CN101791633B - Device and method for controlling coiling temperature - Google Patents
Device and method for controlling coiling temperature Download PDFInfo
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- CN101791633B CN101791633B CN2010101509167A CN201010150916A CN101791633B CN 101791633 B CN101791633 B CN 101791633B CN 2010101509167 A CN2010101509167 A CN 2010101509167A CN 201010150916 A CN201010150916 A CN 201010150916A CN 101791633 B CN101791633 B CN 101791633B
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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
- B21B37/76—Cooling control on the run-out table
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- 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
- B21B45/00—Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B45/02—Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills for lubricating, cooling, or cleaning
- B21B45/0203—Cooling
- B21B45/0209—Cooling devices, e.g. using gaseous coolants
- B21B45/0215—Cooling devices, e.g. using gaseous coolants using liquid coolants, e.g. for sections, for tubes
- B21B45/0218—Cooling devices, e.g. using gaseous coolants using liquid coolants, e.g. for sections, for tubes for strips, sheets, or plates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B2015/0057—Coiling the rolled product
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2275/00—Mill drive parameters
- B21B2275/02—Speed
- B21B2275/06—Product speed
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Abstract
The invention provides a feedback control of winding temperature having both of stability and responsiveness even when the speed of a steel sheet is rapidly accelerated and decelerated. As a dynamic control means 120 of a winding temperature control device 100, a first correcting means 122 by which the deviation of winding temperature is detected and manipulated variables complying with usual feedback control is output and a second correcting means 123 by which manipulated variables proportioned to the winding temperature are provided and the final manipulated variable is output by selecting a proper correcting means by taking the speed of the steel sheet or the like as a guide, or the final manipulated variable of a cooling system is output by composing the outputs of two correcting means.
Description
The application is based on dividing an application of application number is 200710300193.2, denomination of invention for " coiling temperature control device and control method ", the applying date is on December 19th, 2007 patent application.
Technical field
The present invention relates to the coiling temperature device and the control method thereof of hot rolling line, relate in particular in steel plate speed Steger rolling mills jumpy, so that coiling temperature suitable coiling temperature control device and the control method thereof consistent with target temperature.
Background technology
As the temperature controlled existing method of the coiling of the steel plate that carries out hot rolling line; For example, illustration in the patent documentation 1 is when the speed change of steel plate; To change the Simple Calculation that preceding water injection rate multiply by acceleration or deceleration, the control method that calculates head (header) water yield and set.
Patent documentation 1: the spy opens flat 8-252625 communique
In the method for patent documentation 1, for velocity variations, can be through recomputating the head water yield correspondence.But,, how to change the head water yield and do not represent recomputating under the coiling temperature of measuring the back and target temperature condition of different.Usually, follow the deviation of the coiling temperature of target temperature and measurement, the parallel FEEDBACK CONTROL that makes the head radical increase and decrease of the head water yield or switching, thereby the raising of realization coiling temperature accuracy.
In the milder tandem mill of the velocity variations of steel plate, how this kind control mode carries out preferably.But steel plate speed quickened suddenly and the Steger rolling mills of the speed that die-offs in owing to be difficult to the head water yield that precision calculates the influence of eliminating velocity variations well, its result, the coiling temperature how non-constantly changes.As desire deviation with the common non-constant generation of FEEDBACK CONTROL this kind of elimination, only stably control, but exist to the big problem of elapsed time change of eliminating deviation with low gain.On the other hand, become unstable, according to circumstances exist to cause the problem of vibrating with the control system of high-gain control.In the patent documentation 1, follow under the situation of the rapid velocity variations of this kind, for how obtaining the then not expression of high-precision coiling temperature.
In addition, as having the distance about 10m usually between the head of operating side and the coiling thermometer, therefore, the response of FEEDBACK CONTROL depends on steel plate speed.Therefore, with the constant speed rolled plate of enough high speeds the time, can guarantee the FEEDBACK CONTROL chance without barrier, but when low speed rolling, the chance of FEEDBACK CONTROL is few, thereby has the problem that to carry out the low FEEDBACK CONTROL of response.
Thereby even the problem that desire of the present invention solves be might be because rapid acceleration and deceleration, steel plate speed changes non-constantly, influences thus under the situation of the non-constant variation of coiling temperature, and the coiling temperature is controlled on stable and fast-response ground.In addition, even steel plate by low speed rolling the time, does not make control accuracy reduce through the suitable switching of control mode.
Summary of the invention
For solving above-mentioned problem; Coiling temperature control device of the present invention is for cooling off the steel plate by this hot mill rolling with the cooling device of seeing side off that is configured in hot-rolling mill; And the temperature of the steel plate before will being reeled by downcoiler is controlled at the target temperature of regulation; Said coiling temperature control device is characterised in that to possess: plate temperature is inferred model, and it is used to infer the coiling temperature of steel plate; Preset control module; Its cooling before, by with the information of target volume around the velocity correlation of temperature and steel plate, use said plate temperature to infer model and infer the coiling temperature; And use and to infer the result, calculate and output is used to realize the control instruction to cooling device sent of target volume around temperature; Dynamic control unit; The coiling temperature of the steel plate in its observation cooling control, and, calculate and export the correction of control instruction by observed result and the deviation of target volume around temperature; And then; Said dynamic control unit possesses: first amending unit, and it calculates the correction of dynamic control unit output next time by the correction of the control instruction that calculates accordingly with said deviation and the dynamic control unit correction of the control instruction of output now; Second amending unit, it is will be by the correction of the control instruction of the correction of the control instruction that calculates accordingly with this deviation and dynamic control unit output next time directly corresponding and export; The operational ton switch unit, it obtains the speed of said steel plate, and according to steel plate speed, selects in the output of output and second amending unit of first amending unit any, thereby confirms the correction of dynamic control unit output next time.
(invention effect)
According to the present invention, in the cooling of the coiling of hot rolling,, responsively control its influence through height even the speed of cooling control light plate is sharply quickened or slowed down, can control the coiling temperature on the length direction of steel plate accurately.
Description of drawings
Fig. 1 is a structure chart of representing to control according to an embodiment of the invention system.
Fig. 2 is the key diagram of expression Steger rolling mills.
Fig. 3 is the key diagram of expression target volume around the structure of thermometer.
Fig. 4 is the key diagram of the structure of expression velocity mode table.
Fig. 5 is the key diagram of an example of expression velocity mode.
Fig. 6 is the key diagram of the structure of expression refrigerating head quality award from the ministry elder generation sequence list.
