WO2022209295A1 - 圧延機の異常振動検出方法、異常検出装置、圧延方法および金属帯の製造方法 - Google Patents
圧延機の異常振動検出方法、異常検出装置、圧延方法および金属帯の製造方法 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
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- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
Definitions
- the present invention relates to a method for detecting vibration generated in a rolling mill that makes a steel plate a predetermined thickness, and more particularly, to a method, an abnormality detection device, a rolling method, and a method for detecting abnormal vibration of a rolling mill that causes defects on the surface of a steel plate. It relates to a method of manufacturing a band.
- steel sheets used for automobiles, beverage cans, etc. are subjected to continuous casting, hot rolling and cold rolling, and after undergoing annealing and plating processes, are processed according to their intended use.
- the cold rolling process is the final process for determining the thickness of the steel sheet as a product. Since the steel sheet surface before plating determines the surface of the final product after plating, a function to prevent surface defects in the cold rolling process is required.
- Chatter marks are one of the surface defects that occur during the cold rolling process.
- a chatter mark is a pattern in which linear marks appear periodically in the width direction of a metal strip in the longitudinal direction, and is said to be generated mainly by vibration (chattering) of a rolling mill.
- one of the causes of chatter marks is polygonal deformation of support rolls (see Non-Patent Document 1).
- Non-Patent Document 1 when specific conditions are met in the rolling mill, self-excited vibration causes streak patterns in the width direction similar to chatter marks on the support rolls, and the marks on the support rolls become a new source of vibration.
- a mechanism is disclosed in which a large vibration is generated at a high pressure and chatter marks are generated on the steel plate.
- Patent Document 1 vibration is measured by a vibration detector attached to a rolling mill, frequency analysis is performed on the obtained vibration and rolling parameters, and chattering is determined based on the signal strength of the frequency that can occur for each vibration generation factor. It describes how to do it.
- vibration detectors are arranged not only in the main body of the rolling mill, but also between each stand and on the entry and exit side of the cold rolling mill, and are arranged on rolls (small diameter rolls) on which metal sheets are wound at a certain angle or more. It is Then, a method is disclosed in which frequency analysis is performed on the vibration value obtained by the vibration meter, and when the frequency that matches the string vibration frequency of the steel plate exceeds a threshold value, it is determined that abnormal vibration has occurred.
- Non-Patent Document 1 if vibration caused by chatter marks on the support roll can be detected early, it is possible to suppress the occurrence of chatter marks on the metal band.
- noise generated from peripheral equipment of the rolling mill and vibration generated from a vibration source installed in the main body of the rolling mill are simultaneously detected, resulting in erroneous detection.
- Patent Documents 2 and 3 it is possible to suppress the occurrence of vibration due to string vibration, but it is difficult to detect vibration caused by other vibration sources.
- the conveying speed (rolling speed) of the metal strip differs from stand to stand. As a result, the rotation speed of the work roll differs for each stand, and vibrations of multiple frequencies are superimposed, which makes it more difficult to detect chattering.
- the present invention has been made in view of the above problems, and provides an abnormal vibration detection method for a rolling mill, an abnormality detection device, a rolling method, and a metal strip manufacturing method for accurately detecting abnormal vibration that causes chatter marks. It is intended to
- a method for detecting abnormal vibration of a rolling mill having a pair of work rolls and a plurality of support rolls supporting the work rolls comprising: a collection step of collecting vibration data of the rolling mill; a frequency analysis step of performing frequency analysis to generate first analysis data; performing principal component analysis on the first analysis data using reference data specified in advance based on a normal state as a principal component; a principal component analysis step of generating evaluation data that is a projection of the first analysis data onto the reference data; extracting deviation components from the evaluation data and the first analysis data; and an abnormal vibration detection step for detecting an abnormality in the rolling mill.
- the abnormal vibration detection method for a rolling mill according to [1], wherein in the principal component analysis step, the principal components extracted as the reference data are set for each rolling speed in the rolling mill.
- the frequency analysis step generates the vibration intensity for each frequency as the first analysis data, and converts the first analysis data to second analysis data indicating the vibration intensity for each pitch based on the rolling speed.
- the principal component analysis step performs a principal component analysis on the second analysis data.
- the plurality of principal components extracted as the reference data are obtained by subjecting the normal analysis data obtained when rolling is performed by the normal rolling mill to the principal component analysis.
- An abnormality detection device for a rolling mill having a pair of work rolls and a plurality of support rolls supporting the work rolls comprising: a data collection unit for collecting vibration data of the rolling mill; A frequency analysis unit that performs frequency analysis and generates first analysis data, and performs principal component analysis on the first analysis data using reference data that is specified in advance based on a normal state as a main component, a principal component analysis unit that generates evaluation data that is a projection of the first analysis data onto the reference data; and an abnormality detection unit for detecting an abnormality in the rolling mill.
- a method for producing a metal strip comprising the step of producing a metal strip using the rolling method described in [7] above.
- abnormal vibrations that generate chatter marks on the metal band are evaluated from the outlier components of the evaluation data generated by the principal component analysis.
- FIG. 1 is a schematic diagram showing an example of a rolling facility to which an abnormality detection device for a rolling mill according to the present invention is applied; 1 is a functional block diagram showing a preferred embodiment of an abnormality detection device for a rolling mill according to the present invention;
- FIG. FIG. 10 is a graph of Invention Example 1 in which deviation components from the main component are divided for each frequency;
- FIG. 10 is a graph of Invention Example 2 showing deviation components for each standard pitch.
- 7 is a graph showing Comparative Examples 1 and 2 using thresholds for vibration intensity.
- 10 is a graph of Invention Example 3 showing deviation components for each standard pitch.
- 9 is a graph showing Comparative Example 3 using a threshold for vibration intensity.
- FIG. 6 is a functional block diagram showing another preferred embodiment of the abnormality detection device for a rolling mill of the present invention;
- FIG. 9 is a functional block diagram showing still another preferred embodiment of the abnormality detection device for rolling mills of the present invention;
- FIG. 1 is a schematic diagram showing an example of a rolling facility to which the abnormality detection device for a rolling mill of the present invention is applied.
