CN102740988B - Method and apparatus for compensating abnormal tensile loads in a strip of an acceleration-guided coiler drive - Google Patents
Method and apparatus for compensating abnormal tensile loads in a strip of an acceleration-guided coiler drive Download PDFInfo
- Publication number
- CN102740988B CN102740988B CN201080040245.7A CN201080040245A CN102740988B CN 102740988 B CN102740988 B CN 102740988B CN 201080040245 A CN201080040245 A CN 201080040245A CN 102740988 B CN102740988 B CN 102740988B
- Authority
- CN
- China
- Prior art keywords
- acceleration
- motor
- coiling machine
- band
- rated
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/48—Tension control; Compression control
- B21B37/52—Tension control; Compression control by drive motor control
- B21B37/54—Tension control; Compression control by drive motor control including coiler drive control, e.g. reversing mills
-
- 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
- B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
- B21C47/003—Regulation of tension or speed; Braking
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
- Control Of Electric Motors In General (AREA)
- Winding, Rewinding, Material Storage Devices (AREA)
Abstract
The invention relates to a method for compensating abnormal tensile loads (SSt) in a strip (8) of an acceleration-guided coiler drive consisting of a driving motor (10, 12), a drive shaft (12, 14), and a coiler (4, 6). According to the invention, an actual acceleration (MBM) of the driving motor (10, 12) is determined from a determined actual speed (nM) of said driving motor (10, 12) and is compared with a desired acceleration (MBM) of the driving motor, said desired acceleration (MBM) being calculated from a predetermined motor-related desired acceleration (M * Bu ).; A corrective variable (MKor) is determined from the difference between the actual and the desired acceleration, and said corrective variable (MKor) is superimposed on a generated desired moment (M * M ) of the motor in such a way that the determined difference between the actual and the desired acceleration becomes zero. Abnormal tensile loads are thus corrected, thereby preventing the strip from breaking.
Description
Technical field
The present invention relates to a kind of method that band pulling force of the coiling machine drive unit for compensated acceleration guiding disturbs and a kind of for implementing the device of the method.
Background technology
In the coiling machine drive unit of the mode operation of controlling with pulling force, especially during boost phase, there will be pulling force to interrupt, this pulling force interruption can cause band crackle.
From EP 0 477 422 A1, disclose a kind ofly for regulating the method and apparatus of rolling mechanism coiling machine, wherein used pulling force to regulate.This pulling force regulates has draft regulator, to this draft regulator, provides tried to achieve pulling force poor.This pulling force regulates take rotational speed regulation as basis.At outlet side, the rotational speed regulation of subordinate is connected with the driver element of coiling machine.This driver element of coiling machine has motor, frequency converter, current regulator etc.The actual pulling force of trying to achieve in controlled system and predetermined specified pulling force compare and by the poor input draft regulator of pulling force.At outlet side, on draft regulator, be useful on the rated speed of the rotational speed regulation of subordinate.Rotational speed regulation by means of subordinate produces the moment of torsion for uncoiler motor.
By this adjusting of uncoiler motor, coiling machine moment height is dynamically coordinated to desired pulling force, thereby realize the band with approximately constant thickness.
In this adjusting, adverse influence is, must use tension measuring device.This tension measuring device can not detect little tension.In addition, this tension measuring device can not be used when manufacturing film.
In the coiling machine drive unit of the mode operation of controlling with pulling force, there will be because accelerator makes pulling force and interrupt in band (rolling efficiency change of rank).Thus, band can be sagging.Because pulling force reduces (not reloading), the motor High Rotation Speed of coiling machine, reduces sagging band material.Along with the increase of motor speed, the pulling force in band material raises again.According to tension variations, there will be band crackle.
Optimization during this problem can only regulate by parameter up to now or the delay of acceleration are resolved, and wherein this must implement between trial run period.Equipment is depended in this optimization very much, that is to say for addressing this problem, need to be for the expert of the trial run of coiling machine drive unit.
Summary of the invention
Now, task of the present invention is the method that the band tension of a kind of coiling machine drive unit for compensated acceleration guiding of explanation is disturbed, and does not wherein use band pulling force to regulate.
This task is resolved by the feature of claim 1 by the present invention.
The present invention is based on following understanding, also can cause the band pulling force of band crackle to disturb the interference that has caused motor acceleration.
