WO2017046846A1 - Dispositif de régulation de température pour matériau laminé - Google Patents

Dispositif de régulation de température pour matériau laminé Download PDF

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Publication number
WO2017046846A1
WO2017046846A1 PCT/JP2015/076013 JP2015076013W WO2017046846A1 WO 2017046846 A1 WO2017046846 A1 WO 2017046846A1 JP 2015076013 W JP2015076013 W JP 2015076013W WO 2017046846 A1 WO2017046846 A1 WO 2017046846A1
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WIPO (PCT)
Prior art keywords
temperature
rolled material
value
feedback
thermometer
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Application number
PCT/JP2015/076013
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English (en)
Japanese (ja)
Inventor
鈴木　敦
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.)
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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 CN201580080687.7A priority Critical patent/CN107614135B/zh
Priority to JP2017540359A priority patent/JP6477900B2/ja
Priority to PCT/JP2015/076013 priority patent/WO2017046846A1/fr
Priority to KR1020177035401A priority patent/KR102058786B1/ko
Priority to TW104140710A priority patent/TWI590881B/zh
Publication of WO2017046846A1 publication Critical patent/WO2017046846A1/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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
    • B21B38/006—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product for measuring temperature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2261/00—Product parameters
    • B21B2261/20—Temperature

Definitions

  • This invention relates to a temperature control device for rolled material.
  • Patent Document 1 discloses a temperature control device for rolled material.
  • the said temperature control apparatus controls the temperature of a rolling material using a control model.
  • the temperature control device corrects the control model online when the actual control amount is stable. As a result, the influence of the model error value is suppressed.
  • An object of the present invention is to provide a rolled material temperature control device capable of suppressing the influence of a model error value in a short time.
  • the temperature control device for a rolled material provides a rolling material cooled by a cooling device provided between a rolling mill and a winder in a hot rolling line between the cooling device and the winder.
  • the rolling material cooled by the cooling device calculates a predicted value of the temperature of the rolled material when it reaches the thermometer, and the predicted value is the feedback value
  • the first feedback part that feeds back as a part of the time, and the dead time corresponding to the predicted value of the temperature of the rolled material calculated by the first feedback part using the dead time model A value obtained by calculating a value obtained by delaying the phase, and a value obtained by delaying the phase by a dead time with respect to a measured value of the temperature of the rolled material by the
  • a rolled material cooled by a cooling device provided between a plurality of stands of a finish rolling mill of a hot rolling line is provided on the outlet side of the finishing mill.
  • a controller that calculates a control amount for the cooling device by using a deviation between a target value of the temperature of the rolled material and a feedback value when reaching the thermometer, and waste based on the control amount calculated by the controller Calculate a predicted value of the temperature of the rolled material when the rolled material cooled by the cooling device using the temperature model not including time reaches the thermometer, and the predicted value as a part of the feedback value
  • the first feedback part that feeds back, and the dead time corresponding to the predicted value of the temperature of the rolled material calculated by the first feedback part using the dead time model A value obtained by calculating a value obtained by delaying the phase, and a value obtained by delaying the phase by a dead time with respect to a measured value of the temperature of the rolled material by the thermometer and a predicted value of
  • the temperature control device for a rolled material is characterized in that a rolled material cooled by a plurality of cooling devices respectively provided between stands adjacent to a plurality of stands of a finish rolling mill of a hot rolling line is the finish.
  • a plurality of controllers that calculate a control amount for each of the plurality of cooling devices by inputting a deviation between a target value and a feedback value of the temperature of the rolled material when reaching a thermometer provided on the exit side of the rolling mill And when the rolled material cooled by the plurality of cooling devices reaches the thermometer using a temperature model that does not include a dead time based on the control amount calculated by each of the plurality of controllers.
  • a plurality of first feedback units for calculating a predicted value of the temperature of the material and feeding back the predicted value as part of a feedback value corresponding to each of the plurality of controllers; Using the dead time model corresponding to each of the plurality of cooling devices, the dead time corresponding to each of the plurality of cooling devices with respect to the predicted value of the temperature of the rolled material calculated by each of the plurality of first feedback units.