- a rolling facility 1 in FIG. 1 is a cold rolling facility that cold-rolls a steel strip that is, for example, a metal strip S, and four rolling mills 2A, 2B, 2C, and 2D (4 stands) are arranged along the rolling direction. It is Each of the rolling mills 2A, 2B, 2C, and 2D has substantially the same configuration. 4 and a driving device 6 for rotating the work rolls 4 . Further, small-diameter rolls 7 on which the metal strip S to be rolled is stretched are installed downstream of the respective rolling mills 2A, 2B, 2C, and 2D in the rolling direction.
- Vibrometers 8A, 8B, 8C and 8D are attached to the housings 3 of the rolling mills 2A, 2B, 2C and 2D, respectively.
- Vibration meters 8A, 8B, 8C, and 8D measure vibrations generated in the rolling mills 2A, 2B, 2C, and 2D, respectively, and consist of, for example, acceleration sensors.
- the vibration meters 8A, 8B, 8C, and 8D are not limited to the housing 3 as long as they are installed at positions where they can detect vibrations of the rolling mills 2A, 2B, 2C, and 2D. It may be installed in the small diameter roll 7 grade
- the vibration meters 8A, 8B, 8C, and 8D are installed on the small-diameter rolls 7, the vibration data acquired by the vibration meters 8A, 8B, 8C, and 8D are obtained in the rolling direction of the metal strip S. , vibrations of the rolling mills 2A, 2B, 2C and 2D arranged upstream of the small-diameter rolls 7 on which the vibration meters 8A, 8B, 8C and 8D are installed.
- the rolling speed in the present embodiment means the peripheral speed of the work rolls 4 in the rolling mills 2A, 2B, 2C, and 2D or the conveying speed (delivery speed) of the metal strip S on the delivery side of the rolling mills 2A, 2B, 2C, and 2D.
- the rolling speed is determined by the rolling mills 2A, 2B, 2C, and 2D where the vibrometers 8A, 8B, 8C, and 8D are installed (in the following description, the locations where the vibrometers 8A, 8B, 8C, and 8D are installed are referred to as stands. may be specified).
- the vibration meters 8A, 8B, 8C, and 8D are installed on the small-diameter rolls 7, the vibration data acquired by the vibration meters 8A, 8B, 8C, and 8D are obtained from the rolling mills 2A, 2B arranged upstream thereof. , 2C, and 2D.
- the standard rolling speed in this embodiment is an arbitrary rolling speed set for each of the rolling mills 2A, 2B, 2C, and 2D.
- a rolling speed empirically recognized as the rolling speed in the rolling mills 2A, 2B, 2C, and 2D where chattering is likely to occur may be selected.
- 900 m/min may be selected from the rolling speed range of 800 m/min or more and 1300 m/min or less where chattering is likely to occur.
- the standard rolling speeds in the rolling mills 2A, 2B, and 2C on the upstream side of the final stand 2D are based on the standard rolling speed set for the final stand 2D, and according to the pass schedule that is set as standard. You can set it.
- FIG. 2 is a functional block diagram showing a preferred embodiment of the rolling mill abnormality detection device of the present invention.
- the configuration of the abnormality detection device 10 for the rolling mill in FIG. 2 is constructed by hardware resources such as a computer, for example.
- a rolling mill abnormality detection device 10 detects abnormal vibrations of the rolling mills 2A, 2B, 2C, and 2D that generate chatter marks. 13 and an abnormality detection unit 15 .
- the abnormality detection device 10 may include a data conversion section 14, which will be described later.
- the data collection unit 11 collects vibration data detected by each of the vibrometers 8A, 8B, 8C, and 8D.
- the vibration meters 8A, 8B, 8C, and 8D are acceleration sensors
- the vibration acceleration data are sent to the data collection unit 11 from the vibration meters 8A, 8B, 8C, and 8D.
- the data collection unit 11 continuously acquires acceleration data.
- the data collecting unit 11 time-integrates the acceleration data measured within a preset data sampling time (for example, a period of 0.2 seconds), converts it into velocity data, and converts it into velocity data. Vibration data is collected at each time, that is, at each data sampling time. As a result, the vibration data are vibration velocities arranged in chronological order.
- the data collection unit 11 performs measurement and calculation of vibration data for 0.2 seconds as a data sampling time, for example, at a preset data acquisition cycle (for example, every 1 second).
- the data sampling time in the continuous cold rolling mill is preferably set to 0.1 seconds or more and 1 second or less, and the data acquisition period is preferably set to 1 second or more and 5 seconds or less. If the data sampling time is less than 0.1 seconds, it may not be possible to obtain enough data to identify the vibration of the rolling mill, and if it exceeds 1 second, the calculation load for frequency analysis, etc. may increase. so to avoid them. Also, if the data acquisition cycle is less than 1 second, the calculation load for frequency analysis, etc.
- the data collection unit 11 collects vibration data from each of the vibrometers 8A, 8B, 8C, and 8D.
- Vibration meter 8D (8A, 8B, 8C) may be configured to collect vibration data.
- Rolling mill (stand) 2D (2A, 2B, 2C) where the vibrometer 8D (8A, 8B, 8C) is installed based on the vibration data collected by any one of the vibrometers 8D (8A, 8B, 8C) ) can be reliably detected.
- the vibration meters 8A, 8B, 8C, and 8D may be not only acceleration sensors, but also position sensors or speed sensors capable of measuring vibrations. This is because acceleration, velocity, and displacement data can be mutually converted by time integration and time differentiation.
- the frequency analysis unit 12 frequency-analyzes the vibration data collected within the data sampling time by the data collection unit 11, and analyzes the analysis data (hereinafter referred to as first analysis data) consisting of the vibration intensity for each frequency according to the data acquisition cycle. generated for each
- the frequency analysis unit 12 extracts the amplitude and phase of the vibration velocity for each frequency by Fourier transform, for example, and extracts the absolute value of the amplitude of the vibration velocity at each frequency as the vibration intensity.
- the frequency after Fourier transform of digital data becomes a discrete value depending on the number of data to be Fourier transformed and the sampling frequency.
- a plurality of frequencies are set for the frequency analysis unit 12 to perform frequency analysis, and these are referred to as reference frequencies.
- a plurality of frequencies may be arbitrarily selected from a frequency band equal to or less than half the sampling frequency of the vibration meters 8A, 8B, 8C, and 8D as the reference frequency.
