CN1120474A

CN1120474A - Interstand tension controller for a continuous rolling mill

Info

Publication number: CN1120474A
Application number: CN 94116841
Authority: CN
Inventors: 浅野一哉; 山本和宏
Original assignee: Kawasaki Steel Corp
Current assignee: JFE Steel Corp
Priority date: 1994-10-08
Filing date: 1994-10-08
Publication date: 1996-04-17
Anticipated expiration: 2014-10-08
Also published as: CN1067606C

Abstract

The tension controller of interstand in continuous rolling mill for controlling the tension of interstand and the embrance angle of looper has two control loops for controlling the rotation speed of roller and the looping torque and speed of looper, evaluating the interference on control loop, variation of characteristics in controlled system and the interference between two control loops, and cancelling said interferences by means of operation variables.

Description

The intermediate stand tension controller that continuous rolling mill is used

The present invention relates to a kind of intermediate stand tension controller, be used for being controlled at the intermediate stand tension force that is rolled workpiece on the continuous rolling mill, and this continuous rolling mill has a plurality of mill stands and be provided with a loop lifter between adjacent support; More particularly, the present invention relates to a kind of intermediate stand tension controller that is suitable for being applied on the hot finishing milling train, this controller can carry out intermediate stand tension force control operation satisfactorily and not be subjected to interactional interference between the tension force of workpiece and the looping angle, and its configuration is easy to simply again regulate.

The hot finishing milling train has a plurality of mill stands, and is provided with loop lifter simultaneously between adjacent mill stand, is used for stablizing the intermediate stand tension force of workpiece.In order to carry out stable rolling operation, utilize loop lifter to stablize the tension force of the size and shape that directly affects workpiece and suppress the variation of looping angle simultaneously, be crucial.Can control two performance variables, i.e. the tension force and the looping angle of workpiece adjusted in the roll rotational speed of mill stand and complete torque.As shown in Figure 1, the rotating speed of the roll of a kind of prevailing intermediate stand tension controller by adjusting mill stand i or down the rotating speed of the roll of mill stand i+1 control looping angle θ, and adjust complete torque according to the variation of looping angle θ, so that tension force σ is adjusted to a desirable value.But because this is to control tension force in a kind of open loop control mode, thereby the tension force control performance of this intermediate stand tension controller is unsafty.Tension force and looping angle influence each other, promptly tension force and looping angle the two do the variation of reciprocal causation relation.Traditional intermediate stand tension controller also just can not make the looping angle stabilisation owing to the INTERACTION PROBLEMS that can not solve between tension force and the looping angle.

59-110410 number disclosed a kind of controller of Japan Patent (disclosing) is with being installed in the interior dynamometer of loop lifter or the tension force of similar device measuring workpieces, it adjusts the rotating speed of the roll of mill stand, i.e. performance variable, and adjust tension force by feedback control loop, and control complete torque or complete speed simultaneously, i.e. performance variable, and control looping angle by another feedback control loop.

Another kind of controller is placed into a kind of precompensation device C of so-called Switch Controller before one as shown in Figure 2 the loop lifter feature frame G that shows the loop lifter characteristic, with the interaction of offseting tension force and looping angle by the cooperative effect of precompensation device C and loop lifter feature frame G.

Japan Patent (disclosing) 59-118213 number and 59-118214 number disclosed integration type optimizing controller are being controlled the operating rate of loop lifter CD-ROM drive motor, and be used in combination the feedback operation, but in order to the more such measured values of the operating rate that feeds back to tension force, looping angle and loop lifter motor, and carry out Integral Processing with a master controller simultaneously, make the P gain index and the I gain index optimization of performance in a time domain.In order to obtain required control response by this integration type optimal regulator, must be by being that a secondary evaluation function is set a weighting matrix and measured the Optimal Control gain by trial-and-error method.The unlimited controller of a kind of H that had proposed already is a kind of improvement to above-mentioned integration type optimal regulator, and one has stipulated the closed-loop response in frequency range, and design is simplified.