  • a value obtained by delaying the phase by the amount of time is calculated, and the plurality of measured values of the temperature of the rolled material by the thermometer and the predicted value of the temperature of the rolled material calculated by each of the plurality of first feedback units are calculated.
  • the deviation from the value delayed in phase by the amount of dead time corresponding to each of the cooling devices is calculated, and the value obtained by passing the low-pass filter with respect to the deviation is a feedback value corresponding to each of the plurality of controllers. And a plurality of second feedback units that feed back as other units.
  • the model error value is fed back to the controller in a low frequency region where it is difficult to become unstable. For this reason, in the low frequency region, a steady deviation between the measured value of the temperature of the rolled material and the target value of the temperature of the rolled material can be eliminated. As a result, the influence of the model error value can be suppressed in a short time.
  • FIG. FIG. 1 is a configuration diagram of a hot rolling line to which a rolled material temperature control apparatus according to Embodiment 1 of the present invention is applied.
  • the heating furnace 1 is provided on the entry side of the hot rolling line.
  • the rough rolling mill 2 is provided on the exit side of the heating furnace 1.
  • the induction heating device 3 is provided on the exit side of the rough rolling mill 2.
  • the finish rolling mill 4 is provided on the exit side of the induction heating device 3.
  • the finish rolling mill 4 includes a plurality of stands 4a.
  • the finish rolling mill 4 includes 5 to 7 stands 4a.
  • the finishing mill 4 of FIG. 1 includes six stands 4a.
  • the cooling device 5 is provided on the exit side of the finishing mill 4.
  • the winder 6 is provided on the exit side of the cooling device 5.
  • the rolled material 7 is charged into the heating furnace 1. Thereafter, the rolled material 7 is heated by the heating furnace 1. Thereafter, the rolled material 7 is extracted from the heating furnace 1. Thereafter, the rolled material 7 is rolled by the rough rolling machine 2. Thereafter, the end of the rolled material 7 is heated by the induction heating device 3. Thereafter, the rolled material 7 is rolled by each stand 4a of the finish rolling mill 4. Thereafter, the rolled material 7 is cooled by the cooling device 5. Thereafter, the rolled material 7 is wound up by a winder 6.
  • FIG. 2 is a configuration diagram of a main part of a hot rolling line to which the temperature control device for rolled material according to Embodiment 1 of the present invention is applied.
  • the speed detector 8 is provided corresponding to the most stand 4a in the finishing mill 4.
  • the finishing thermometer 9 is provided between the most stand 4 a and the cooling device 5 in the finishing mill 4.
  • the finishing thermometer 9 is provided on the exit side of the most exit side stand 4 a in the finishing mill 4.
  • the winding thermometer 10 is provided between the cooling device 5 and the winder 6.
  • the winding thermometer 10 is provided on the entry side of the winding machine 6.
  • the cooling device 5 includes a first water injection facility 5a and a second water injection facility 5b.
  • the first water injection facility 5 a is disposed on the entry side of the cooling device 5.
  • the second water injection facility 5b is disposed on the outlet side of the cooling device 5.
  • the input unit of the temperature control device 11 is connected to the output unit of the speed detector 8, the output unit of the finishing thermometer 9, and the output unit of the winding thermometer 10.
  • the output unit of the temperature control device 11 is connected to the input unit of the first water injection facility 5a and the input unit of the second water injection facility 5b.
  • Speed detector 8 detects the rotational speed of the most exit side of a stand 4a of the finishing mill 4 ⁇ f (rad / s) .
  • the finishing thermometer 9 measures the finishing temperature T f (° C.) of the rolled material 7 on the exit side of the most exit side stand 4 a in the finish rolling mill 4.
  • the winding thermometer 10 measures the winding temperature T c (° C.) of the rolled material 7 on the entry side of the winder 6.