- the sampling frequency is the number of times the vibration meter measures vibration (for example, acceleration) per second, and varies depending on the specifications of the vibration meter used.
- the lowest sampling frequency among the sampling frequencies of the plurality of vibrometers 8A, 8B, 8C, and 8D may be used as the representative value. It is preferable to select 20 or more and 1600 or less frequencies from a frequency band of 1/2 or less of the sampling frequency as the reference frequency.
- the frequency analysis unit 12 sets the sampling frequency of the vibrometers 8A, 8B, 8C, and 8D to 5120 Hz, sets the reference frequency every 5 Hz (400 in total) in the frequency range of 5 Hz to 2000 Hz, and sets the reference frequency to Analyze vibration intensity.
- the frequency analysis unit 12 is not limited to the Fourier transform as long as it can analyze vibration data into vibration intensity for each frequency, and can use a known frequency analysis method such as a wavelet transform or a windowed Fourier transform. In that case also, the same method as described above may be used for setting the reference frequency.
- the principal component analysis unit 13 performs principal component analysis using reference data indicating a normal state on the first analysis data generated by the frequency analysis unit 12, and generates evaluation data.
- Evaluation data refers to data obtained by projecting observation data (first analysis data in this embodiment) onto a space configured by principal component vectors. That is, the evaluation data is specified by a scalar quantity obtained by projecting the observation data in the direction of each of a plurality of principal component vectors, and is composed of information on the same number of scalar quantities as the number of principal component vectors. Note that when the first analysis data about the vibration intensity for each frequency generated by the frequency analysis unit 12 is used as it is, the principal component analysis unit 13 performs the principal component analysis of the first analysis data consisting of the vibration intensity for each frequency.
- Principal component analysis consists of an analysis that synthesizes a small number of uncorrelated variables called principal components that best represent the overall variation from a large number of correlated variables, and a preset principal component vector. Although it may be used in both senses of computation for calculating the projection of observation data for space, the principal component analysis executed by the principal component analysis unit 13 of this embodiment is used in the latter sense. do. That is, the principal component analysis unit 13 in this embodiment calculates the projection (evaluation data) of the first analysis data with respect to the space configured by the principal component vector (reference data) representing the preset normal state. It has a function to
- the first to i-th principal components (reference data) used in the principal component analysis performed by the principal component analysis unit 13 are the frequencies obtained when the rolling mills 2A, 2B, 2C, and 2D are not generating abnormal vibrations. It is set based on the vibration intensity (reference vibration data) for each vibration. That is, in normal operation, the frequency analysis unit 12 performs frequency analysis on the vibration data collected by the data collection unit 11 to generate reference vibration data indicating the vibration intensity for each reference frequency for each data acquisition cycle.
- a principal component deriving unit 16 which will be described later, performs a principal component analysis on the reference vibration data to generate reference data.
- the principal component analysis performed by the principal component deriving unit 16 means an analysis of synthesizing a small number of uncorrelated principal component vectors that best represent the overall variation from a large number of correlated variables.
- a normal state in which the rolling mills 2A, 2B, 2C, and 2D do not generate abnormal vibration means a state in which abnormal vibration does not occur in any of the rolling mills 2A, 2B, 2C, and 2D at the standard rolling speed. . Abnormal vibration will be described later.
- the reference vibration data is, for example, based on vibration data measured during rolling within 12 hours after the support rolls 5 are replaced with new ones.
- the reference vibration data may be referred to as normal analysis data as data obtained by analyzing normal vibration behavior in which abnormal vibration does not occur.
- the reference vibration data may be based on vibration data measured during rolling within 24 hours after the support rolls 5 are replaced with new ones. This is because it is empirically known that it takes at least two days for the support roll 5 to wear into a polygonal shape, and that abnormal vibration does not occur for about two days after the support roll 5 is replaced with a new one. is.
- the data sampling time for acquiring the reference vibration data should be set to be the same as the data sampling time for detecting anomalies during operation (after 24 hours have passed since the support roll 5 was replaced with a new one). preferable.
- the data acquisition cycle may be set to a different cycle for acquiring reference vibration data and for acquiring vibration data during operation.
- a plurality of reference vibration data are generated for each data acquisition cycle acquired during normal operation, with the vibration intensity for each frequency acquired within the data sampling time as one data set. Therefore, the reference vibration data has multiple data sets.
- the number of data sets included in the reference vibration data is preferably 30,000 or more and 200,000 or less.
- the reference data calculated using the vibration intensity for each reference frequency in the normal state which is determined in this way, is hereinafter sometimes referred to as the first reference data.
- a cumulative value is calculated by accumulating the contribution rate of the first principal component representing the feature amount of the reference vibration data in the principal component space in descending order of the contribution rate, and the cumulative value of the calculated contribution rate (cumulative contribution i principal components are selected as reference data from the conditions under which the ratio) reaches a preset value.
- the preset cumulative contribution rate is referred to as a reference contribution rate or a set contribution rate.
- the reference contribution rate in this embodiment can be arbitrarily set from a numerical value of 1 (100%) or less based on the chatter mark occurrence record.
- the reference contribution ratio is preferably set at 0.4 (40%) or more and 0.7 (70%) or less, more preferably 0.6 (60%) or more and 0.7 (70%) or more. %) or less.
- the reference contribution rate is an index that affects the degree (reproducibility) of reproducing the vibration behavior of the reference vibration data in the principal component space. If the reference contribution rate is too large, the vibration behavior of the reference vibration data can be reproduced with high accuracy in the principal component space, but the measurement noise included in the reference vibration data will also be reproduced in the principal component space.
- the reference contribution rate is too small, the influence of the measurement noise contained in the reference vibration data can be eliminated, but the feature of the vibration behavior of the reference vibration data tends to be lost in the principal component space.
- the preferred range of the reference contribution rate depends on the rolling mill used and the rolling conditions of the steel sheet, it is preferable to set the above range for the purpose of detecting abnormal vibration of the tandem rolling mill.
- a principal component derivation section 16 that derives principal components using reference vibration data (normal analysis data) generated in the frequency analysis section 12 of the abnormality detection device 10 for the rolling mill.
- the principal component deriving unit 16 analyzes a plurality of correlated reference vibration data to specify a principal component vector that best expresses the overall variation with a small number of uncorrelated data.
