WO2019239494A1 - 鉄鋼プラント制御装置 - Google Patents
鉄鋼プラント制御装置 Download PDFInfo
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- WO2019239494A1 WO2019239494A1 PCT/JP2018/022458 JP2018022458W WO2019239494A1 WO 2019239494 A1 WO2019239494 A1 WO 2019239494A1 JP 2018022458 W JP2018022458 W JP 2018022458W WO 2019239494 A1 WO2019239494 A1 WO 2019239494A1
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- Prior art keywords
- gain
- controller
- frequency
- deviation
- control
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 12
- 239000010959 steel Substances 0.000 title claims abstract description 12
- 230000009471 action Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 description 22
- 238000005096 rolling process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 238000005097 cold rolling Methods 0.000 description 3
- 238000005098 hot rolling Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4147—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using a programmable interface controller [PIC]
-
- 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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
-
- 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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
-
- 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
- B21B37/48—Tension control; Compression control
- B21B37/50—Tension control; Compression control by looper control
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41186—Lag
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42034—Pi regulator
Definitions
- the present invention relates to a steel plant control device.
- a simplified control method based on the simple adaptive control method has been proposed for the process to be controlled.
- This control method simplifies the configuration by determining the variable gain only with the minimum required control deviation.
- the variable gain based on the square integral value of the value related to the control deviation, when the peak value of the control deviation is large, a large gain state is maintained, and active control is performed. As a result, the peak value of the control deviation is reduced, and at the same time, the gain is returned to the original small value to stabilize the steady state.
- Japanese Patent Application Laid-Open No. 2011-138200 delays the time for returning the variable gain to the original small value by setting the time constant of the first-order lag element to a larger value in the variable gain calculation means, and occurs after the control deviation converges to zero. It is intended to respond quickly to changes in load and characteristics of the control target.
- variable gain is applied to the part other than the steady state
- the above method is difficult to adjust when it is desired to adjust only the load change or the characteristic change of the control target that may occur after the zero convergence of the control deviation.
- the present invention has been made to solve the above-described problems, and is an iron and steel plant that can immediately respond to a load change and a characteristic change of a control target that can occur after the zero convergence of a control deviation and can realize an excellent response characteristic.
- An object is to provide a control device.
- the steel plant control apparatus is configured as follows.
- the steel plant control apparatus includes a subtractor, a PI controller, a first-order lag controller, and an adder.
- the subtracter outputs a deviation e (control deviation) between the target value r and the controlled variable y fed back from the controlled object.
- the PI controller inputs the deviation e and outputs a first manipulated variable u1 for reducing the deviation e using a proportional action and an integral action.
- the first-order lag controller is arranged in parallel with the PI controller.
- Primary delay controller outputs the second manipulated variable u2 multiplied by further first-order delay element LAG multiplied by a proportional gain K p2 to the deviation e.
- the adder outputs the final operation amount u obtained by adding the second operation amount u2 to the first operation amount u1 to the control target.
- the gain of the PI controller is higher than the gain of the first-order lag controller in a band lower than the first frequency, and the first-order lag in the band from the first frequency to the second frequency higher than the first frequency.
- the gain of the controller is higher than the gain of the PI controller, and the gain of the PI controller is higher than the gain of the first-order lag controller in a band higher than the second frequency.
- the gain is increased in the band from the first frequency to the second frequency, and the other bands are hardly affected.
- the band from the first frequency to the second frequency can be adjusted in the vicinity of the fluctuating frequency due to the load change that may occur after the control deviation converges to zero or the characteristic change of the controlled object. Therefore, it is possible to immediately respond to a load change or a characteristic change of the control target that can occur after the control deviation converges to zero, and an excellent response characteristic can be realized.
- FIG. 2 is a control block diagram of a closed loop system according to the first embodiment. It is a Bode diagram showing the frequency characteristic of a transfer function. It is a chart which shows the fluctuation
- FIG. 1 is a block diagram of a closed loop system according to the first embodiment.
- the closed-loop control device shown in FIG. 1 includes a first-order lag controller 4 and an adder 5 in addition to the subtracter 2 and the PI controller 3.