By the present invention, by means of measured motor speed, try to achieve the interference in motor acceleration.For this reason, to motor speed differential, obtained thus the actual motor acceleration about motor.This predetermined rated acceleration is converted on the rated motor acceleration about motor.Thus can be by actual motor acceleration and rated motor acceleration relatively try to achieve the size of disturbing in motor acceleration.From this acceleration is poor, be identified for the corrected parameter of produced rated motor moment, the stack of it and described rated motor moment, makes that acceleration is poor becomes zero.
By means of this, by method of the present invention, also can regulate to adjust the interference of band pulling force without band pulling force.Advantage by method of the present invention is, has guaranteed the especially reliable operation in boost phase, thereby cancels tediously long optimization and few material can be made substandard products by roller.By stable band tension, realize the better tolerance of rolling thing.
Accompanying drawing explanation
In order to explain in detail, with reference to accompanying drawing, schematically illustrate the present invention in the accompanying drawings for implementing by the embodiment of the device of method of the present invention.
Fig. 1 shows the schematic diagram of rolling machine frame, for this rolling machine frame is furnished with two coiling machines in both sides,
Fig. 2 shows by the equivalent diagram in the control technology of the schematic diagram of Fig. 1, and it has for implementing the device by method of the present invention,
Fig. 3 shows interfering signal about the chart of time,
Fig. 4 shows tension about the chart of time,
Fig. 5 shows motor speed about the chart of time,
Fig. 6 shows the motor moment of attaching troops to a unit about the time, and
Fig. 7 has illustrated the motor acceleration of the attaching troops to a unit chart about the time.
The specific embodiment
In Fig. 1, with 2 rollers that represent respectively the rolling machine frame that is not shown specifically especially working roll, with 4 and 6, represent respectively coiling machine and with 8 bands that are illustrated in motion between two coiling machines 4 and 6.Each coiling machine 4 or 6 has drive motor 10 or 12, this drive motor by means of motor reel 14 or 16 by means of the transmission device not being shown specifically and coiling machine 4 or 6 mechanical connections.Each drive motor 10 or 12 has tachometer generator 18 or 20, with this tachometer generator, detects its rotation speed n
mactual value.For each drive motor 10 or 12 is furnished with according to drag torque
predetermined rated value and acceleration
drive motor 10 under correspondingly driving respectively or 12 device 22 or 24.
As device 22 or 24, frequency converter is for example set, this frequency converter also has control and the adjusting device of attaching troops to a unit except power component.In addition, described device 22 or 24 is connected with the output of tachometer generator 18 or 20 aspect signalling technique.In addition, figure 1 illustrates compensation arrangement 26 or 28, with this compensation arrangement, implement by method of the present invention.Because this compensation arrangement 26 or 28 is the integrated part of described device 22 or 24, especially its control and adjusting device while implementing actually, so this compensation arrangement is by means of being shown in dotted line.This compensation arrangement 26 or 28 is also connected with the tachometer generator 18 of attaching troops to a unit or 20 output aspect signalling technique.In addition, to the predetermined rated acceleration of this device 26 or 28 input
.
In addition, show the subregion 30 of the band 8 of motion in Fig. 1 between working roll 2 and coiling machine 6, this subregion is sagging because pulling force interrupts.Do not carry out pulling force adjusting, coiling machine 6 can be torn band 8 in boost phase.The possibility of this band crackle improves and depends on the material of this band 8 along with the thickness diminishing of band 8.For example, if having pending band is sheet metal strip, made of aluminum, the possibility of the band crackle being caused by pulling force interruption is so just very little.Under any circumstance all can form defective region and form thus substandard products.If having pending band 8 is film strips, the possibility of the band crackle being caused by pulling force interruption is so just very large.
In order to try to achieve the tension in pending band 8, use tension measurement equipment.This measurement device is so arranged with respect to band 8, makes this band 8 can on this measurement device, apply predetermined pressure.Have pending band 8 thinner, this tension measurement equipment just must be more responsive.Therefore, when manufacturing film, cannot use tension measurement equipment.
In order to address this problem, need between trial run period, optimize the expert of this product machine.This optimization can regulate and/or the delay of acceleration is carried out by parameter.Yet this optimization is loaded down with trivial details and depends on equipment.All need in all cases veteran operative employee, this operative employee can address this is that by its professional knowledge.