- the first to i-th principal components obtained by the principal component derivation unit 16 are sent to the principal component analysis unit 13, and the analysis data acquired by the principal component analysis unit 13 during operation (specifically, the A projection (evaluation data) from the first principal component of the first analysis data or the second analysis data described later) to the i-th principal component may be calculated.
- the frequencies at which chatter marks are likely to occur in the rolling mills 2A, 2B, 2C, and 2D are known in advance, a plurality of frequencies similar to those frequencies are obtained in advance when deriving the principal components in the principal component deriving unit 16.
- the number of variables used for the principal component analysis in the principal component analysis unit 13 may be reduced by selection.
- the abnormality detection unit 15 determines the occurrence of abnormal vibration based on the evaluation data generated by the principal component analysis unit 13. Specifically, the abnormality detection unit 15 detects the first principal component of the analysis data generated by the principal component analysis unit 13 in the analysis data (specifically, the first analysis data and the second analysis data described later). A difference from the projection (evaluation data) for the i principal component is calculated and specified as an outlier component. Since the reference data represents the feature quantity of the normal vibration data, the abnormal vibration appears in a direction deviating from the reference data. Then, the abnormal vibration is determined by monitoring the deviation component, which is the degree of deviation of the analysis data acquired during operation by the principal component analysis unit 13 from the reference data (from the first principal component to the i-th principal component). can be done.
- the deviation component which is the degree of deviation of the analysis data acquired during operation by the principal component analysis unit 13 from the reference data (from the first principal component to the i-th principal component).
- the outlier component is sometimes called the Q statistic.
- the abnormality detection unit 15 has a threshold for determining abnormal vibration from the deviation component, and determines that abnormal vibration is occurring when the deviation component is equal to or greater than the threshold.
- the threshold value used in the abnormality detection unit 15 can be set based on the actual value of the vibration intensity obtained under the condition that chatter marks do not occur, based on the past operational results.
- the principal component analysis unit 13 described above performs principal component analysis on the first analysis data indicating the vibration intensity for each frequency.
- abnormal vibrations are often vibrations that occur at one pitch of a rotating body, which will be described later, and chatter marks may occur due to abnormal vibrations caused by the rotation of the support rolls 5 .
- the frequency of the abnormal vibration corresponding to the rotational motion of the equipment constituting the rolling mills 2A, 2B, 2C, and 2D varies depending on the rolling speed. Therefore, it is preferable that the principal component analysis unit 13 calculates the projection from the first principal component of the analysis data extracted as the evaluation data for each rolling speed to the i-th principal component.
- the reference vibration data is acquired for each rolling speed, and the main component deriving unit 16 generates the reference data for each rolling speed. is preferred. This makes it easier for the abnormality detector 15 to clearly identify the difference between the normal state and the abnormal state for each rolling speed, thereby improving the accuracy of abnormality detection.
- Classification of the evaluation data is based on the maximum speed of the rolling mills 2A, 2B, 2C, and 2D. is preferred.
- the abnormality detection device 10 for the rolling mill converts the frequency into pitch based on the rolling speed, and the data conversion unit 14 performs data conversion to convert the first analysis data into vibration intensity for each pitch (second analysis data).
- the data conversion unit 14 converts the first analysis data of the vibration intensity corresponding to the reference frequency to the vibration intensity for each pitch for each of the rolling mills 2A, 2B, 2C, and 2D in which the vibration meters 8A, 8B, 8C, and 8D are installed. (data conversion step).
- the pitch in the present embodiment is an index corresponding to the longitudinal distance of the metal strip S or the circumferential distance of the work rolls 4 of the rolling mills 2A, 2B, 2C, and 2D, which is associated with the vibration frequency. is.
- the pitch means the interval between vibration peaks adjacent to each other in the longitudinal direction of the metal strip S or in the circumferential direction of the work roll 4 as a result of the above-described data conversion by the data conversion unit 14 .
- a standard pitch is stored in the data conversion unit 14 as a pitch corresponding to the standard rolling speed.
- the standard pitch refers to the pitch calculated from the above equation (1) using the reference frequency f of the frequency analysis executed by the frequency analysis unit 12 and the standard rolling speed V.
- the standard pitch set in this way is a series of discrete numbers corresponding to the reference frequency.
- the reason for using the standard pitch in this embodiment is as follows. That is, the rolling speed when the metal strip S is rolled by the rolling mills 2A, 2B, 2C, and 2D is not necessarily constant, and even when rolling one metal strip S, the rolling speed changes within the metal strip S. . Therefore, even vibrations occurring at the same pitch are measured as vibrations of different frequencies when the rolling speed is different.
- a standard pitch is set in order to evaluate vibration phenomena generated from the same vibration source and observed at different frequencies depending on the rolling speed using a unified index. That is, the vibration behavior observed as vibration of different frequencies due to different rolling speeds for the vibration source generated at a constant pitch is converted into the vibration behavior corresponding to the standard rolling speed, and this is converted to the vibration behavior for each pitch. It is expressed as vibration intensity. As a result, the vibration intensity at an arbitrary rolling speed obtained during actual operation can be evaluated using a constant index of vibration intensity corresponding to the standard pitch.
- the data conversion unit 14 converts the vibration intensity for each reference frequency (first analysis data) to the vibration intensity for each standard pitch ( second analysis data).
- linear interpolation can be used for the interpolation, and a DC component whose frequency component is "0" is interpolated as "0". All frequencies to be extrapolated are set to "0".
- the frequency at which an abnormality occurs can be evaluated using a constant index called the standard pitch.
- the term "pitch” is used to mean the "standard pitch” associated with the reference frequency and the standard rolling speed. In other words, “pitch” is synonymous with “standard pitch” unless otherwise specified.
- Vibration meters 8A, 8B, 8C, and 8D superimpose and measure the vibration caused by the rotation of the work rolls 4 and the natural period vibration of the rolling mills 2A, 2B, 2C, and 2D.
- the vibration caused by the former changes according to the rolling speed, and the vibration caused by the latter is measured as vibration independent of the rolling speed. Therefore, when the rolling speed changes, the frequency of the vibration caused by the rotation of the work rolls 4 and the like measured by the vibrometers 8A, 8B, 8C and 8D changes.