- control object 1 is a finish rolling mill that is provided in a hot rolling line and rolls a material to be rolled.
- the control target 1 inputs the final manipulated variable u and outputs the controlled variable y.
- the final operation amount u is the roll gap of the final stand of the finishing mill.
- the control amount y is the thickness of the finish rolling mill exit side.
- the subtracter 2 outputs a deviation e (control deviation) between the target value r and the controlled variable y fed back from the controlled object 1.
- the control amount y is detected by a sensor.
- the sensor is a thickness gauge arranged on the exit side of the finishing mill.
- the target value r is the target plate thickness on the exit side of the finishing mill.
- the PI controller 3 (transfer function is K p1 + K i / s) will be described.
- PI control is a type of feedback control, and is a control method that combines proportional action and integral action.
- the proportional operation is an operation that changes the operation amount in proportion to the deviation e.
- the integration operation is an operation for changing the manipulated variable in proportion to the integration of the deviation e.
- the PI controller 3 inputs the deviation e and outputs a first manipulated variable u1 for reducing the deviation e using a proportional action and an integral action.
- the first-order lag controller 4 is arranged in parallel with the PI controller 3.
- the first-order lag controller 4 inputs the deviation e, multiplies the deviation e by a proportional gain Kp2 , and further, a first-order lag element LAG (transfer function is 1 / (1 + Ts), where T is The second manipulated variable u2 multiplied by the time constant is output.
- the adder 5 outputs the final operation amount u obtained by adding the output (second operation amount u2) of the primary delay controller 4 to the output (first operation amount u1) of the PI controller 3 to the control target 1.
- FIG. 2 is a Bode diagram showing the frequency characteristics of the transfer function.
- the horizontal axis is the logarithmic axis of the angular frequency ⁇ [rad / s].
- the left vertical axis is a logarithmic axis of gain [db].
- the gain curve 21 shows the gain characteristic of the first order lag control.
- the gain curve 22 shows the gain characteristic of PI control.
- a gain curve 23 shows gain characteristics obtained by adding PI control and first-order lag control.
- the gain curve 23 obtained by adding the gain curve 21 and the gain curve 22 has a gain of the PI controller 3 higher than that of the first-order lag controller 4 in a band lower than the first frequency f1, and the first In the band from the frequency f1 to the second frequency f2 higher than the first frequency f1, the gain of the first-order lag controller 4 is higher than the gain of the PI controller 3, and the PI control is performed in a band higher than the second frequency f2.
- the gain of the device 3 is higher than the gain of the first-order lag controller 4.
- the gain of the primary delay controller 4 is dominant in the band from the first frequency f1 to the second frequency f2, and in the band lower than the first frequency f1 and the band higher than the second frequency f2, PI
- the gain of the controller 3 is dominant.
- the band from the first frequency f1 to the second frequency f2 corresponds to the vicinity of the fluctuating frequency due to a load change that may occur after the deviation e converges to zero or a characteristic change of the control target. Therefore, according to the present embodiment, as indicated by the gain curve 23, only the gain near the fluctuating frequency is increased, and the other frequency bands are hardly affected.
- the target value can be tracked quickly.
- the “change in load or change in characteristics of the controlled object” includes the temperature of the plate, the expansion of the machine due to heat, and roll eccentricity.
- FIG. 3 is a chart showing fluctuations in the deviation e of the sheet thickness on the exit side of the finishing mill when the primary delay controller 4 is not provided (only the PI controller 3).
- FIG. 4 is a chart showing fluctuations in the deviation e of the thickness on the exit side of the finishing mill when the first-order lag controller 4 is added in parallel with the PI controller 3.
- the deviation e of the sheet thickness is once within an allowable range (between the upper limit 31 and the lower limit 32) by PI control. Converge to (zero convergence). However, it cannot respond to the load change after the zero convergence or the characteristic change of the controlled object, and deviates from the allowable range.
- the PI is mainly used.
- the deviation e of the plate thickness converges within a target range (between the upper limit value 31 and the lower limit value 32).
- the proportional gain Kp2 and the time constant T are adjusted so that the gain between the first frequency and the second frequency is increased. Therefore, even when there is a load change or a characteristic change of the control target after the deviation e has converged to zero, the convergence to the target value is quick and the deviation e can be stabilized within the target range.