In Fig. 2, schematically show the equivalent diagram in the control technology of driven coiling machine 6 of Fig. 1.This equivalent diagram has a plurality of replacement aspect control technology by the part equivalent diagram of the mechanical component of the coiling machine drive unit of Fig. 1.Described part equivalent diagram represents with 32,34,36 and 38.Part substitutional connection Figure 32 shows the equivalent diagram of the control technology aspect of drive motor 12, part substitutional connection Figure 34 shows the driving shaft 16 with transmission device aspect control technology, and part substitutional connection Figure 36 shows the band 8 that the band 8 rolled and part substitutional connection Figure 38 show conveying aspect control technology aspect control technology.
Substitutional connection Figure 32 of the control technology aspect of drive motor 12 has PT
1element 40, comparator 42 and I element 44.PT
1the time constant of element 40 is equivalent time constant T of torque adjusting
e, and the time constant of I element 44 is motor time constant T
m.At PT
1on the output of element 40, be useful on inner motor moment M
msignal, wherein on the output of I element 44, be useful on motor speed n
msignal.On the reverse input of comparator 42, be useful on the signal of the moment of driving shaft 16, it and inner motor moment M
mcompare.The difference of trying to achieve is the motor acceleration M of drive motor 12
bM.By means of I element 44 from motor acceleration M
bMmiddle generation actual motor rotation speed n
m.
Described part substitutional connection Figure 34 also has P element 48 except I element 46, and it connects aspect signalling technique.Described two elements 46 aspect control technology and 48 series connection are imitated driving shaft 16 simplifiedly together with transmission device.On the output of P element 48, be useful on axle moment M
wsignal, this signal also feeds back on comparator 42.
In addition described axle moment M,
wimportation equivalent diagram, this part equivalent diagram shows the coiling machine 4 or 6 with the band 8 of rolling in control technology.This part substitutional connection Figure 36 only has an I element 50.On the output of this I element 50, be useful on coiling machine rotation speed n
hsignal.This I element 50 has coiling machine time constant T as time constant
h.
The part substitutional connection Figure 38 that shows the band 8 of conveying aspect control technology has function element 52, and the function of this function element at least depends on to be launched or roll speed v and therefore the current tensile force f in band is as a result of provided
z, also referred to as tension, this tension is by means of multiplier 54 and band radius R
bmultiply each other.The product producing feeds back on comparator 56, and this comparator is connected with the input of I element 50 at outlet side.On the non-return input of comparator 56, there is axle moment MW.Coiling machine rotation speed n on the output of I element 50
hby means of another multiplier 58 and constant R
hmultiply each other, thereby on the output of multiplier 58, exist for launching or roll the value of speed v.
As already mentioned, under the pattern that coiling machine drive unit is controlled at pulling force, move.For this reason, need respectively for drag torque M
zand for acceleration M
brated value.This rated value
with
by means of adder 60 stacks and by result input adder 62 below.On the reverse input of this adder 62, there is corrected parameter M
kor, this corrected parameter is produced by compensation arrangement 26.By means of adder 62 by motor moment rated value
with tried to achieve corrected parameter M
korsuperpose.
Enforcement has PT by the compensation arrangement of method of the present invention 26
1element 64, DT
1element 66, PID element 68 and comparator 70.DT
1on the input of element 66, there is the actual motor rotation speed n producing on the output of I element 44 that regulates parts 32
m.By means of DT
1element 66 is from this actual motor rotation speed n
mthe actual motor acceleration M that middle generation is attached troops to a unit
bM.This actual motor acceleration M
bMwith rated motor acceleration
compare, this rated motor acceleration is at PT
1on the output of element 64.At this PT
1on the input of element 64, there is the rated acceleration being converted on motor parameter
.This rated acceleration
by means of scaler 72 from predetermined rated acceleration
in try to achieve.As scaler 72, can in the simplest situation, constant be set.
By of the present invention, for compensating method that band 8 tensions disturb based on following knowledge, disturb can be at actual motor acceleration M for band pulling force
bMinterference in discover.Because always acceleration guiding of coiling machine drive unit 4 or 6 ground operation, so inventor can be based on following design, from specified and actual motor acceleration
and M
bMbetween derive corrected parameter M in the difference of trying to achieve
kor, with this corrected parameter, at least can suppress or adjust the interference in band pulling force 8.