Fig. 7 is the corresponding routine key diagram that head opens and closes pattern and control code.
Fig. 8 is that expression is preset the flow chart of the processing of mechanism based on model.
Fig. 9 is the flow chart of the detailed process of expression coiling temperature prediction calculating.
Figure 10 is the key diagram of the corresponding tables of cooling head die opening and closing formula and control code.
Figure 11 is the key diagram of the corresponding tables of steel plate part and control code.
Figure 12 is the key diagram that smoothing is handled.
Figure 13 is the structure chart of dynamic controlling organization.
Figure 14 is the key diagram of influence coefficient table.
Figure 15 is that expression first starts the flow chart that generates the processing of mechanism constantly.
Figure 16 is the flow chart of processing of the operational ton switching mechanism of expression embodiment 1.
Figure 17 is that the operational ton switching mechanism is conceived to steel plate speed, switches the sketch map of correction mechanism.
Figure 18 is the key diagram of the part that on the steel plate length direction, defines.
Figure 19 is the flow chart of the processing of expression header pattern mapping device.
Figure 20 is the flow chart of processing of the operational ton switching mechanism of expression embodiment 2.
Figure 21 is the flow chart of processing of the operational ton switching mechanism of expression embodiment 3.
Figure 22 is other the structure chart of embodiment of the dynamic controlling organization of expression.
Figure 23 is that the operational ton combination mechanism is conceived to steel plate speed, switches/synthesize the sketch map of correction mechanism.
Figure 24 is the flow chart of the processing of expression operational ton combination mechanism.
Figure 25 is the structure chart of the adjustment of remote service control model.
Among the figure, the 100-control device; 111-presets mechanism based on model; 112-smooths mechanism; The 114-target volume is around thermometer; 115-velocity mode table; 116-refrigerating head quality award from the ministry elder generation sequence list; The 117-plate temperature is inferred model; The dynamic controlling organization of 120-; 121-coiling temperature deviation correction mechanism; 122-first correction mechanism; 123-second correction mechanism; 124-influence coefficient table; 125-operational ton switching mechanism; 130-header pattern mapping device; 150-controls object; The 160-Steger rolling mills; 170-coiling cooling device; The 180-downcoiler.
The specific embodiment
Below, be object mainly for embodiment of the present invention with the Steger rolling mills, at length describe with reference to drawing.
As shown in Figure 1, coiling temperature control device 100 of the present invention possesses controlling organization of presetting 110 and dynamic controlling organization 120.Preset controlling organization 110 target volume is made as input information around the velocity mode of temperature and steel plate and the priority of cooling device; And be provided with and use plate temperature to infer model 117, what calculate the control code corresponding with the command value of the cooling device of the coiling temperature that realizes expecting presets (model-based preset) mechanism 111 based on model.Dynamically controlling organization 120 is provided with coiling temperature deviation correction mechanism 121, and it will be used for compensating target volume and calculated as the correction of control code by the switching of the head of the deviation of the coiling temperature of steel plate detection around temperature and cooling control.In coiling temperature deviation correction mechanism 121, have: calculate and first correction mechanism 122 of the correction of output next time by the deviation of coiling temperature and present correction; With second correction mechanism 123 of also exporting the correction of next time by the deviation calculation of coiling temperature.The velocity variations that has in addition with steel plate is a pointer, switches the operational ton switching mechanism 125 of the output of first correction mechanism 122 and second correction mechanism 123.Possesses header pattern mapping device 130 in addition; It presses each position of steel plate length direction; Control code correction with dynamic controlling organization 120 outputs is preset the control code of mechanism's 111 outputs based on model, thereby calculates final control code, and it is transformed to the output mode of cooling device.
Thus, in the coiling of the steel plate after the hot rolling control, all can obtain high-precision coiling temperature at any part of steel plate length direction.Its result can make the composition quality of steel plate improve, and can access simultaneously near smooth steel plate shape.
(embodiment 1)
Fig. 1 representes embodiments of the invention.Coiling temperature control device 100 receives the various signals of Self Control object 150, and to control object 150 output control signals.At first the structure of object 150 is controlled in explanation.In the present embodiment, control object 150 is the Steger rolling line of hot rolling.Comprise substantially to steel plate 151 implement rolling Steger rolling mills 160, the coiling cooling device 170 of temperature that 900 ℃ after rolling～1000 ℃ steel plates are cooled to stipulate, the downcoiler (down coiler) 180 that the coiling steel plate forms coiled material.Steger rolling mills 160 with rolling rack (stand) 161 enforcement repeat-rollings, and is rolled down to target thickness for the thick section bar through in advance the roughing system of the thickness of slab rolling to about 25mm～30mm being sent here.Fig. 1 representes to carry out the final rolling steel plate of paying from rolling rack 161 simultaneously 151 and is cooled off by coiling cooling device 170, and by the situation of downcoiler 180 coilings.
Fig. 2 representes the situation in final rolling before rolling.With idler roller 164,165 supporting steel plates 151, and roll out with stove coiling machine 162,163 in rolling, reel, the workpiece roller 201, the spare roll 202 that possess with rolling rack 161 simultaneously make steel plate 151 attenuation gradually.Rolling number of times is 3 times under the thick situation of Target Board, is 7 times under the thin situation, is 5 times under the situation of middle target thickness of slab.
In coiling cooling device 170, possess from the top cooling device 171 of upside water-cooled steel plate 151 with from the bottom cooling device 172 of downside water-cooled steel plate 151.Each cooling device possesses a plurality of banks (bank) 173 respectively, and its combination has the cooling head 174 of the discharge water of certain radical.In top cooling device 171, be suitable for the lamination mode, on the other hand, the situation of cooling that in bottom cooling device 172, is suitable for spray regime is more, but also applicable other the type of cooling.Coiling thermometer 175 is measured with the temperature before downcoiler 180 coilings.The temperature controlled purpose of reeling is to make the temperature of being measured by coiling thermometer 175 consistent with target temperature.Target temperature can be constant at each position of web length direction, also can set different values according to each position.In addition, in the present embodiment, for easy, operational order situation about being out and the situation of closing of cooling off head 160 are the example explanation with each, but also easily are applicable to the cooling device of controlling flow serially.