- the vibration intensity corresponding to the vibration of the natural period of the rolling mills 2A, 2B, 2C, and 2D although the vibration frequency does not change significantly, the magnitude (amplitude) of the vibration intensity often changes. From such characteristics of the vibration of the rolling mill, a method of detecting abnormal vibration of the rolling mill based on the vibration intensity at a specific frequency by focusing on a specific frequency is proposed. Although it is possible to detect an abnormality corresponding to the vibration of the rolling mills 2A, 2B, 2C, and 2D, it is difficult to detect an abnormality related to rotating bodies such as the work rolls 4, the support rolls 5, and their bearings. was difficult at times. On the other hand, in the present embodiment, even if the rolling speed is different, since the vibration intensity is converted to the vibration intensity for each standard pitch, it is possible to detect an abnormality in the vibration system caused by the rotation that occurs at a specific pitch. becomes easier.
- FIG. 9 shows an embodiment in which the abnormality detection device 10 includes both the data conversion section 14 and the principal component derivation section 16 .
- the first analysis data representing the relationship between the frequency and the vibration intensity generated by the frequency analysis unit 12 is converted by the data conversion unit 14 into the second analysis data consisting of the pitch and the vibration intensity using the above equation (1).
- the principal component derivation unit 16 shown in FIG. 9 uses a plurality of second reference vibration data composed of the pitch and the vibration strength generated from the vibration strength (reference vibration data) for each frequency in the normal state by the data conversion unit 14. , perform an analysis that synthesizes a few uncorrelated principal component vectors from a large number of correlated variables that best represent the overall variability.
- a plurality of correlated second reference vibration data with the pitch as a variable are extracted from the first principal component specified as the principal component vector that best represents the overall variation with a small number of uncorrelated data.
- the i-th principal component is calculated as reference data.
- Reference data calculated based on the second reference vibration data is hereinafter referred to as second reference data.
- the second reference data obtained by the principal component derivation unit 16 shown in FIG. to the i-th principal component (evaluation data) may be calculated.
- the evaluation data calculated as the projection of the second analysis data onto the second reference data is referred to as second evaluation data.
- the second reference data (from the first principal component to the i-th principal component) obtained from the principal component derivation unit 16 and the pitch and vibration strength obtained from the data conversion unit 14 are obtained.
- 2 analysis data, projection of the second analysis data at the time of operation onto the second reference data is generated as the second evaluation data.
- the abnormality detection unit 15 calculates the difference (outlier component) between the second analysis data consisting of the vibration intensity for each pitch and the second evaluation data generated by the principal component analysis unit 13, and the calculated outlier component is calculated in advance. If it is equal to or greater than the set threshold, it is determined that abnormal vibration has occurred.
- FIG. 1 When the metal strip S is cold rolled, that is, when the rolling equipment 1 is in operation, vibration data of the rolling mills 2A, 2B, 2C, and 2D are measured by the vibration meters 8A, 8B, 8C, and 8D, and the data collection unit 11 is collected (collection step). In the collecting step, data of the data sampling time is collected for each data acquisition cycle.
- acceleration sensors are used as the vibrometers 8A, 8B, 8C, and 8D
- the acceleration time-series data acquired by each of the vibrometers 8A, 8B, 8C, and 8D is converted into vibration data of vibration velocity.
- the collected vibration data is subjected to frequency analysis by the frequency analysis unit 12 to generate first analysis data (frequency analysis step).
- the frequency analysis unit 12 generates first analysis data including the relationship between frequency and vibration intensity for each data acquisition period.
- the first analysis data is converted by the data conversion unit 14 into second analysis data indicating the relationship between the pitch and the vibration intensity.
- the first analysis data is subjected to principal component analysis by the principal component analysis unit 13, and evaluation data is generated as projection onto reference data (first reference data) derived in advance (principal component analysis step).
- the principal component analysis performed by the principal component analysis unit 13 performs an operation for calculating the projection of the first analysis data with respect to a space configured by preset principal component vectors.
- the difference (outlier component) between the first analysis data consisting of the vibration intensity for each frequency and the projection from the first principal component of the first analysis data to the i-th principal component (first reference data) that is, the evaluation data is detected as an anomaly. If the deviation component calculated by the unit 15 is equal to or greater than a preset threshold value, it is detected that abnormal vibration is occurring in the rolling mills 2A, 2B, 2C, and 2D (abnormal vibration detection step).
- the second analysis data is generated in the data conversion unit 14 and sent to the principal component analysis unit 13 .
- the second analysis data is subjected to principal component analysis by the principal component analysis unit 13, and the second evaluation data is generated as a projection onto pre-derived reference data (second reference data). be done.
- the principal component analysis executed by the principal component analysis unit 13 performs an operation for calculating the projection of the second analysis data on the space configured by the principal component vectors of the second reference data.
- the abnormal vibration detection step the second analysis data consisting of the vibration intensity for each pitch and the projection from the first principal component of the second analysis data to the i-th principal component (second reference data), that is, the second evaluation data.
- the difference (outlier component) is calculated by the abnormality detection unit 15, and when the outer component is equal to or greater than a preset threshold value, it is detected that abnormal vibration is occurring in the rolling mills 2A, 2B, 2C, and 2D.
- abnormal vibrations of the rolling mills 2A, 2B, 2C, and 2D that generate chatter marks can be accurately detected.
- the original characteristics of the equipment for example, the vibration component naturally generated by the meshing of the gears of the rolling mills 2A, 2B, 2C, and 2D, and the vibration characteristics of the bearings of the rolling mills 2A, 2B, 2C, and 2D are used as the standard for normal operation.
- the feature quantity of the vibration data is specified as a representative principal component, it is possible to perform an analysis that emphasizes only abnormal vibrations.
- Abnormal vibrations of the rolling mills 2A, 2B, 2C, and 2D are caused by natural vibrations of the rolling mills 2A, 2B, 2C, and 2D, defective bearings, engagement of gears, defective coupling, or rotation of equipment due to rattling. A lot of vibration. For this reason, conventional detection of abnormal vibration is performed based on whether or not the amplitude of a specific frequency exceeds a certain threshold.
- chatter marks minute vibrations are generated at a frequency corresponding to the pitch of the chatter marks before the chatter marks are generated, and grow with time. That is, first, minute vibrations caused by equipment are generated, and then chatter marks are generated on the surface of the metal band S.
