操作端の操作量の変更結果が前記センサで測定されるまでにむだ時間が生じる場合に、前記外乱の1周期分の時間から当該むだ時間を差し引いた時間だけ前記操作端への前記操作量の入力を遅らせるむだ時間対応繰返し制御器、
を備えたプラントの制御装置。 - 前記むだ時間対応繰返し制御器は、
信号が入力された際に前記外乱の1周期分の時間だけ遅らせて当該信号を前記操作端へ出力する繰返し対応部と、
前記操作端への操作量に対応した信号が入力された際に前記外乱の1周期分の時間から当該むだ時間を差し引いた時間だけ遅らせて当該信号を前記繰返し対応部へ出力するむだ時間対応部と、
制御の開始から前記むだ時間対応部が前記外乱の1周期分の時間から当該むだ時間を差し引いた時間だけ遅らせて信号を出力するまでの間に前記操作端への操作量に対応した信号を前記操作端へ出力するゲインと、
を備えた請求項1に記載のプラントの制御装置。 - 前記むだ時間対応繰返し制御器を介して前記操作端への操作量の入力を行うか否かを選択し得るように設けられた切り替えスイッチ、
を備えた請求項1または請求項2に記載のプラントの制御装置。
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CN201480081078.9A CN106662845B (zh) | 2014-11-11 | 2014-11-11 | 成套设备的控制装置 |
JP2016558471A JP6296168B2 (ja) | 2014-11-11 | 2014-11-11 | プラントの制御装置 |
PCT/JP2014/079809 WO2016075752A1 (ja) | 2014-11-11 | 2014-11-11 | プラントの制御装置 |
TW104113198A TWI567513B (zh) | 2014-11-11 | 2015-04-24 | 工廠之控制裝置 |
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