Next, the structure of coiling temperature control device 100 is described.Coiling temperature control device 100 possesses the controlling organization of presetting 110, and it calculated the switching pattern control instruction corresponding with each cooling head 174 before steel plate 151 is by 170 coolings of coiling cooling device.In addition, also possess: dynamic controlling organization 120, it is at steel plate 151 during by 170 coolings of coiling cooling device, reads in the actual achievement of the mensuration temperature etc. of coiling thermometer 175 in real time, and the change control instruction; With header pattern mapping device 130, it is transformed to control instruction the switching pattern of respectively cooling off head 174.
Presetting controlling organization 110 possesses: target volume is inferred model 117, and is read from their information separately around thermometer 114, velocity mode table 115, refrigerating head quality award from the ministry elder generation sequence list 116, plate temperature.Preset mechanism 111 based on model and infer the computing of model 117, calculate header pattern through using plate temperature.Possess cooling device command value smoothing mechanism 112 in addition, it makes the time output smoothing of the switching pattern of head 174 with respect to the result of calculation that presets mechanism 111 based on model.
Dynamically controlling organization 120 possesses coiling temperature deviation correction mechanism 121, and it is the detected value of eliminating coiling thermometer 175 and the target volume deviation around temperature, calculates the number of the cooling head 174 of switching.Temperature deviation correction mechanism 121 calculates with two kinds of computings of first correction mechanism 122 and second correction mechanism 123.In addition, also possess: influence coefficient table 124, itself and the state of cooling are stored the number of the head that need open and close for temperature deviation accordingly; With operational ton switching mechanism 125, which of the output of the output of first correction mechanism 122 and second correction mechanism 123 it to judging as final output, and switch.Below, the set of the switching pattern of each refrigerating head 160 is called header pattern.Below, by the structure that presets controlling organization 110 explanation at length successively.
Fig. 3 representes the structure of target volume around thermometer.Target volume has represented to have distinguished accordingly with the kind (steel grade) of steel plate the example of target temperature around thermometer 114.Preset controlling organization 110 and judge the steel grade of this coiled material, and around thermometer 114, take out corresponding target temperature from target volume.
Fig. 4 representes the structure of velocity mode table.Velocity mode table 115 is distinguished with respect to steel grade, thickness of slab, plate width.Have: the speed speed of the front end of steel plate 151 when rolling rack 161 stretches out (threading speed: V1), be accelerated then; To being wound up into speed till the downcoiler 180 (initial velocity: V2), speed (constant speed V3), the speed that stretch out from rolling rack 151 rear end of steel plate 151 before, die-offed after rapid acceleration the then, and with the speed (final speed V4) till downcoiler 180 coilings.
Preset controlling organization 110 and judge steel grade, thickness of slab, the plate width of this coiled material, thereby from speed pattern list 115, take out corresponding velocity mode.For example, steel grade is that SUS304, thickness of slab are 3.0～4.0mm, and when the plate width was 1200mm, it was that 150mpm, constant speed are 150mpm that initial temperature is set in expression, and final speed is 150mpm.
Fig. 5 representes the summary of velocity mode.After steel plate 151 stretches out from rolling rack 161, to downcoiler 180 velocity mode till accomplishing of reeling.As desire to make money or profit and use rapid acceleration and deceleration, speed is moved according to the order of V1, V2, V3, V4.
Fig. 6 representes the structure of refrigerating head quality award from the ministry elder generation sequence list.100 the situation of ading up to of this routine refrigerating head quality award from the ministry elder generation sequence list 115 expression heads.Give 1～100 priority to the open ended sequential of 100 head, for the differentiation (head portion or head portion) of steel grade, thickness of slab, head, the order of the cooling head that memory priority is open.Priority considers that cooling effectiveness, surface and inner allowable temperature difference etc. confirm.For example, under the thin situation of steel plate 151, be difficult to produce temperature difference,, preferentially open the high head of the temperature of steel plate 151 near the discharge side of milling train 157 so consider cooling effectiveness in surface and inside.Under the thick situation of steel plate 151, with the backheat of utilizing air cooling to produce surface and temperature inside difference being controlled in the scope of feasible value is purpose, gives priority discontinuously with the head that makes unlatching as far as possible.Through water-cooled is mixed with air cooling, what sacrifice cooling effectiveness, thereby the surface and the temperature inside of control steel plate 151 are poor.
Control cooling head can be realized the radical of target volume around temperature with opening only.By the sequence notation sequence number near milling train, for example, the 1st group the 1st cooling head is represented in (1,1) to group, cooling head.It is SUS304, thickness of slab 2.0～3.0mm that Fig. 6 is illustrated in steel grade, and the cooling head is divided under the situation of head portion, with (1,1), (1,2), (1,3), (1,4), (1,5), (2,1) ..., (20,4), (20,5) order preferentially open.That is, the cooling effectiveness of thin plate is considered in expression, begins preferentially open successively from the head of the outlet side of milling train 157.In addition, be SUS304, thickness of slab 5.0～6.0mm at steel grade, the cooling head is divided under the situation of head portion, represented with (1,1), (1,4), (2,1), (2,4), (3,1), (3,4) ..., (20,3), (20,5) order preferentially open.That is, represented, therefore given the situation of priority discontinuously to open head because steel plate 151 is thick a little.In the present embodiment, the head portion and the priority of head portion are made as identical, but also can give different priorities.
Below, header pattern is with the performance of the control code of correspondence, and with it as control instruction.The control code that Fig. 7 representes to preset controlling organization 110 outputs with cool off the corresponding of head die opening and closing formula.Control code 0 is a standard-sized sheet, and 100 is full cut-off.Below, as will be only the head switching pattern opened of the cooling head of priority 1 be made as 1, priority 1 is cooled off head switching pattern that heads open and is made as 2 mode with 2 two, carry out control codeization.
Preset controlling organization 110 this kind exported to smoothing mechanism 112 with the corresponding control code of cooling head die opening and closing formula.That is, the control codes under all cooling head opened state are made as 0, the control code under all cooling head closing state be made as 100 (100 for last or under the sum of cooling head).And, be SUS304, thickness of slab 2.0～3.0mm for example at steel grade, the cooling head is divided under the situation of head portion, according to the priority of head; Will be only (1,1) opened state be made as control code 99, will (1; 1), (1,2) opened state is made as control code 98, general (1; 1), (1,2), (1,3) opened state are made as control code 97.With these main points, the control code of giving the state that control code to all heads open to the open mode of head is promptly till 0.