  • the temperature control device 11 is based on the rotational speed ⁇ f of the most outlet side stand 4 a in the finishing mill 4 and the finishing temperature T f of the rolled material 7 on the exit side of the most exiting stand 4 a in the finishing mill 4.
  • the required water injection amount of the first water injection facility 5a is calculated.
  • the temperature control device 11 performs feedforward control on the water injection valve of the first water injection facility 5a by outputting a signal V FWD corresponding to the required water injection amount of the first water injection facility 5a.
  • the temperature control device 11 determines the second water injection facility 5b based on the deviation between the target value T target (° C.) of the winding temperature of the rolled material 7 and the winding temperature T c of the rolled material 7 on the entry side of the winder 6. The required water injection amount is calculated. The temperature control device 11 performs feedback control on the water injection valve of the second water injection facility 5b by outputting a signal V FBK corresponding to the required water injection amount of the second water injection facility 5b.
  • FIG. 3 is a block diagram showing feedback control by the temperature control device for rolled material in Embodiment 1 of the present invention.
  • the temperature control device 11 includes a PI controller 12, a first feedback unit 13, and a second feedback unit 14.
  • the transfer function of the PI controller 12 is represented by C FBK .
  • the first feedback unit 13 includes a temperature model 13a that does not include dead time.
  • the second feedback unit 14 includes a dead time model 14a and a low-pass filter 14b.
  • the transfer function of the dead time model 14a is expressed by using a comprehensive predicted dead time T ′ ALL and a Laplace operator s.
  • the transfer function of the low-pass filter 14b is represented by LPF.
  • the 1st block 15 shows the response of the water injection valve of the 2nd water injection equipment 5b.
  • the transfer function of the first block 15 is expressed using a control delay T SC (s) in operation of the water injection valve of the second water injection facility 5b, a time constant T S (s) of the water injection valve, and a Laplace operator s.
  • the second block 16 shows the cooling process.
  • the transfer function of the second block 16 is expressed using a cooling process gain K P , a cooling process time constant T P (s), and a Laplace operator s.
  • the third block 17 indicates a dead time due to a transfer delay.
  • the transfer function of the third block 17 is expressed using a dead time T t (s) due to a transfer delay and a Laplace operator s.
  • the fourth block 18 shows the response of the winding thermometer 10.
  • the fourth block 18 is expressed using the winding temperature T C (s) of the rolled material 7 measured by the winding thermometer 10 and the Laplace operator s.
  • the PI controller 12 calculates a control amount for the cooling device 5 by using a deviation between the target value T target of the temperature of the rolled material 7 and the feedback value as an input. For example, the PI controller 12 calculates the required water injection amount of the second water injection facility 5b by inputting the deviation between the target value T target of the temperature of the rolled material 7 and the feedback value.
  • the signal V FBK corresponding to the required water injection amount of the second water injection facility 5 b passes through the first block 15 and the second block 16. As a result, a temperature drop T D FBK (° C.) of the rolled material 7 is obtained.
  • the temperature drop T D FBK of the rolled material 7 is added to the temperature drop T D FWD (° C.) of the rolled material 7 by the first water injection facility 5a.
  • the temperature of the rolled material 7 becomes (T f + T D FWD + T D FBK ).
  • the temperature (T f + T D FWD + T D FBK ) of the rolled material 7 passes through the third block 17 and the fourth block 18. As a result, the winding temperature T C of the strip 7 is obtained.
  • the first feedback unit 13 is the rolled material when the rolled material 7 cooled by the cooling device 5 using the temperature model 13 a based on the control amount calculated by the PI controller 12 reaches the winding thermometer 10. 7 is calculated. For example, the first feedback unit 13 calculates a predicted value T'C of the temperature of the rolled material 7 on the basis of a signal V FBK corresponding to the required injection amount of the second water injection facility 5b. The first feedback unit 13 feeds back the estimated value T'C of the temperature of the rolled material 7 as part of the feedback value. As a result, the responsiveness of the temperature control device 11 is determined.
  • the second feedback unit 14 calculates a value obtained by delaying by the amount the phase of the dead time with respect to the predicted value T'C of the computed temperature of the rolled material 7 by the first feedback portion 13 by using a dead time model 14a .