But, because this no interactional intermediate stand tension controller is set with a kind of inversion model of controlled system in the staggered form controller, because there is not the characteristic variations that interactional intermediate stand tension controller just can not be handled controlled system satisfactorily, thereby the effects of jamming of payment storage as roll rotational speed variation and so on just can not be arranged also.

The unlimited controller of integration type optimal regulator and H is difficult to regulate at the scene, because this two quasi-controller all need adopt the controller of labyrinth, must determine an evaluation function simultaneously and design controller parameter, so that this evaluation function optimization.

The present invention proposes in view of the problems referred to above in traditional controller just, therefore first purpose of the present invention is to propose a kind of tension controller that is used in the intermediate stand in the continuous rolling mill that has a plurality of mill stands and be provided with loop lifter between adjacent mill stand, be used for being controlled at the intermediate stand tension force and the control loop lifter that are rolled workpiece in this continuous rolling mill, and can not be subjected to interactional influence the between intermediate stand tension force and the looping angle and control the tension force of the intermediate stand of workpiece satisfactorily, and possess the simple structure that is easy to regulate is arranged.

Second purpose of the present invention is to propose a kind of intermediate stand tension controller that is used in the continuous rolling mill that has a plurality of mill stands and be provided with loop lifter between adjacent mill stand, be used for being controlled at the tension force and the control loop lifter of the intermediate stand that is rolled workpiece in this continuous rolling mill, and can not eliminate fully between intermediate stand tension force and the looping angle under the interactional condition, improve the stability of intermediate stand tension force and looping angle.

The 3rd purpose of the present invention is to propose a kind of control system, be used to be controlled at the tension force of the intermediate stand that is rolled workpiece on the continuous rolling mill and the loop lifter of this continuous rolling mill, and have in the integration type optimal regulator and the unlimited controller of H of a plurality of feedback control loops in employing, for disturbing and the characteristic variations of controll plant has stability.

In a first aspect of the present invention, a kind of intermediate stand tension controller that is used in the continuous rolling mill that has a plurality of mill stands and be provided with a loop lifter between adjacent mill stand has been proposed, this controller comprises:

First feedback control loop, its measurement or estimate the intermediate stand tension force of workpiece, and calculate the rotary speed instruction of the required rotating speed of roll of determining mill stand according to the difference between the intermediate stand tension force of required intermediate stand tension force and measurement or the work that estimates, proofread and correct this rotary speed instruction simultaneously;

Second feedback control loop, it measures looping angle, and calculates the complete torque instruction of determining required complete torque or the complete instruction of determining required complete speed according to the difference between looping angle of measuring and the required looping angle;

First interference inverter, its by the rotary speed instruction that calculates by first feedback control loop and the corrected value that calculates by this first interference inverter and be applied to one and receive in the rotary speed instruction of rotating speed of the roll that is identified for mill stand and provide simultaneously on the model of an intermediate stand tension force and obtain a tension force that estimates, estimate the interference that acts on first feedback control loop according to the difference between this tension force that estimates and measurement or the working tension that estimates, calculate the corrected value that is used for roll rotational speed simultaneously, to offset the interference that is estimated; And

Second interference inverter, its by the complete torque corrected value that calculates the complete torque instruction that calculates by second feedback control loop or complete speed command and by this second interference inverter or complete velocity correction value both and be applied to one and receive this complete torque instruction or complete speed command and provide on the model of a looping angle and obtain a looping angle that estimates, difference between the looping angle of measuring according to this looping angle that estimates and one estimates an interference that acts on second feedback control loop, and calculate the corrected value of complete torque or the corrected value of complete speed, to offset the interference that is estimated;

Thus, according to the value that the corrected value that is calculated by first interference inverter is added and obtain to the rotary speed instruction that is provided by first feedback control loop, controlled the rotating speed of roll, simultaneously, controlled complete torque or complete speed according to the value that the corrected value that is calculated by second interference inverter is added and obtain on complete torque instruction that is provided by second backfeed loop or the complete speed command.By this intermediate stand tension controller, can realize first purpose of the present invention.