- the steel plant control device is a control outside the band from the first frequency f1 to the second frequency for large changes other than the load change after zero convergence and the characteristic change of the control target. To achieve convergence by PI control.
- FIG. 5 is a diagram showing a system configuration around the looper of the cold rolling line.
- the steel plant control apparatus uses a control amount y detected by the tension meter 53 between the bridle roll 51 and the loop car 52 downstream thereof as a feedback signal, and a deviation between the control amount y and the target value r. It can also be applied to the one that outputs the final operation amount u of the loop car 52 so that the value converges to 0.
- the steel plant control device uses the control amount y detected by the tension meter 56 between the bridle roll 54 downstream of the loop car 52 and the continuous rolling mill 55 downstream thereof as a feedback signal
- the present invention can also be applied to an apparatus that outputs the final operation amount u of the bridle roll 54 so that the deviation from the target value r converges to zero.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Human Computer Interaction (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Control Of Metal Rolling (AREA)
- Feedback Control In General (AREA)
Abstract
Description
[閉ループ系の構成]
図1は、実施の形態1に係る閉ループ系のブロック線図である。図1に示す閉ループ系の制御装置は、減算器2、PI制御器3に加えて、1次遅れ制御器4および加算器5を備える。
ところで、上述した実施の形態1のシステムにおいては、熱間圧延ラインの仕上圧延機出側の板厚制御を例に説明したが、本発明の適用対象は限定されるものではない。例えば、冷間圧延ラインの張力制御にも適用できる。図5は、冷間圧延ラインのルーパー周辺のシステム構成を示す図である。
2 減算器
3 PI制御器
4 1次遅れ制御器
5 加算器
31 上限値
32 下限値
51,54 ブライドルロール
52 ループカー
53,56 張力計
55 連続圧延機
f1 第1周波数
f2 第2周波数
Kp2 比例ゲイン
LAG 1次遅れ要素
r 目標値
T 時定数
u 最終操作量
u1 第1操作量
u2 第2操作量
y 制御量
ω 角周波数
Claims (1)
- 目標値と制御対象からフィードバックされた制御量との偏差を出力する減算器と、
前記偏差を入力し、比例動作および積分動作を用いて、該偏差を小さくするための第1操作量を出力するPI制御器と、
前記偏差に比例ゲインを乗じさらに1次遅れ要素を乗じた第2操作量を出力する1次遅れ制御器と、
前記第1操作量に前記第2操作量を加えた最終操作量を前記制御対象へ出力する加算器と、を備え、
第1周波数よりも低い帯域において前記PI制御器のゲインが前記1次遅れ制御器のゲインよりも高く、かつ、前記第1周波数から前記第1周波数よりも高い第2周波数までの帯域において前記1次遅れ制御器のゲインが前記PI制御器のゲインがよりも高く、かつ、前記第2周波数よりも高い帯域において前記PI制御器のゲインが前記1次遅れ制御器のゲインよりも高いこと、
を特徴とする鉄鋼プラント制御装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201880093746.8A CN112154382B (zh) | 2018-06-12 | 2018-06-12 | 钢铁设备控制装置 |
US16/978,190 US11880187B2 (en) | 2018-06-12 | 2018-06-12 | Steel plant control device |
PCT/JP2018/022458 WO2019239494A1 (ja) | 2018-06-12 | 2018-06-12 | 鉄鋼プラント制御装置 |
KR1020207032770A KR102359397B1 (ko) | 2018-06-12 | 2018-06-12 | 철강 플랜트 제어 장치 |
BR112020020071-9A BR112020020071A2 (pt) | 2018-06-12 | 2018-06-12 | Dispositivo de controle de planta de aço |
JP2020524989A JP6996624B2 (ja) | 2018-06-12 | 2018-06-12 | 鉄鋼プラント制御装置 |
TW107127989A TWI691820B (zh) | 2018-06-12 | 2018-08-10 | 鋼鐵廠控制裝置 |
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PCT/JP2018/022458 WO2019239494A1 (ja) | 2018-06-12 | 2018-06-12 | 鉄鋼プラント制御装置 |