Fig. 8 representes to preset the algorithm that mechanism 111 carries out based on model.In S8-1; On the basis of the value that from speed pattern list 115, reads; Calculate the first acceleration starting position that is used for moving to initial velocity from threading speed; Be used for moving to the second acceleration starting position of constant speed in addition, move to the deceleration starting position of final speed from constant speed from initial velocity.And, calculate stretching out of steel plates 151 by these starting positions and begin to the downcoiler velocity mode till accomplishing of reeling from milling train 157.The first acceleration starting position Saccp1, the first acceleration completing place Saccq1, the second acceleration starting position Saccp2, the second acceleration completing place Saccq2, deceleration starting position Sdccp, deceleration completing place Sdccq can be calculated by (1)～(6) formula of following expression respectively.And, in following formula, * or expression multiplication.
Saccp1＝L0 (1)
Wherein, L0: constant
Saccq1＝Saccp1+(Sstart-Sthread)*(Sstart+Sthread)/(Saccrate1*2) (2)
Wherein, Sthread: the threading speed of steel plate 151, Sstart: the initial velocity of steel plate 151, Saccrate1: begin the acceleration till the initial velocity from the threading speed of steel plate 151.
Saccp2＝Lmd (3)
Wherein, Lmd: from the distance of milling train 157 to downcoiler 154.
Saccq2＝Saccp2+(Smid-Sstart)*(Smid+Sstart)/(Saccrate*2) (4)
Wherein, Sstart: the initial velocity of steel plate 151, Smid: the constant speed of steel plate 151, Saccrate: begin the acceleration till the constant speed from the initial velocity of steel plate 151.
Sdccp＝Lstrip-(Smid-Send)*(Smid+Send)/(Sdccrate*2)-Lmargin (5)
Wherein, Lstrip: the length of steel plate 151, Send: the final speed of steel plate 151, Sdccrate: begin deceleration, Lmargin till the final speed: before what of the tail end of steel plate 151, accomplish the surplus of slowing down from the constant speed of steel plate 151.
Sdccq＝Lstrip-Lmargin (6)
According to the velocity mode that calculates, after S8-2, calculate the realization target volume by the computing of using plate temperature to infer model and change around the time of the header pattern of temperature.Represented to calculate an example of header pattern in the present embodiment according to the linear inverse interpolation.
In S8-2, for each position of steel plate 151, definition accompanies two control code nL, the nH of the control code of separating.Here, separate because between standard-sized sheet that cools off head and full cut-off, exist, so be made as nL=0, nH=100 without exception., follow the increase of control code here, because the cooling head of opening merely reduces, thus during n1＜n2, for coiling temperature T c1, the Tc2 corresponding with these header pattern, Tc1＜Tc2 establishment.
Next, in S8-3, nL and nH on average be made as n0.And, in S8-4, calculate the coiling temperature T c0 corresponding with control code n0.S8-4 is for each position of the length direction of steel plate 150, from milling train stretch out begin to reel to downcoiler till, calculate continuously and infer the temperature estimation of model 117, thereby infer the coiling temperature according to plate temperature.
In S8-5, judge for the symbol of inferring coiling temperature T c0 of target volume, under the situation of Tc0＞Ttarget, because separate between n0 and the nL, so n0 is changed to nH again around temperature T target.On the contrary, under the situation of Tc0＜Ttarget, because separate between n0 and the nH, so n0 is changed to nL again.
In S8-6, the completion condition of decision algorithm repeats S8-3～S8-5 during unmet.The completion of algorithm can with the repetition more than certain number of times of accomplishing S8-3～S8-5, coiling temperature estimation value Tc and target volume around the deviation of temperature T target below certain value or any of n0 and nH, nL consistent etc. be that condition is judged.
As the method that control code is given, be similarly the control code under all cooling head closing state is made as 0, the control code under all cooling head opened state is made as 100, gives accordingly therewith.
Fig. 9 at length representes the temperature estimation computing corresponding with S8-4.Computing has been represented steel plate 151 is divided into length direction and thickness direction as temperature estimation, and the time is advanced with certain scale Δ, an advance example of calculus of finite differences of the what is called of the row operation of going forward side by side.In S9-1, the update calculation moment, and then the velocity mode that generates among the S8-1 by Fig. 8 calculates the plate speed Vt in this moment.In S9-2, use the plate speed of calculating, calculate the milling train extension elongation.Extension elongation Ln is meant the length of accomplishing the rolling steel plate that stretches out from milling train, can calculate with formula (7).Wherein, Ln-1 is the extension elongation in the last moment.
Ln＝Ln-1+Δ·Vt (7)
In S9-3, judge the completion of computing.Milling train extension elongation Ln greater than the distance of the total length of steel plate 151 and rolling rack 161 to downcoiler 180 and the time, calculates all corresponding to the coiling temperature prediction of a coiled material and to accomplish, so computing is accomplished.Under the uncompleted situation of computing, in S9-4, carry out the temperature of steel plate and follow the tracks of.That is, for the position of the steel plate in the last moment, through behind the delta time, steel plate advances, and what can be known by the relation of Ln and Ln-1, therefore carry out the Temperature Distribution of steel plate is moved the processing of the distance of correspondence.
In S9-5, the steel plate 151 of discharging from milling train during the Δ is set the preceding steel billet temperature of cooling.Among the S9-6, judge that by the information of the switching of the head corresponding each position is water-cooled or air cooling with each position of steel plate 151.Under the situation of water-cooled, in S9-7, for example according to formula (8) calculation of thermal conductivity.
Hw＝9.72*10
5*ω
0.355*{(25-1.15*logTw)*D/(pl*pc)}
0.646/(Tsu-Tw) (8)
Wherein, ω: water yield density, Tw: water temperature, D: nozzle diameter, pl: the injector spacing of production line direction, pc: with injector spacing, the Tsu of production line orthogonal direction: the surface temperature of steel plate 151.
Formula (8) is the thermal conductivity factor under the situation of so-called lamination cooling.As water-cooling method, also have various methodologies such as the cooling of injection in addition, the calculating formula of several thermal conductivity factors is also known.
On the other hand, under the situation of air cooling, for example according to formula (9) calculation of thermal conductivity.
hr＝σ·ε[{(273+Tsu)/100}
4-{(273+Ta)/100}
4]/(Tsu-Ta) (9)
Wherein, σ: Si Difen-Boltzmann constant (=4.88), ε: emissivity, Ta: air themperature (℃), Tsu: the surface temperature of steel plate 151.