  • the second feedback unit 14 wasted to the prediction value T'C of the temperature of the rolled material 7, which is calculated by the coiling temperature T C and the first feedback portion 13 of the strip 7, which is measured by winding the thermometer 10
  • the deviation from the value obtained by delaying the phase by the time is calculated.
  • the second feedback unit 14 feeds back the value obtained by passing the low-pass filter 14b with respect to the deviation as the other part of the feedback value.
  • FIG. 4 is a diagram showing a simulation result of control by the temperature control device for rolled material in Embodiment 1 of the present invention.
  • the horizontal axis of FIG. 4 represents time.
  • the vertical axis in FIG. 4 represents temperature.
  • the finishing temperature Tf is set to 900 (° C.).
  • Control delay T SC in the operation of the water injection valve of the second water injection facility 5b is set to 1.5 (s).
  • Constant T S when the water injection valve of the second water injection facility 5b is set to 0.5 (s).
  • Temperature drop T D FWD of the strip 7 according to the first water injection facility 5a is set to 100 (° C.).
  • the dead time T t due to the transfer delay is set to 3 (s).
  • estimates T'SC of the control delay in the operation of the water injection valve of the second water injection facility 5b is set to 0.5 (s).
  • the estimated value T ′ S of the time constant of the water injection valve of the second water injection facility 5b is set to 0.3 (s).
  • Estimate T'P of the time constant of the cooling process is set at 1.5 (s).
  • the estimated value T ′ D FWD of the temperature drop of the rolled material 7 by the first water injection facility 5a is set to 200 (s).
  • the estimated value T ′ t of the dead time due to the transfer delay is set to 2.4 (s).
  • the cutoff frequency is set to 0.12 (rad / s).
  • the target value T target of the temperature of the rolled material 7 is set to 600 (° C.). As shown in FIG. 4, the coiling temperature T C of the rolled material 7, undershoot does not occur. Therefore, the coiling temperature T C of the strip 7 is stably and accurately follows the target value T target.
  • the model error value is fed back to the PI controller 12 in a low frequency region that is less likely to be unstable. Therefore, it is possible in the region of low frequencies, to eliminate a steady deviation between the target value T target temperature of the rolled material 7 and the coiling temperature T C of the rolled material 7. As a result, the influence of the model error value can be suppressed in a short time while maintaining stable responsiveness.
  • the initial value of the cutoff frequency of the low-pass filter 14 b is set to 0 (rad / s), and the cutoff frequency of the low-pass filter 14 b is adjusted after the temperature control of the rolled material 7 is started. Good.
  • the steady-state deviation from the time rate of change of the winding temperature T C of the rolled material 7 becomes equal to or less than a preset threshold has occurred continuously the value of the cutoff frequency of the low pass filter 14b from 0 Just raise it. Thereafter, the change in the cut-off frequency may be terminated when the steady-state deviation becomes smaller than a preset value.
  • the cutoff frequency of the low pass filter 14b should continuously increase the value of the cutoff frequency of the low pass filter 14b from 0 from the time when the deviation between the coiling temperature T C and the target value T target of the strip 7 is smaller than a predetermined threshold value That's fine. Thereafter, the change in the cut-off frequency may be terminated when the steady-state deviation becomes smaller than a preset value.
  • FIG. 5 is a hardware configuration diagram of the temperature control device for the rolled material according to Embodiment 1 of the present invention.
  • Each function of the temperature control device 11 can be realized by a processing circuit.
  • the processing circuit includes at least one processor 19a and at least one memory 19b.
  • the processing circuit comprises at least one dedicated hardware 20.
  • each function of the temperature control device 11 is realized by software, firmware, or a combination of software and firmware.
  • At least one of software and firmware is described as a program.
  • At least one of software and firmware is stored in at least one memory 19b.
  • At least one processor 19a reads out and executes a program stored in at least one memory 19b, thereby realizing each function of the temperature control device 11.