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WO2019239494A1 true WO2019239494A1 (ja) | 2019-12-19 |
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US (1) | US11880187B2 (ja) |
JP (1) | JP6996624B2 (ja) |
KR (1) | KR102359397B1 (ja) |
CN (1) | CN112154382B (ja) |
BR (1) | BR112020020071A2 (ja) |
TW (1) | TWI691820B (ja) |
WO (1) | WO2019239494A1 (ja) |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007134823A (ja) * | 2005-11-08 | 2007-05-31 | Nippon Steel Corp | フィルタ装置、及びそれを用いたフィードバック制御装置 |
JP2011138200A (ja) * | 2009-12-25 | 2011-07-14 | Mitsubishi Heavy Ind Ltd | 適応制御装置 |
Family Cites Families (11)
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KR940005028A (ko) * | 1992-08-27 | 1994-03-16 | 정장호 | 전자교환기의 아이에스디엔(isdn)가입자 인터페이스 |
JP3164667B2 (ja) * | 1992-10-08 | 2001-05-08 | 株式会社東芝 | 調節装置 |
US5616994A (en) * | 1994-01-12 | 1997-04-01 | Mitsubishi Denki Kabushiki Kaisha | Drive circuit for brushless motor |
JPH1124706A (ja) * | 1997-07-08 | 1999-01-29 | Mitsubishi Electric Corp | フィードバック制御装置 |
JP2001150113A (ja) | 1999-09-14 | 2001-06-05 | Sumitomo Metal Ind Ltd | 連続鋳造機の湯面レベル制御方法および制御装置 |
US6415215B1 (en) * | 2000-02-23 | 2002-07-02 | Koyo Seiko Co., Ltd. | Vehicle attitude control apparatus |
US7599752B2 (en) | 2005-05-17 | 2009-10-06 | Utah State University | Tuning methods for fractional-order controllers |
DE112011100347B4 (de) * | 2010-01-27 | 2020-07-23 | Mitsubishi Electric Corporation | Motorsteuervorrichtung |
TWI417690B (zh) * | 2010-12-20 | 2013-12-01 | Ind Tech Res Inst | 控制系統 |
JP6494648B2 (ja) * | 2014-10-09 | 2019-04-03 | 三菱電機株式会社 | 制御装置及び制御方法 |
TWI595343B (zh) * | 2016-12-07 | 2017-08-11 | 強弦科技股份有限公司 | 依據限流次數設定導通時間之功率控制器 |
-
2018
- 2018-06-12 JP JP2020524989A patent/JP6996624B2/ja active Active
- 2018-06-12 BR BR112020020071-9A patent/BR112020020071A2/pt unknown
- 2018-06-12 KR KR1020207032770A patent/KR102359397B1/ko active IP Right Grant
- 2018-06-12 CN CN201880093746.8A patent/CN112154382B/zh active Active
- 2018-06-12 WO PCT/JP2018/022458 patent/WO2019239494A1/ja active Application Filing
- 2018-06-12 US US16/978,190 patent/US11880187B2/en active Active
- 2018-08-10 TW TW107127989A patent/TWI691820B/zh active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007134823A (ja) * | 2005-11-08 | 2007-05-31 | Nippon Steel Corp | フィルタ装置、及びそれを用いたフィードバック制御装置 |
JP2011138200A (ja) * | 2009-12-25 | 2011-07-14 | Mitsubishi Heavy Ind Ltd | 適応制御装置 |
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TW202001456A (zh) | 2020-01-01 |
US20210223759A1 (en) | 2021-07-22 |
TWI691820B (zh) | 2020-04-21 |
CN112154382B (zh) | 2023-03-24 |
CN112154382A (zh) | 2020-12-29 |
JPWO2019239494A1 (ja) | 2021-04-22 |
BR112020020071A2 (pt) | 2021-01-05 |
KR102359397B1 (ko) | 2022-02-08 |
JP6996624B2 (ja) | 2022-01-17 |
US11880187B2 (en) | 2024-01-23 |
KR20200140901A (ko) | 2020-12-16 |
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