Formula (8) is calculated respectively with the table and the back of the body of formula (9) to steel plate 151.And, in S9-9,,, calculate the temperature at each position of steel plate 151 through moving of heat during the plus and minus calculation Δ to be the basis through the temperature before the Δ.If under the situation that the heat of the thickness direction of ignoring steel plate 151 moves, calculate suc as formula (10) for each position of the length direction of steel plate 151.
Tn＝Tn-1-(ht+hb)*Δ/(ρ*C*B) (10)
Wherein, Tn: present plate temperature, Tn-1: plate temperature, ht before the Δ: the thermal conductivity factor of surface of steel plate, hb: the thermal conductivity factor at the steel plate back side, ρ: the density of steel plate, C: the specific heat of steel plate, B: steel plate is thick.
In addition, consider at needs can calculate through finding the solution known heat equation under the situation of heat conduction of thickness direction of steel plate 151.Heat equation is with formula (11) expression, and is open in various documents by its method of computer Difference Calculation.
Wherein, λ: thermal conductivity, T: material temperature.
And, in S9-10, accomplish to the Zone Full of steel plate 151 180, in the production line from rolling rack 161 to downcoiler calculate till, repeat S9-6～S9-9.In addition, till judging that through S9-3 computing is accomplished, repeat S9-1～S9-10.
Figure 10 representes each position of steel plate 151 is given an example of control code.One example of the variation of having represented to handle based on the optimization of Fig. 8.In the processing of Figure 10 for the first time, because implement the processing of identical initial value (nL=0, nH=100) at each position, so in the whole zone of steel plate 151, give 50.In handling for the second time, for control code 50, because the predicting the outcome of coiling temperature T c0 at each position of steel plate 151 is greater than or less than Ttarget, so the control code that is endowed is different.
Represented near steel plate speed to be that the front end of the steel plate 151 of low speed, the part of rear end are upgraded control code to the direction of closing head in the present embodiment, steel plate speed is upgraded an example of control code to the direction of opening head for the central portion of steel plate 151 at a high speed.Particularly, shown in the processing for the second time of Figure 10, leading section, rearward end are updated to nL=50, nH=100 in the S8-5 that handles for the first time after, its result, control code are updated to average 75.On the other hand, central portion is updated to nL=0, nH=50 in the S8-5 of primary processing after, its result, control code is updated to 25.So, through repeating S8-3～S8-6 of Fig. 8, upgrade control code successively.
Figure 11 representes to preset the example of the final control code of exporting of controlling organization.In the example of Figure 11, steel plate 151 with from the distance of front end accordingly in the longitudinal direction, be that unit divides grid with 1m, and distribute control code accordingly with grid.Because the table of cooling device and steel plate and the back of the body have top cooling device 171 and bottom cooling device 172 accordingly, so as control code, with head portion and head portion output separately accordingly.Having represented among Figure 11 on the length direction of steel plate 151, is 95 apart from the control code of the head portion of front end 1m, and the control code of head portion is 95 also, and between 500m to 501m, the control code of head portion is 14, and the control code of head portion also is 14.Among Figure 11, will be made as identically, but also can set the Different control sign indicating number with the control code of corresponding head portion in the same position of steel plate 151 and head portion.
Figure 12 representes to smooth the result of mechanism.Smoothing mechanism 112 makes the processing of the switching smoothing of cooling head for the output of presetting mechanism 111 based on model.The control code that presets mechanism 111 output based on model is in the interval of steel plate part 3m～4m, all less than the position of front and back.In the case, follow a part of refrigerating head, the control instruction of output moment switching through the position.After utilizing smoothing mechanism 112 to smooth processing, through control code 12 is smoothed 14, become dullness for the variation of the control code of steel plate part, thereby the problem before the smoothing is solved.Even it is in the short period, generate the instruction that the cooling head opens and closes, in fact nonsensical owing to the operating lag of cooling head.Therefore, carry out this kind smoothing and handle, and the instruction that head is cooled off in smoothing on time orientation.Smoothing can under all big or little situation, realize its simple processing consistent with front or rear control code to compare like the control code with each control code and front and back.
Figure 13 representes dynamic controlling organization.The control code that presets controlling organization 110 outputs utilizes dynamic controlling organization 120 to be revised in real time in the control of cooling metal sheets 151, and confirms the final control code of mode shift mechanism 130 outputs craniad.Dynamically controlling organization 120 possesses temperature deviation correction mechanism 121, and it uses the detected temperatures from coiling thermometer 175, revises detected temperatures and the target volume deviation around temperature.In addition, temperature deviation correction mechanism 121 possesses first correction mechanism 122 and second correction mechanism 123 with different computing computed corrections.In addition; Dynamically controlling organization 120 possesses and is used for influence coefficient table 124 and the operational ton switching mechanism 125 that correction is calculated, and in the output of output and second correction mechanism 123 of first correction mechanism 122 which its judgement also switch as the dynamically final output of controlling organization 120.
Next, the action of each several part is at length explained.The coiling variation of temperature that storage changes with respect to control code in influence coefficient table 124.Figure 14 representes the structure of influence coefficient table 124.In influence coefficient table 124, stored distinctively with thickness of slab, plate speed and steel grade index with the variable quantity value corresponding
that opens or closes the coiling temperature T c of cooling during head 174.In the example of Figure 14, represented; At thickness of slab is below the 3mm; The speed of steel plate 151 is below 150mpm; The steel grade index is under 1 the situation;
if open or close a cooling head 174, the coiling temperature T c that then measures with coiling thermometer 175 reduces or rises 3 ℃.In the present embodiment, the difference project is made as three of thickness of slab, plate speed, steel grade index, can considers to reduce, also can take into account a temperature of appending the steel plate 151 when from rolling rack 161, stretching out etc., thereby increase the difference project.
Next, the processing of coiling temperature deviation correction mechanism is described based on Figure 13.Coiling temperature deviation correction mechanism 121 possesses first correction mechanism 122 and second correction mechanism 123, and the coiling temperature that they detect for coiling thermometer 175 calculates the number of the head of switching with respect to the size of the deviation of target temperature with different computings.First correction mechanism 122 possesses the first correction calculation mechanism 1302 and generates mechanism 1301 constantly with the execution of setting the first correction calculation mechanism 1,302 first startup constantly.