  • the at least one processor 19a is also referred to as a CPU (Central Processing Unit), a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP.
  • the at least one memory 19b is a nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.
  • the processing circuit comprises at least one dedicated hardware 20
  • the processing circuit is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. is there.
  • each function of the temperature control device 11 is realized by a processing circuit.
  • each function of the temperature control device 11 is collectively realized by a processing circuit.
  • a part of each function of the temperature control device 11 may be realized by the dedicated hardware 20, and the other part may be realized by software or firmware.
  • the functions of the PI controller 12 are realized by a processing circuit as the dedicated hardware 20, and for functions other than the PI controller 12, at least one processor 19a reads a program stored in at least one memory 19b. It may be realized by executing.
  • the processing circuit realizes each function of the temperature control device 11 by the hardware 20, software, firmware, or a combination thereof.
  • FIG. FIG. 6 is a block diagram showing feedback control by the temperature control device for rolled material in Embodiment 2 of the present invention.
  • symbol is attached
  • the first feedback unit 13 corrects the temperature model 13a based on the value that has passed through the low-pass filter 14b.
  • the second feedback unit 14 corrects the dead time model 14a based on the value that has passed through the low-pass filter 14b.
  • the temperature model 13a and the dead time model 14a are corrected based on values that have passed through the low-pass filter 14b. For this reason, the temperature model 13a and the dead time model 14a can be corrected stably without abrupt changes.
  • FIG. 7 is a configuration diagram of a main portion of a hot rolling line to which a rolled material temperature control apparatus according to Embodiment 3 of the present invention is applied.
  • symbol is attached
  • the finish entry side thermometer 21 is provided on the entry side of the finish rolling mill 4.
  • the finish delivery thermometer 22 is provided on the exit side of the finish rolling mill 4.
  • the plurality of cooling devices 23a to 23f are provided between adjacent stands 4a.
  • the plurality of cooling devices 23a to 23f are arranged in order from the entry side of the cooling device 23.
  • the input unit of the temperature control device 11 is connected to the output unit of the finishing input side thermometer 21 and the output unit of the finishing output side thermometer 22.
  • the output unit of the temperature control device 11 includes an input unit of the cooling device 23a, an input unit of the cooling device 23b, an input unit of the cooling device 23c, an input unit of the cooling device 23d, an input unit of the cooling device 23e, and an input unit of the cooling device 23f. And connected to.
  • the finish entry side thermometer 21 measures the temperature T e (° C.) of the rolled material 7 on the entry side of the finish rolling mill 4.
  • the finish delivery thermometer 22 measures the temperature T f (° C.) of the rolled material 7 on the exit side of the finish rolling mill 4.
  • Temperature control device 11 calculates a required injection amount of the required injection amount and the cooling device 23c of the required injection quantity of the cooling device 23a based on the temperature T e of the strip 7 at the entry side of the finishing mill 4 cooling device 23b To do.
  • the temperature control device 11 performs a feedforward control on the water injection valve of the cooling device 23a by outputting a signal VISC1 corresponding to the required water injection amount of the cooling device 23a.
  • the temperature control device 11 performs feedforward control on the water injection valve of the cooling device 23b by outputting a signal VISC2 corresponding to the required water injection amount of the cooling device 23b.
  • the temperature control device 11 performs a feedforward control on the water injection valve of the cooling device 23c by outputting a signal VISC3 corresponding to the required water injection amount of the cooling device 23c.
  • the temperature control device 11 calculates the required water injection amount of the cooling device 23d, the required water injection amount of the cooling device, and the required water injection amount of the cooling device 23f based on the temperature of the rolled material 7 on the exit side of the finish rolling mill 4.
  • the temperature control device 11 performs feedback control on the water injection valve of the cooling device 23d by outputting a signal VISC4 corresponding to the required water injection amount of the cooling device 23d.
  • the temperature control device 11 performs feedback control on the water injection valve of the cooling device 23e by outputting a signal VISC5 corresponding to the required water injection amount of the cooling device 23e.