Coiling machine drive unit for the required measurement parameter of operation of coiling machine drive unit is motor speed n
m.This motor speed n
mby means of tachometer generator 18 or 20, try to achieve.For from this actual motor rotation speed n
mactual motor acceleration M under middle generation
bM, to tried to achieve actual motor rotation speed n
mdifferential.This actual motor acceleration M
bMcurrent by coiling machine motor 4 or 6 acceleration of implementing.Be provided for the rated acceleration of coiling machine drive unit
.This rated acceleration
first must be converted to the rated acceleration relevant with motor by means of scaler 72
.By the value of this conversion
the PT of input offset device 26
1in element 64, this element has the equivalent time constant Te of torque adjusting as time constant.At this PT
1on the output of element 64, there is rated motor acceleration
.From motor speed n
mthe actual motor acceleration M trying to achieve
bMwith described rated motor acceleration
compare.By means of PID element 68, from tried to achieve acceleration is poor, determine corrected parameter M
kor, this corrected parameter and rated motor moment
stack, makes that tried to achieve acceleration is poor becomes zero.
In Fig. 3 to 7 about time t respectively at signal curve shown in chart, wherein in each chart, illustrated not by method of the present invention (a) and have by the signal curve of method of the present invention (b).
Band pulling force in situation (a) disturbs:
If there is band pulling force, disturb, it is characterized in that by the interference parameter S in the chart of Fig. 3
st, tensile force f so
zinterrupt and seldom buffering ground decay (Fig. 4).Described motor speed n
mfollow this vibrations (Fig. 5).Do not change according to the rules and keep consistently motor moment n
m(Fig. 6).Attach troops to a unit in motor speed n
mmotor acceleration M
bMshown in Figure 7, it has a plurality of resonance of decaying on time t.
Band pulling force in situation (b) disturbs:
There is equally in this case interference parameter S
st(Fig. 3), it causes interruption tensile force f
z.From pressing the motor moment M of Fig. 6
mcurve in know, this motor moment is no longer constant as in situation (a).Motor moment M
mthe variation about the time by corrected parameter M
korcause, this corrected parameter is to produce by method of the present invention.This corrected parameter M
korrated motor moment is added to
upper, thus suppress or adjusting motor acceleration M
bMthe fluctuation of middle formation.By motor acceleration M
bMinhibition no longer there is the tension (Fig. 5) of the increase as in situation (a).
Thus, tension is disturbed and is no longer caused band crackle.Just in the boost phase of coiling machine drive unit, guaranteed thus reliable operation.This implements with relatively simple Optimized Measures.Can demonstrate, the method is robustness in parameter regulates.In addition, by this, by method of the present invention, improved productivity ratio, that is to say that few material can be processed into substandard products.In addition, stable band pulling force has been realized the better thickness deviation of rolling thing.
Claims (7)
1. band (8) tension of the coiling machine drive unit guiding for compensated acceleration is disturbed (S
st) method, this coiling machine drive unit consists of drive motor (10,12), driving shaft (14,16) and coiling machine (4,6), wherein from the actual motor rotating speed (n trying to achieve of drive motor (10,12)
m) in try to achieve the actual motor acceleration (M of this motor (10,12)
bM), this actual motor acceleration with from the predetermined rated acceleration about motor (
) in calculate rated motor acceleration (
) compare, wherein from acceleration is poor, determine corrected parameter (M
kor), the rated motor moment that this corrected parameter is added to produced (
) upper, make that acceleration is poor becomes zero.
2. by method claimed in claim 1, it is characterized in that, in order to try to achieve the actual motor acceleration (M of drive motor (10,12)
bM), the actual motor rotating speed (n trying to achieve to drive motor (10,12)
m) differential.
3. by method claimed in claim 1, it is characterized in that, make rated acceleration about motor (
) level and smooth.
4. by method claimed in claim 1, it is characterized in that, in order to determine corrected parameter (M
kor) by tried to achieve acceleration poorly multiply each other with amplification coefficient, integration and differential.