Figure 15 representes that first starts the processing that generates mechanism constantly.First starts the processing that generates mechanism 1301 constantly began in the moment of steel plate 151 through coiling thermometer 175.At first, in S15-1, in the cooling device 170, utilize the translational speed of steel plate 151 to calculate under FEEDBACK CONTROL the time of delivery of the steel plate 151 till position to the thermometer 175 of reeling that opens and closes head.In S15-2, be delivered in the influence of switching of the time of delivery that calculates, cooling head 174 on the basis of summation of delay of the delay of steel plate 151, coiling thermometer 175, calculate start-up period.The delay that the switching of cooling head 174 is delivered to steel plate is for example under the open situation of cooling head, and the instruction of opening from coiling temperature control device 110 output cooling heads is to water and time till steel plate 151 contacts.Start-up period can be its summation, also can with the time after the suitable surplus of further adding as the cycle.
In S15-3,, take a decision as to whether startup constantly for the start-up period that calculates by S15-2.For starting under the situation constantly, in S15-4, start signal constantly to the 1302 output expressions of the first correction calculation mechanism.In S15-5, whether the tail end of judging steel plate 151, is accomplished and is handled under the situation after passing through through coiling thermometer 173.Under unsanctioned situation, repeat the processing of S15-1～S15-4.
The first correction calculation mechanism 1302 is carried out the computing of formula (12).That is, for correction (Δ n) pre that dynamic controlling organization 120 is exported now, plus and minus calculation and the corresponding following value of coiling temperature deviation Δ Tc calculate Δ n1.Δ n1 is for the value after the influence of the correction integration Δ Tc of last time.
Wherein, G1: gain (constant),
: the corresponding influence coefficient that reads from influence coefficient 124.
On the other hand, second startup generates mechanism 1303 constantly and exports enabling signals with the constant cycle to the second correction calculation mechanism 1304.If the enabling signal of receiving, then the second correction calculation mechanism 1304 utilizes formula (13) to calculate the following value corresponding with coiling temperature deviation Δ Tc as Δ n2.Δ n2 is and the present proportional value of Δ Tc.
Wherein, G2: gain (constant),
: the corresponding influence coefficient that reads from influence coefficient 124.
In the present embodiment, for easy, the influence coefficient that will in the first correction calculation mechanism 1302 and the second correction calculation mechanism 1304, use all is made as the identical value that from influence coefficient table 124, reads, but also can be different values according to the difference of handling.
Figure 16 representes the processing of operational ton switching mechanism 125.At first, in S16-1, read the speed V of steel plate 151.In S16-2, judge that the steel plate speed V read is whether greater than the value that from constant speed V3, deducts behind the pre-determined Δ.Under big situation, the output Δ n1 that exports the first correction calculation mechanism 1302 is as Δ n.Under little situation, the output Δ n2 that exports the second correction calculation mechanism 1304 is as Δ n.
Figure 17 representes the situation of the switching of the first correction calculation mechanism 1302 and the second correction calculation mechanism 1304 in the whole zone of steel plate with sketch map.Transverse axis can be the elapsed time after steel plate 151 stretches out from rolling rack 161, also leaves the length of steel plate front end.Among Figure 17, with respect to maximum speed (constant speed) V3, in the zone (2) of steel plate speed greater than (V3-Δ), the output of selecting the first correction calculation mechanism 1302 is as the dynamically output of controlling organization 120.In zone (1) in addition, regional (3), the output of selecting the second correction calculation mechanism 1304 is as the dynamically output of controlling organization 120.Δ can suitably be set surplus on maximum speed, but in fact, is mostly to be set at the situation about 5～10mpm.
Next, the processing of header pattern mapping device 130 is described.Here, shown in figure 18 on steel plate 151, definitional part (section) 1801 in the longitudinal direction, the operational ton of enforcement is identical in part.In the example shown in Figure 180, add up to n part of definition from steel plate front end to steel plate rear end, and give the part sequence number respectively.That is, the part of steel plate front end gives 1, below, the part of steel plate rear end is given n.
Figure 19 representes the algorithm that the header pattern mapping device is carried out.Header pattern mapping device 130 calculates the distance L h from the front end through the steel plate 151 of cooling head under just in S19-1.Control device 100 has this kind range information under various purposes, to be used for purpose.In S19-2, whether judge Lh less than 0, under little situation,,, advance to S19-3 so skip processing because steel plate 151 no shows should be cooled off head.Under big situation, because arriving, steel plate 151 should cool off head, so in S19-3, take out the control code corresponding with distance L h.That is, contrast the steel plate part of Lh and Fig. 8, take out the head portion control code and the head portion control code at the position corresponding with Lh.In the present embodiment, control code is the value after dynamic controlling organization 120 is revised the value that presets controlling organization 110 settings.In S19-4, take out cooling head die opening and closing formula by control code.That is, the control code of utilizing Fig. 7 is corresponding with cooling head die opening and closing formula, confirms till the open several cooling heads of priority.In S19-5, utilize the information that is stored in the refrigerating head quality award from the ministry elder generation sequence list 115, confirm open cooling head particularly, and finally confirm the switching of this cooling head.In S19-6, judge and whether accomplish for the computing of all cooling heads, under uncompleted situation, repeat the processing of S19-1～S19-5, until completion.
In the present embodiment, 100 the situation of being up and down with cooling head number is that example is illustrated, and can be various quantity but head is several according to equipment.In addition, control code is revised value blanketization that presets after the value that controlling organization 110 sets as dynamic controlling organization 120, but also the suitable bank of consideration differentiation carries out correspondence.For example; Consider that also will be made as dynamic control near latter two bank of downcoiler 180 uses; Be made as in addition and preset control usefulness, the Δ n that exports according to dynamic controlling organization 120 controls the former, controls the latter independently according to the control code that presets controlling organization 110 outputs.And then, in the present embodiment, possess smoothing mechanism 112, also consider its omission.In addition, in the present embodiment, the situation with control code performance control instruction is illustrated, but considers all technique of expressions of header pattern as the control instruction of direct control instruction etc.
(embodiment 2)
Represented that in the present embodiment operational ton switching mechanism 125 is judged the example of the output renewal correction of whether using the first correction calculation mechanism 1302 after the validity of the output of judging the first correction calculation mechanism 1302.