- the steady rolling speed changes for each metal strip S as well. Therefore, it has been difficult to detect minute vibrations before abnormal vibrations occur only by focusing on a predetermined specific frequency.
- the frequency or pitch at which the vibration intensity increases can be recognized during operation, so even if abnormal vibration occurs in any frequency band, the situation can be detected early. As a result, it is possible to operate the rolling mill while preventing or suppressing abnormal vibrations, preventing or suppressing defects on the surface of the metal strip due to abnormal vibrations, and manufacturing metal strips with excellent appearance. can do.
- the pitch of the fine marks on the support roll 5 does not change depending on the rolling speed.
- the fine marks on the support rolls 5 cannot be seen before they are incorporated into the rolling mills 2A, 2B, 2C, and 2D, and the wavelength (pitch) and frequency of the chatter marks cannot be predicted in advance.
- the vibration data includes vibrations of many other factors that generate vibrations of a certain wavelength, such as the meshing frequency of bearings and gears, and it is impossible to obtain a clear chatter mark vibration peak from the beginning.
- the vibration data is frequency-analyzed, the relationship between the frequency or the standard pitch at that time and the vibration intensity is obtained, and the principal component analysis method is used to distinguish the vibration peak of the chatter mark from other vibration factors, thereby identifying the abnormal vibration. Allow detection to occur. As a result, abnormal vibrations of the rolling mills 2A, 2B, 2C, and 2D that generate chatter marks can be accurately detected.
- abnormal vibration when abnormal vibration is detected using the above-described abnormal vibration detection method for the rolling mills 2A, 2B, 2C, and 2D, abnormal vibration of the rolling mills such as the support rolls 5 of the rolling mills 2A, 2B, 2C, and 2D is detected. It may be configured to replace the rotating body that is the cause (support roll replacement step). As a result, even when a plurality of metal strips S are rolled for a long period of time, it is possible to realize a rolling operation that prevents abnormal vibration occurring at any frequency or pitch. Further, by such rolling, chatter marks are not generated on the surface of the metal strip S, or the generation of chatter marks can be suppressed, and the metal strip S with excellent appearance can be manufactured.
- the performance data of the deviation component for each specific frequency or pitch is obtained in advance, and the performance data is used. Based on this, the threshold value of the outlier component that can satisfy the shipping standards for the metal band S as a product can be set. Then, when abnormal vibration is detected by the abnormality detection unit 15 using the set threshold value of the deviation component, the operation of the rolling mill 1 is temporarily stopped, and the rolling mills 2A, 2B, and 2C where the abnormal vibration occurs. , 2D support rolls 5, and the like, which cause abnormal vibration of the rolling mill, may be replaced. As a result, even when a plurality of metal strips S are rolled for a long period of time, it is possible to realize a rolling operation that prevents abnormal vibration that occurs at a specific frequency or pitch.
- Example 1 conducted to confirm the action and effect of the present invention is shown below.
- a rolling facility consisting of four stands (tandem rolling mill) was used, and a vibrometer was attached to the housing of each stand.
- a sampling frequency of 4000 Hz was used, and the reference frequency was set every 5 Hz between 0 Hz and 2000 Hz.
- the data collection unit 11 acquired the strength of the vibration velocity for each data acquisition cycle under the conditions of a data sampling time of 0.2 sec and a data acquisition cycle of 1 sec, and output it to the frequency analysis unit 12 .
- the test materials were metal strips (hereinafter referred to as steel sheets) made of low-carbon steel, and the steel sheets were prepared for invention examples 1 and 2 of embodiment 1 and for comparative examples 1 and 2, respectively.
- the thickness at the entry side of the rolling equipment is set at 2.0 mm or more and 5.5 mm or less
- the thickness at the delivery side is 0.5 mm or more and 2.4 mm or less
- the width of the steel plate is set at 700 mm or more and 1700 mm or less.
- the steel plate subjected to the test was subjected to a grindstone test, and the chatter mark of the pitch of the vibration frequency was determined by visual inspection.
- the grinding inspection the steel sheet after alloyed hot-dip galvanizing is manually ground in the rolling direction by pressing a grinding wheel with a light pressing force of about 10 N or less. It was evaluated whether it was visible as a mark. It was confirmed from the patterns (fine marks) left on the support rolls 5 of the fourth stand that the rolling mills in which the chatter marks occurred were all in the final stand (fourth stand). Table 1 shows the evaluation results.
- the vibration frequency or pitch is written in parentheses when a chatter mark is detected.
- the vibration frequency when a chatter mark is detected the frequency when the vibration strength exceeds a preset threshold value is described.
- the pitch when the chatter mark is detected the pitch when the deviation component exceeds a preset threshold in the abnormality detection unit 15 is described.
- the vibration frequency or pitch is written in parentheses when a chatter mark is found. As the pitch when chatter marks were found, the visually observed striped pattern pitch was described.
- the frequency when a chatter mark is found is the rolling speed when the part of the steel plate, that is, the chatter mark passes the final stand (fourth stand) where the chatter mark is generated, by visually measuring the pitch of the striped pattern.
- the result of conversion to the frequency of abnormal vibration is described using the actual value of
- a vibrometer is installed in the housing of the final stand (fourth stand), the first analysis data is generated by the frequency analysis unit 12, and then the principal component analysis is performed by the principal component analysis unit 13. Evaluation data was calculated using the first reference data as a variable. In addition, after calculating the deviation component, which is the difference between the first analysis data and the evaluation data, in the abnormality detection unit 15, the presence or absence of the chatter mark is determined based on the preset threshold for the deviation component for each frequency. It is what I did.
- the principal component (first reference data) is a reference calculated from the vibration data for one day measured normally two days after the replacement of the support roll 5 by using the principal component deriving unit 16.
- the first reference data was calculated by performing a principal component analysis on the vibration data to synthesize a principal component vector that best represents the overall variation with a small number of uncorrelated variables from a large number of correlated variables. For the principal component vectors, 10 principal components were selected in descending order of contribution rate.
- Invention Example 2 in Table 1 is an example using the anomaly detection device 10 including both the data conversion section 14 and the principal component derivation section 16 shown in FIG.
- the data converter 14 converted the second reference vibration data into the relationship between the pitch and the vibration intensity.