5. for carrying out by the device of method described in claim 1 to 4 any one, it is characterized in that, for tension in the band (8) of the coiling machine drive unit of compensated acceleration guiding is disturbed, by adjusting device (22, 24) the coiling machine drive unit for this acceleration guiding provides conditioning signal, wherein this coiling machine drive unit has with tachometer generator (18, 20) drive motor (10, 12), driving shaft (14, 16) and coiling machine (4, 6), it is wherein adjusting device (22, 24) is furnished with compensation arrangement (26, 28), on an input of this compensation arrangement, have rated acceleration (
), and its other input is connected with the output of tachometer generator (18,20), and wherein the output of compensation arrangement (26,28) is connected with the input of adjusting device (22,24).
6. by device claimed in claim 5, it is characterized in that, described compensation arrangement (26,28) is integrated in described adjusting device (22,24).
7. by the device described in claim 5 or 6, it is characterized in that, described adjusting device (22,24) is microprocessor.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102009040781.2 | 2009-09-09 | ||
| DE102009040781A DE102009040781A1 (en) | 2009-09-09 | 2009-09-09 | Method and device for compensation of tension disturbances in a belt of an accelerator-driven reel drive |
| PCT/EP2010/063055 WO2011029799A1 (en) | 2009-09-09 | 2010-09-06 | Method and apparatus for compensating abnormal tensile loads in a strip of an acceleration-guided coiler drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102740988A CN102740988A (en) | 2012-10-17 |
| CN102740988B true CN102740988B (en) | 2014-12-10 |
Family
ID=43536199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201080040245.7A Active CN102740988B (en) | 2009-09-09 | 2010-09-06 | Method and apparatus for compensating abnormal tensile loads in a strip of an acceleration-guided coiler drive |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP2475471B1 (en) |
| CN (1) | CN102740988B (en) |
| DE (1) | DE102009040781A1 (en) |
| WO (1) | WO2011029799A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013219852A (en) * | 2012-04-05 | 2013-10-24 | Mitsubishi Electric Corp | Torque control system |
| CN110090867B (en) * | 2019-05-14 | 2020-05-12 | 北京科技大学设计研究院有限公司 | Method for preventing steel from being stacked between vertical roll and flat roll when flat roll bites steel |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0477422A1 (en) * | 1990-09-28 | 1992-04-01 | Siemens Aktiengesellschaft | Uncoiler - Traction force controlled |
| CN1297387A (en) * | 1998-04-23 | 2001-05-30 | Sms舒路曼-斯玛公司 | Steckel hot rolling mill |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63115615A (en) * | 1986-10-31 | 1988-05-20 | Sumitomo Metal Ind Ltd | Tension control method for strip and tension calculating device |
| JPH03110009A (en) * | 1989-09-25 | 1991-05-10 | Toshiba Corp | Control device for tension of rolling equipment |
| JPH07148518A (en) * | 1993-11-30 | 1995-06-13 | Kawasaki Steel Corp | Tension control device |
| DE102007005378A1 (en) * | 2007-02-02 | 2008-08-07 | Siemens Ag | Operating method for a reel device for winding or unwinding a tape and control device and reel device for this purpose |
-
2009
- 2009-09-09 DE DE102009040781A patent/DE102009040781A1/en not_active Ceased
-
2010
- 2010-09-06 EP EP20100754712 patent/EP2475471B1/en active Active
- 2010-09-06 WO PCT/EP2010/063055 patent/WO2011029799A1/en active Application Filing
- 2010-09-06 CN CN201080040245.7A patent/CN102740988B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0477422A1 (en) * | 1990-09-28 | 1992-04-01 | Siemens Aktiengesellschaft | Uncoiler - Traction force controlled |
| CN1297387A (en) * | 1998-04-23 | 2001-05-30 | Sms舒路曼-斯玛公司 | Steckel hot rolling mill |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102009040781A1 (en) | 2011-03-10 |
| WO2011029799A8 (en) | 2011-05-05 |
| WO2011029799A1 (en) | 2011-03-17 |
| EP2475471A1 (en) | 2012-07-18 |
| CN102740988A (en) | 2012-10-17 |
| EP2475471B1 (en) | 2015-04-29 |
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| SE01 | Entry into force of request for substantive examination | ||
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Effective date of registration: 20160223 Address after: Erlangen, Germany Patentee after: The German Co., Ltd of primary metal science and technology Address before: Munich, Germany Patentee before: Siemens AG |