Figure 20 representes the Processing Algorithm of operational ton switching mechanism 125.At first in S20-1, read the speed V of steel plate 151.In S20-2, utilize the speedometer of steel plate 161 to calculate time of delivery at the steel plate 151 till position to the thermometer 175 of reeling that opens and closes head under the FEEDBACK CONTROL of cooling device 170.In S20-3, be delivered in the influence of switching of the time of delivery that calculates, cooling head 174 on the basis of summation of delay of the delay of steel plate 151, coiling thermometer 175, calculate and start at interval.In S20-4, for the startup that in S20-3, calculates at interval, judge whether the speed of steel plate 151 changes during this period.Do not having under the situation of velocity variations, judging with the first correction calculation mechanism 1302 and calculate suitable correction, the output Δ n1 of the output first correction calculation mechanism 1302 is as correction in S20-5.Taking place under the situation of velocity variations, judging that the reliability of calculated value of the first correction calculation mechanism 1302 is low, in S20-6 next time still keep Δ n on sub-value.
(embodiment 3)
Represented that in the present embodiment operational ton switching mechanism 125 after the validity of the output of judging the first correction calculation mechanism 1302, is judged the example of the output renewal correction of whether using the first correction calculation mechanism 1302 equally.
Figure 21 representes the Processing Algorithm of operational ton switching mechanism 125.At first in S21-1, read the speed V of steel plate 151.Whether the steel plate speed V that judgement obtains in S21-2 deducts the value of predefined Δ greater than constant speed V3.Under big situation, judge with the first correction calculation mechanism 1302 and calculate suitable correction, and the output Δ n1 that in S21-3, exports the first correction calculation mechanism 1302 is as correction amount n.Under little situation, judge that the reliability of calculated value of the first correction calculation mechanism 1302 is low, in S21-4 next time still keep Δ n on sub-value.
(embodiment 4)
Represented dynamically possessing operational ton combination mechanism 2201 in the controlling organization 120 in the present embodiment, and with the output of operational ton combination mechanism 2201 synthetic first correction mechanisms 122 and the output of second correction mechanism 123, thereby the embodiment of calculating Δ n.
Among Figure 22; Operational ton combination mechanism 2201 is through being index with the steel plate speed that obtains; Also output Δ n is calculated in the output of the output of the output Δ n1 of the first correction calculation mechanism 1302 that selection or synthetic first correction mechanism 122 possess and the output Δ n2 of the second correction calculation mechanism 1304 that second correction mechanism 123 possesses.
Figure 23 representes the speed with respect to steel plate 151, according to the deviation of maximum speed V3, the example that the processing of operational ton combination mechanism 2201 is different.Shown in figure 23; With respect to maximum speed V3, be zone (2) with the zone definitions of steel plate speed more than (V3-Δ 1), more than (V3-Δ 2); But the zone definitions of not enough (V3-Δ 1) be zone (4), (5), is regional (1), (3) with the zone definitions of not enough (V3-Δ 2).
Figure 24 representes the algorithm that operational ton combination mechanism 2201 is carried out.In S24-1, obtain the speed V of steel plate 151.Next in S24-2, judge velocity band.Under the situation of zone (1), (3), in S24-3, the output Δ n2 that exports the second correction calculation mechanism 1304 is as Δ n.On the other hand, under the situation of zone (4), (5), in S24-5, the output Δ n1 of the synthetic first correction calculation mechanism 1302 and the output Δ n2 of the second correction calculation mechanism 1304, thus calculate and output Δ n.As the synthetic for example formula (14) of handling, consider to carry out through the relativeness pro-rata Δ n1 and the Δ n2 that use steel plate speed V and constant speed V3.
Δn＝(V/V3)·Δn1+{(V3-V)/V3}·Δn2 (14)
In addition, in S24-2, be judged to be under the situation in zone 2, in S24-5, the output Δ n1 that exports the first correction calculation mechanism 1302 is as Δ n.
(embodiment 5)
Represent service in the present embodiment, carry out the adjustment of water-cooled model or air cooling model as the long-range internet usage of manufacturer.
Figure 25 representes the overall structure of system.Real data such as temperature or initial data such as thickness of slab, plate width are put into the server 2504 of our company before the speed of manufacturer obtains control device 100 via internet 2511, server 2510, cable system 2503 from control object 150 coiling temperature, the header pattern that is associated therewith, steel plate 151, the cooling.And be stored in adjustment with in the database 2505.
The present invention brings into play significant effect in steel plate speed Steger rolling mills jumpy, but also controls adaptable across the cooling of the hot rolling line that comprises tandem mill.
Claims (10)
1. coiling temperature control device, it is with the cooling device cooling of seeing side off that the is configured in hot-rolling mill steel plate by this hot mill rolling, and will be controlled at the target temperature of regulation by the reel temperature of preceding steel plate of downcoiler,
Said coiling temperature control device is characterised in that to possess:
Plate temperature is inferred model, and it is used to infer the coiling temperature of steel plate;
Preset control module; Its cooling before, by with the information of target volume around the velocity correlation of temperature and steel plate, use said plate temperature to infer model and infer the coiling temperature; And use and to infer the result, calculate and output is used to realize the control instruction to cooling device sent of target volume around temperature;
Dynamic control unit, the coiling temperature of the steel plate in its observation cooling control, and, calculate and export the correction of control instruction by observed result and the deviation of target volume around temperature,
And then said dynamic control unit possesses:
First amending unit, it calculates the correction of dynamic control unit output next time by the correction of the control instruction that calculates accordingly with said deviation and the dynamic control unit correction of the control instruction of output now;
Second amending unit, the correction of the control instruction of the correction of the control instruction that it will calculate with this deviation accordingly and dynamic control unit output next time is directly corresponding and export;
The operational ton switch unit, it obtains the speed of said steel plate, and according to steel plate speed, selects in the output of output and second amending unit of first amending unit any, thereby confirms the correction of dynamic control unit output next time.
2. coiling temperature control device according to claim 1 is characterized in that,
During greater than setting, select the output of said first amending unit in said steel plate speed, in the time of in addition, select the output of said second amending unit.
3. coiling temperature control device according to claim 2 is characterized in that,
Said first amending unit possesses: with steel plate speed confirm accordingly next time corrected Calculation startup constantly first start generation unit constantly,
Said second amending unit possesses: the startup second startup moment generation unit constantly of confirming the corrected Calculation of next time with the cycle of pre-determined regulation.
4. coiling temperature control device according to claim 3 is characterized in that,
Said first start generation unit constantly through use steel plate speed, in said cooling device because the change of control instruction causes the computing of the time till the influence of distance, the control instruction change of position and the coiling thermometer of operational ton change relates to steel billet temperature, confirm next time corrected Calculation startup constantly.
5. coiling temperature control device according to claim 3 is characterized in that,
Whether said operational ton switch unit starts between the startup at interval of last time that generation unit constantly confirms and next time steel plate speed to said first and changes and detect; Under unconverted situation, use the output of first correction mechanism; Dynamic control unit is confirmed the correction of output next time; Under vicissitudinous situation, dynamic control unit also keeps the correction of present output next time.