- the principal component derivation unit 16 derives the second reference data, which is a principal component vector that best represents the overall variation with a small number of uncorrelated second reference vibration data.
- the second evaluation data for the second reference vibration data having the second reference data as variables is calculated by the principal component analysis by the principal component analysis unit 13 .
- the abnormality detection unit 15 determines whether or not there is a chatter mark based on a preset threshold for the deviation component for each pitch. It should be noted that, for Invention Example 2 as well, the principal component derivation unit 16 selected ten principal components in descending order of contribution rate, and used these as the second reference data.
- the derivation of the principal components (first reference data and second reference data) performed by the principal component deriving unit 16 is performed by classifying the rolling speed by 50 m/min for the reference vibration data obtained from various rolling speeds. It was carried out for each rolling speed.
- the principal component analysis is performed using the first reference data on the first analysis data consisting of the vibration intensity for each frequency
- the second reference is applied to the second analysis data Principal component analysis was performed using the data.
- Comparative Examples 1 and 2 the vibration meter was installed in the housing of the fourth stand, and the threshold value was changed for the first analysis data composed of the vibration intensity for each frequency output by the frequency analysis unit 12 without performing the principal component analysis.
- the decision was made by In this case, in Comparative Examples 1 and 2, at the same rolling speed, the first analysis data acquired when chatter marks occurred and the first analysis data acquired when chatter marks did not occur.
- the threshold value related to vibration intensity for determining abnormal vibration was set to Fref1
- Comparative Example 2 the threshold value related to vibration intensity for determining abnormal vibration was set to Fref2.
- FIG. 3 is a graph of invention example 1 showing the deviation component calculated by the abnormality detection unit 15 for each frequency
- FIG. 4 is a graph of invention example 2 showing the deviation component for each standard pitch. Note that FIG. 3 shows the deviation component at a rolling speed of 14 m/sec because the peak position of the deviation component also changes when the rolling speed changes. FIG. 4 also shows the deviation component at a rolling speed of 14 m/sec in accordance with this.
- the projection of the analysis data (first analysis data and second analysis data) onto the principal components (first reference data and second reference data) is calculated by principal component analysis, and the abnormality detection unit 15 Abnormal vibrations that generate chatter marks and normal vibrations that do not generate chatter marks are clearly distinguished by calculating outlier components corresponding to the first analysis data and the second analysis data. The presence or absence of abnormal vibration that causes chatter marks could be determined with high accuracy.
- FIG. 5 is a graph showing Comparative Examples 1 and 2 in which abnormality determination was performed using the first analysis data representing the vibration intensity for each frequency output by the frequency analysis unit 12.
- FIG. 5 shows the results of frequency analysis at a rolling speed of 14 m/sec because the peak position of the vibration intensity also changes when the rolling speed changes.
- the vibration intensity of the abnormal vibration did not reach the threshold value Fref1, and the abnormal vibration could not be detected.
- the value of the threshold value Fref2 is used as Comparative Example 2, although the vibration intensity of the abnormal vibration can be detected, even when chatter marks are not generated, the frequency of vibration caused by factors other than chatter marks is generated. Even in the case where the vibration intensity exceeds the threshold value Fref2, the abnormal vibration is erroneously detected.
- Example 3 and Comparative Example 3 performed as Example 2 of the present invention are shown below.
- the equipment targeted in this Example 2 is a tandem rolling mill consisting of five stands, and a vibration meter is attached to the housing of each stand.
- the data acquisition method including the setting of the reference frequency is the same as in the first embodiment.
- the stand where chatter marks occurred was the final stand (in this case, the fifth stand). Therefore, abnormality detection of the rolling mill was performed using the vibration meter data installed in the working side housing of the fifth stand.
- Comparative Example 3 an attempt was made to determine the chatter mark while changing the threshold for the vibration intensity for each frequency calculated from the vibration data of the vibration meter installed on the working-side housing of the fifth stand.
- Table 2 shows the results.
- the meanings of "O", "X” and parentheses in Table 2 are the same as those in Table 1.
- FIG. 6 is a graph of Invention Example 3 showing deviation components for each standard pitch.
- the vibration data for one day measured about one week after the replacement of the support roll 5 is used as the reference vibration data
- the data conversion unit 14 converts the The second reference vibration data obtained by converting the collected vibration intensities for each frequency into vibration intensities for each standard pitch was used. That is, the principal component vector for the second reference vibration data is calculated by the principal component derivation unit 16 and obtained as the second reference data.
- the second evaluation data for the second analysis data is calculated by the principal component analysis by the principal component analysis unit 13 using the second reference data as variables.
- the abnormality detection unit 15 calculates the difference between the second analysis data and the second evaluation data as the deviation component.
- the principal component analysis clearly distinguishes between abnormal vibration that generates chatter marks and normal vibration that does not generate chatter marks. I was able to judge well. In other words, it is possible to set an appropriate threshold value by calculating the deviation component with respect to the standard pitch without specifying in advance the frequency of the vibration that causes the abnormal vibration.
- FIG. 7 is a graph showing Comparative Example 3 using a threshold for vibration intensity for each frequency. That is, this is an example in which the abnormality determination is performed using the first analysis data indicating the vibration intensity for each frequency output by the frequency analysis unit. However, since the peak position of the vibration intensity also changes when the rolling speed changes, the frequency analysis result at a rolling speed of 14 m/sec is shown. Comparative Example 3 is the result of determining the occurrence of chatter marks by setting the threshold value Fref3 for the vibration intensity. As shown in FIG. 7, if a specific frequency is set in advance and a threshold value is set only for the band of that frequency, it may be possible to determine the occurrence of chatter marks. Therefore, it is actually difficult to accurately detect the occurrence of chatter marks.
- the metal strip S is a cold-rolled steel plate, but instead of the cold-rolled steel plate, the metal strip S may be a stainless steel material or a hot-rolled steel plate.
- the rolling mills 2A, 2B, 2C, and 2D may not have the same configuration, and for example, a 4-high rolling mill and a 6-high rolling mill may coexist as the type of rolling mill.