  • the temperature control device 11 performs feedback control on the water injection valve of the cooling device 23f by outputting a signal VISC6 corresponding to the required water injection amount of the cooling device 23f.
  • FIG. 8 is a block diagram showing feedback control by the temperature control device for rolled material in Embodiment 3 of the present invention.
  • the distance from the cooling device 23d, the distance from the cooling device 23e, and the distance from the cooling device 23f are different from each other. For this reason, in the cooling device 23d, the cooling device 23e, and the cooling device 23f, the dead time due to the transfer delay is also different from each other.
  • the temperature control apparatus 11 includes a plurality of PI controllers 12, a plurality of first feedback units 13, and a plurality of second feedback units 14.
  • the first set of PI controller 12, the first feedback unit 13, and the second feedback unit 14 are provided corresponding to the cooling device 23d.
  • the second set of PI controller 12, the first feedback unit 13, and the second feedback unit 14 are provided corresponding to the cooling device 23e.
  • the third set of PI controllers 12, the first feedback unit 13, and the second feedback unit 14 are provided corresponding to the cooling device 23f.
  • Each of the plurality of PI controllers 12 includes a target value T target and a feedback value of the temperature of the rolled material 7 when the rolled material 7 cooled by the plurality of cooling devices 23a to 23f reaches the finishing-side thermometer 22.
  • the control amount for the corresponding cooling device is calculated using the deviation as input.
  • Each of the plurality of first feedback units 13 is cooled by the plurality of cooling devices 23a to 23f using the temperature model 13a that does not include a dead time based on the control amount calculated by each of the plurality of PI controllers 12.
  • a predicted value of the temperature of the rolled material 7 when the rolled material 7 reaches the finishing delivery thermometer 22 is calculated.
  • Each of the plurality of first feedback units 13 feeds back the predicted value as part of a feedback value corresponding to each of the plurality of PI controllers 12.
  • Each of the plurality of second feedback sections 14 is provided to each of the cooling devices 23d to 23f with respect to the predicted value of the temperature of the rolled material 7 calculated by each of the plurality of first feedback sections 13 using the dead time model 14a. A value obtained by delaying the phase by the corresponding dead time is calculated. Each of the plurality of second feedback sections 14 is cooled with respect to the measured value of the temperature of the rolled material 7 by the finish-side thermometer 22 and the predicted value of the temperature of the rolled material 7 calculated by each of the first feedback sections 13. The deviation from the value obtained by delaying the phase by the amount of dead time corresponding to each of the devices 23d to 23f is calculated. Each of the plurality of second feedback units 14 feeds back a value obtained by passing the deviation through the low-pass filter 14b as the other part of the feedback value corresponding to each of the plurality of PI controllers 12.
  • FIG. 8 shows the PI controller 12, the first feedback unit 13, and the second feedback unit 14 corresponding to the cooling device 23f.
  • the transfer function of the PI controller 12 is represented by CISC6 .
  • the fifth block 24 shows the response of the water injection valve of the cooling device 23f.
  • the transfer function of the fifth block 24 is expressed using the control delay T SC (s) in the operation of the water injection valve of the cooling device 23f, the time constant T S (s) of the water injection valve, and the Laplace operator s.
  • the sixth block 25 shows the cooling process.
  • the transfer function of the sixth block 25 is expressed using the cooling process gain K P , the cooling process time constant T P (s), and the Laplace operator s.
  • the seventh block 26 indicates a dead time due to a transfer delay.
  • the transfer function of the seventh block 26 is expressed using a dead time T ISC6 (s) due to a transfer delay and a Laplace operator s.
  • the eighth block 27 shows the response of the finishing delivery thermometer 22.
  • the fourth block 18 is expressed using the temperature T f of the rolled material 7 measured by the finishing delivery thermometer 22 and the Laplace operator s.
  • the PI controller 12 calculates the required water injection amount VISC6 of the cooling device 23 f with the deviation between the target value T target of the temperature of the rolled material 7 and the feedback value as an input.