6. coiling temperature control device according to claim 1 is characterized in that,
When steel plate speed during greater than predefined value, said operational ton switch unit uses the output of first amending unit, and dynamic control unit is confirmed the correction of output next time, and in the time of in addition, dynamic control unit also keeps the correction of output now next time.
7. coiling temperature control device, it is with the cooling device cooling of seeing side off that the is configured in hot-rolling mill steel plate by this hot mill rolling, and will be controlled at the target temperature of regulation by the reel temperature of preceding steel plate of downcoiler,
Said coiling temperature control device is characterised in that to possess:
Plate temperature is inferred model, and it is used to infer the coiling temperature of steel plate;
Preset control module; Its cooling before, by with the information of target volume around the velocity correlation of temperature and steel plate, use said plate temperature to infer model and infer the coiling temperature; And use and to infer the result, calculate and output is used to realize the control instruction to cooling device sent of target volume around temperature;
Dynamic control unit, the coiling temperature of the steel plate in its observation cooling control, and, calculate and export the correction of control instruction by observed result and the deviation of target volume around temperature,
And then said dynamic control unit possesses:
First amending unit, it calculates the correction of dynamic control unit output next time by the correction of the control instruction of using said drift gage to calculate and the correction of the present control instruction of exporting of dynamic control unit;
Second amending unit, it will use the correction of correction and dynamic control unit output next time of the control instruction that this drift gage calculates directly corresponding and export;
The operational ton synthesis unit, it obtains the speed of said steel plate, for the output of first amending unit and the output of second amending unit, carries out the weighting according to steel plate speed, thereby confirms the correction of dynamic control unit output next time.
8. coiling temperature control device according to claim 7 is characterized in that,
Said operational ton synthesis unit is in steel plate speed during greater than predetermined first speed; Select first amending unit; During less than predetermined second speed, select second amending unit, in steel plate speed when steel plate speed is between first speed and second speed; Carry out weighting, thereby confirm the correction of dynamic control unit output next time according to steel plate speed.
9. coiling temperature-controlled process, it is with the cooling device cooling of seeing side off that the is configured in hot-rolling mill steel plate by this hot mill rolling, and will be controlled at the target temperature of regulation by the reel temperature of preceding steel plate of downcoiler,
Said coiling temperature-controlled process is characterised in that, comprising:
Preset control; Its cooling before, by with the information of target volume around the velocity correlation of temperature and steel plate, use said plate temperature to infer model and infer the coiling temperature; And use and to infer the result, output is used to realize the control instruction to cooling device sent of target volume around temperature;
Dynamically control, the coiling temperature of the steel plate in its observation cooling control, and, export the correction of control instruction by observed result and the deviation of target volume around temperature,
And then, by the correction and the present correction of exporting of dynamic control unit of the control instruction of using observed result and target volume to calculate around the drift gage of temperature, calculate first correction;
Correction by the control instruction of using observed result and target volume to calculate around the drift gage of temperature directly calculates second correction;
According to the steel plate speed that obtains, select any in first correction and second correction, thereby confirm the correction of next time in the dynamically control.
10. coiling temperature-controlled process according to claim 9 is characterized in that,
The calculation time of said first correction through use steel plate speed, in said cooling device because the change of control instruction causes the computing of the time till the influence of distance, the control instruction change of position and the coiling thermometer of operational ton change relates to steel billet temperature to confirm that the calculation time of said second correction was confirmed by the cycle of predetermined regulation.
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| CN102000703B (en) * | 2009-09-02 | 2013-03-20 | 株式会社日立制作所 | Hot rolling machine outlet side temperature control device and its control method |
| KR101352224B1 (en) | 2010-04-09 | 2014-01-15 | 도시바 미쓰비시덴키 산교시스템 가부시키가이샤 | Rolled material cooling control device, rolled material cooling control method, and recording medium for rolled material cooling control program |
| KR101249128B1 (en) * | 2010-12-28 | 2013-03-29 | 주식회사 포스코 | Continuous rolling apparatus and method thereof |
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| JP5542228B2 (en) * | 2013-03-21 | 2014-07-09 | 株式会社日立製作所 | Winding temperature control device and control method thereof |
| JP6165566B2 (en) * | 2013-09-10 | 2017-07-19 | 株式会社日立製作所 | Winding temperature control device and control method |
| JP6399985B2 (en) * | 2015-09-08 | 2018-10-03 | 株式会社日立製作所 | Winding temperature control device and winding temperature control method |
| CN108906885B (en) * | 2018-05-23 | 2020-06-02 | 包头钢铁（集团）有限责任公司 | Method for hot rolling strip steel |
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| JP2000167615A (en) * | 1998-12-03 | 2000-06-20 | Toshiba Corp | Method for controlling coiling temperature and controller |
| JP2003039109A (en) | 2001-07-30 | 2003-02-12 | Toshiba Corp | Device for controlling coil winding temperature |
| JP4208505B2 (en) | 2002-07-05 | 2009-01-14 | 東芝三菱電機産業システム株式会社 | Winding temperature controller |
| CN100363122C (en) * | 2005-05-20 | 2008-01-23 | 鞍钢股份有限公司 | Cold-rolled strip steel cooling liquid flow control method |
| KR100912153B1 (en) * | 2005-10-26 | 2009-08-14 | 가부시키가이샤 히타치세이사쿠쇼 | Device and method for controlling coiling temperature |
-
2006
- 2006-12-19 JP JP2006341150A patent/JP5054369B2/en not_active Expired - Fee Related
-
2007
- 2007-12-18 KR KR1020070132911A patent/KR100944314B1/en not_active IP Right Cessation
- 2007-12-19 CN CN2010101509167A patent/CN101791633B/en not_active Expired - Fee Related
- 2007-12-19 CN CN2007103001932A patent/CN101204717B/en not_active Withdrawn - After Issue
Also Published As
| Publication number | Publication date |
|---|---|
| JP5054369B2 (en) | 2012-10-24 |
| CN101204717A (en) | 2008-06-25 |
| KR20080057164A (en) | 2008-06-24 |
| JP2008149354A (en) | 2008-07-03 |
| CN101204717B (en) | 2010-06-09 |
| KR100944314B1 (en) | 2010-02-24 |
| CN101791633A (en) | 2010-08-04 |
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