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Abstract
Description
[2]前記主成分分析ステップにおいて、前記基準データとして抽出する主成分は前記圧延機における圧延速度毎にそれぞれ設定されている[1]に記載の圧延機の異常振動検出方法である。
[3]前記周波数解析ステップは、周波数毎の振動強度を前記第1解析データとして生成するものであり、圧延速度に基づいて、前記第1解析データをピッチ毎の振動強度を示す第2解析データに変換するデータ変換ステップをさらに有し、前記主成分分析ステップは、前記第2解析データの主成分分析を行う[1]に記載の圧延機の異常振動検出方法である。
[4]前記主成分分析ステップにおいて、前記基準データとして抽出する複数の主成分は、正常な前記圧延機により圧延を行った際に取得した正常解析データを主成分分析したときに、主成分の寄与率の累積値が基準寄与率以上になるように設定されている[1]ないし[3]のいずれかに記載の圧延機の異常振動検出方法である。
[5]前記圧延機は、金属帯を冷間圧延する[1]ないし[4]のいずれかに記載の圧延機の異常振動検出方法である。
[6]1対のワークロールと前記ワークロールを支持する複数の支持ロールとを有する圧延機の異常検出装置であって、前記圧延機の振動データを収集するデータ収集部と、前記振動データの周波数解析を行い、第1解析データを生成する周波数解析部と、前記第1解析データに対して、予め正常な状態に基づいて特定される基準データを主成分として用いて主成分分析を行い、前記第1解析データの前記基準データへの射影である評価データを生成する主成分分析部と、前記評価データと前記第1解析データとから外れ成分を抽出し、抽出した前記外れ成分から圧延機の異常を検出する異常検出部と、を備えた圧延機の異常検出装置である。
[7]上記の[1]ないし[5]のいずれかに記載の圧延機の異常振動検出方法を用いて、圧延機の異常を検出した場合に、前記圧延機の支持ロールを交換する支持ロール交換ステップを含む、圧延方法である。
[8]上記の[7]に記載の圧延方法を用いて、金属帯を製造するステップを含む、金属帯の製造方法である。
P=(1000×V)/(f×60) ・・・(1)
2A,2B,2C,2D 圧延機
3 ハウジング
4 ワークロール
5 支持ロール
6 駆動装置
7 小径ロール
8A,8B,8C,8D 振動計
10 圧延機の異常検出装置
11 データ収集部
12 周波数解析部
13 主成分分析部
14 データ変換部
15 異常検出部
S 金属帯
Claims (8)
- 1対のワークロールと前記ワークロールを支持する複数の支持ロールとを有する圧延機の異常振動検出方法であって、
前記圧延機の振動データを収集する収集ステップと、
前記振動データの周波数解析を行い、第1解析データを生成する周波数解析ステップと、
前記第1解析データに対して、予め正常な状態に基づいて特定される基準データを主成分として用いて主成分分析を行い、前記第1解析データの前記基準データへの射影である評価データを生成する主成分分析ステップと、
前記評価データと前記第1解析データとから外れ成分を抽出し、抽出した前記外れ成分から圧延機の異常を検出する異常振動検出ステップと、
を備えた圧延機の異常振動検出方法。 - 前記主成分分析ステップにおいて、前記基準データとして抽出する主成分は前記圧延機における圧延速度毎にそれぞれ設定されている請求項1に記載の圧延機の異常振動検出方法。
- 前記周波数解析ステップは、周波数毎の振動強度を前記第1解析データとして生成するものであり、
圧延速度に基づいて、前記第1解析データをピッチ毎の振動強度を示す第2解析データに変換するデータ変換ステップをさらに有し、
前記主成分分析ステップは、前記第2解析データの主成分分析を行う請求項1に記載の圧延機の異常振動検出方法。 - 前記主成分分析ステップにおいて、前記基準データとして抽出する複数の主成分は、正常な前記圧延機により圧延を行った際に取得した正常解析データを主成分分析したときに、主成分の寄与率の累積値が基準寄与率以上になるように設定されている請求項1ないし3のいずれか1項に記載の圧延機の異常振動検出方法。
- 前記圧延機は、金属帯を冷間圧延する請求項1ないし4のいずれか1項に記載の圧延機の異常振動検出方法。
- 1対のワークロールと前記ワークロールを支持する複数の支持ロールとを有する圧延機の異常検出装置であって、
前記圧延機の振動データを収集するデータ収集部と、
前記振動データの周波数解析を行い、第1解析データを生成する周波数解析部と、
前記第1解析データに対して、予め正常な状態に基づいて特定される基準データを主成分として用いて主成分分析を行い、前記第1解析データの前記基準データへの射影である評価データを生成する主成分分析部と、
前記評価データと前記第1解析データとから外れ成分を抽出し、抽出した前記外れ成分から圧延機の異常を検出する異常検出部と、
を備えた圧延機の異常検出装置。 - 請求項1ないし5のいずれか1項に記載の圧延機の異常振動検出方法を用いて、圧延機の異常を検出した場合に、前記圧延機の支持ロールを交換する支持ロール交換ステップを含む、圧延方法。
- 請求項7に記載の圧延方法を用いて、金属帯を製造するステップを含む、金属帯の製造方法。
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CN202280022690.3A CN117042895A (zh) | 2021-03-31 | 2022-02-04 | 轧机的异常振动检测方法、异常检测装置、轧制方法及金属带的制造方法 |
JP2022523332A JP7184223B1 (ja) | 2021-03-31 | 2022-02-04 | 圧延機の異常振動検出方法、異常検出装置、圧延方法および金属帯の製造方法 |
EP22779524.2A EP4282551A1 (en) | 2021-03-31 | 2022-02-04 | Abnormal vibration detection method for rolling mill, abnormality detection device, rolling method, and method for manufacturing metal strip |
KR1020237031783A KR20230145596A (ko) | 2021-03-31 | 2022-02-04 | 압연기의 이상 진동 검출 방법, 이상 검출 장치, 압연 방법 및 금속대의 제조 방법 |
US18/283,958 US20240165685A1 (en) | 2021-03-31 | 2022-02-04 | Method for detecting abnormal vibration of rolling mill, apparatus for detecting abnormality of rolling mill, rolling method, and method for producing metal strip |
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WO2023181545A1 (ja) * | 2022-03-24 | 2023-09-28 | 三菱重工業株式会社 | 圧延装置の監視制御装置、圧延設備、圧延装置の監視制御方法及び圧延装置の監視制御プログラム |
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US20240165685A1 (en) | 2024-05-23 |
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