  • the signal VISC6 corresponding to the required water injection amount of the cooling device 23f passes through the fifth block 24 and the sixth block 25. As a result, a temperature drop T D ISC6 (° C.) of the rolled material 7 is obtained.
  • the temperature drop T D ISC6 of the rolled material 7 is added to the temperature drop T D ISC1-5 (° C.) of the rolled material 7 by the cooling devices 23a to 23e.
  • the temperature of the rolled material 7 becomes (T e + T D ISC1-5 + T D ISC6 ).
  • the temperature (T e + T D ISC1-5 + T D ISC6 ) of the rolled material 7 passes through the seventh block 26 and the eighth block 27.
  • the temperature T f of the rolled material 7 on the exit side of the finish rolling mill 4 is obtained.
  • the first feedback unit 13 calculates a predicted value T ′ f of the temperature of the rolled material 7 based on the signal VISC6 corresponding to the required water injection amount of the cooling device 23a.
  • the first feedback unit 13 feeds back the predicted value T′f of the temperature of the rolled material 7 as a part of the feedback value. As a result, the responsiveness of the temperature control device 11 is determined.
  • the second feedback unit 14 calculates a value obtained by delaying the phase by the amount of the dead time with respect to the predicted value T ′ f of the temperature of the rolled material 7 calculated by the first feedback unit 13 using the dead time model 14a. .
  • the second feedback unit 14 the dead time with respect to the finishing delivery temperature meter 22 temperature of the rolled material 7 measured by the T f and temperature predictions T'f of the strip 7, which is calculated by the first feedback portion 13
  • the deviation from the value delayed by the phase is calculated.
  • the second feedback unit 14 feeds back the value obtained by passing the low-pass filter 14b with respect to the deviation as the other part of the feedback value.
  • the model error value is fed back to the PI controller 12 in a low frequency region that is less likely to be unstable. For this reason, in the low frequency region, the steady deviation between the temperature T f of the rolled material 7 and the target value T target of the temperature of the rolled material 7 can be eliminated. As a result, the influence of the model error value can be suppressed in a short time while maintaining stable responsiveness.
  • the initial value of the cutoff frequency of the low-pass filter 14 b is set to 0 (rad / s), and the cutoff frequency of the low-pass filter 14 b is adjusted after the temperature control of the rolled material 7 is started. Good.
  • the change in the cut-off frequency may be terminated when the steady-state deviation becomes smaller than a preset value.
  • the value of the cut-off frequency of the low-pass filter 14b may be continuously increased from 0 when the deviation between the temperature Tf of the rolled material 7 and the target value Ttarget becomes smaller than a preset threshold value. Thereafter, the change in the cut-off frequency may be terminated when the steady-state deviation becomes smaller than a preset value.
  • the low-pass filter 14b of the second feedback unit 14 corresponding to the outlet side cooling device is preferentially used.
  • the cut-off frequency may be increased to For example, if the deviation between the temperature T f of the rolled material 7 and the target value T target remains even when the cutoff frequency of the low-pass filter 14b of the cooling device 23f reaches a preset frequency, the cutoff frequency of the cooling device 23e. Just raise it.
  • FIG. 9 is a block diagram showing feedback control by the temperature control device 11 of the rolled material 7 in Embodiment 4 of the present invention.
  • symbol is attached
  • each of the first feedback units 13 corrects the corresponding temperature model 13a based on the value that has passed through the corresponding low-pass filter 14b.
  • Each of the second feedback units 14 corrects the corresponding dead time model 14a based on the value that has passed through the corresponding low-pass filter 14b.
  • the temperature model 13a and the dead time model 14a are corrected based on values that have passed through the low-pass filter 14b. For this reason, the temperature model 13a and the dead time model 14a can be corrected stably without abrupt changes.
  • the PI controller 12, the first feedback unit 13 and the second feedback unit 14 of the third and fourth embodiments are the same as the PI controller, the first feedback unit, and the first feedback unit. Two feedback units may be applied. Also in this case, the influence of the model error value can be suppressed in a short time while maintaining a stable response.
  • the temperature control device for rolled material according to the present invention can be used for a system that suppresses the influence of a model error value in a short time.
  • thermometer 1 Heating furnace, 2 Rough rolling mill, 3 Induction heating device, 4 Finish rolling mill, 4a stand, 5 Cooling device, 5a 1st water injection equipment, 5b 2nd water injection equipment, 6 Winding machine, 7 Rolling material, 8 Speed detection , 9 finish thermometer, 10 take-up thermometer, 11 temperature controller, 12 PI controller, 13 1st feedback part, 13a temperature model, 14 2nd feedback part, 14a dead time model, 14b low-pass filter, 15th 1 block, 16 second block, 17 third block, 18 fourth block, 19a processor, 19b memory, 20 hardware, 21 finish input side thermometer, 22 finish exit side thermometer, 23a-23f cooling device, 24th 5 blocks, 25 6th Rock, 26 seventh block, 27 eighth block

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

Abstract

L'invention concerne un dispositif de régulation de température (11) pour un matériau laminé (7) permettant de supprimer les impacts d'une valeur d'erreur de modèle sur une courte durée. Le dispositif de régulation de température (11) pour le matériau laminé (7) comprend : un dispositif de régulation (12) servant à l'acquisition d'un écart entre une valeur cible et la valeur de rétroaction de la température du matériau laminé (7) en tant qu'entrée pour calculer un degré de régulation pour un dispositif de refroidissement (5) ; une première unité de rétroaction (13) servant à l'utilisation d'un modèle de température (13a) ne comprenant pas de temps mort sur la base de la grandeur de régulation pour calculer une valeur prédite pour la température du matériau laminé (7) et servant au renvoi de la valeur prédite ; et une seconde unité de rétroaction (14) servant à l'utilisation d'un modèle avec temps mort (14a) pour calculer une valeur de déphasage à un degré proportionnel au temps mort par rapport à la valeur prédite de la température du matériau laminé (7), au calcul de l'écart entre une valeur mesurée de la température du matériau laminé (7) et la valeur obtenue par le déphasage au degré proportionnel au temps mort par rapport à la valeur prédite de la température du matériau laminé (7) et au renvoi d'une valeur obtenue par le passage de cet écart dans un filtre passe-bas (14b).
PCT/JP2015/076013 2015-09-14 2015-09-14 Dispositif de régulation de température pour matériau laminé WO2017046846A1 (fr)

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CN201580080687.7A CN107614135B (zh) 2015-09-14 2015-09-14 轧制件的温度控制装置
JP2017540359A JP6477900B2 (ja) 2015-09-14 2015-09-14 圧延材の温度制御装置
PCT/JP2015/076013 WO2017046846A1 (fr) 2015-09-14 2015-09-14 Dispositif de régulation de température pour matériau laminé
KR1020177035401A KR102058786B1 (ko) 2015-09-14 2015-09-14 압연재의 온도 제어 장치
TW104140710A TWI590881B (zh) 2015-09-14 2015-12-04 軋延材的溫度控制裝置

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CN110802115B (zh) * 2019-11-13 2020-12-22 北京科技大学 基于数据驱动的热连轧精轧入口温度预测方法
TWI747774B (zh) * 2021-03-26 2021-11-21 中國鋼鐵股份有限公司 精軋機出口溫度估算方法
TWI763578B (zh) * 2021-08-04 2022-05-01 中國鋼鐵股份有限公司 鋼胚的粗軋出口溫度的預測方法
TWI830575B (zh) * 2023-01-11 2024-01-21 中國鋼鐵股份有限公司 鋼材軋延的方法

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JPWO2022264248A1 (fr) * 2021-06-15 2022-12-22
WO2022264248A1 (fr) * 2021-06-15 2022-12-22 東芝三菱電機産業システム株式会社 Dispositif de commande d'appareil de refroidissement
JP7338814B2 (ja) 2021-06-15 2023-09-05 東芝三菱電機産業システム株式会社 冷却装置の制御装置

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JPWO2017046846A1 (ja) 2018-02-15
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