In a second aspect of the present invention, a kind of intermediate stand tension controller that is used in the continuous rolling mill that has a plurality of mill stands and be provided with loop lifter between adjacent mill stand has been proposed, this controller comprises:

First feedback control loop, its measurement or estimate the intermediate stand tension force of workpiece, and calculate the rotary speed instruction of the required rotating speed of roll that is identified for mill stand according to the difference between the intermediate stand tension force of required intermediate stand tension force and measurement or the work that estimates, proofread and correct this rotary speed instruction simultaneously;

Second feedback control loop, it measures looping angle, and calculates the complete torque instruction of determining required complete torque or the complete speed command of determining required complete speed according to the difference between looping angle of measuring and the required looping angle;

First interference inverter, its by the rotary speed instruction that calculates by first feedback control loop and the rotating speed corrected value that calculates by this first interference inverter and be applied to one and receive rotary speed instruction and provide on the model of intermediate stand tension force and obtain a tension force that estimates, estimate the interference that acts on first feedback control loop according to the difference between the intermediate stand tension force of this tension force that estimates and measurement or the work that estimates, and calculate the corrected value of rotating speed, to offset the interference that is estimated; And

Second interference inverter, its by the complete torque instruction that calculates by second feedback control loop or complete speed command and corrected value that calculates complete torque by this second interference inverter or complete velocity correction value and be applied on the model that receives this complete torque instruction or complete speed command and a complete speed is provided and obtain a complete speed that estimates, the difference of the complete speed of measuring according to this complete speed and one that estimates between the two estimates the interference that acts on second feedback control loop, calculate the corrected value or the complete velocity correction value of complete torque simultaneously, to offset the interference that is estimated;

Thus, according to the value that the corrected value that is calculated by first interference inverter is added and obtained to the rotary speed instruction that provides by first feedback control loop, can control the rotating speed of roll, and, just can be controlled to torque or the complete speed of overlapping according to the value that the corrected value that is calculated by second interference inverter is added and obtained on complete torque instruction that is provided by second feedback control loop or the complete speed command.By this intermediate stand tension controller, can realize first purpose of the present invention.

In a third aspect of the present invention, a kind of intermediate stand tension controller that is used in the continuous rolling mill that has a plurality of mill stands and be provided with loop lifter between adjacent mill stand has been proposed, this controller comprises:

Second feedback control loop, it measures looping angle, and calculates complete torque instruction or complete speed command according to the difference between looping angle of measuring and the required looping angle; Proofread and correct this complete torque instruction or complete speed command simultaneously;

First interference inverter, its by rotary speed instruction that calculates complete speed and by first feedback control loop and the rotating speed corrected value that calculates by this first interference inverter and be applied to one and receive this rotary speed instruction and this complete speed and provide on the model of intermediate stand tension force and obtain a tension force that estimates, estimate the interference that acts on first feedback control loop according to the difference between this tension force that estimates and measurement or the work intermediate stand tension force that estimates, and calculate the corrected value of rotating speed, to offset the interference that is estimated; And

Second interference inverter, its by the complete torque instruction that calculates by second feedback control loop or complete speed command with calculate complete torque corrected value or complete velocity correction value by this second interference inverter and be applied on the model that receives this complete torque instruction or complete speed command and a looping angle is provided and obtain a looping angle that estimates, estimate the interference that acts on second feedback control loop according to this looping angle that estimates and the looping angle the measured difference between the two, calculate the corrected value or the complete velocity correction value of complete torque simultaneously, to offset the interference that is estimated;

Thus, according to the value that the corrected value that is calculated by first interference inverter is added and obtained to the rotary speed instruction that is provided by first feedback control loop, can control the rotating speed of roll, and according to the corrected value that is calculated by second interference inverter being added and on the complete torque instruction or complete speed command that are provided by second feedback control loop, just can being controlled to cover torque or complete speed.By this intermediate stand tension controller, can realize second purpose of the present invention.

In a fourth aspect of the present invention, a kind of intermediate stand tension controller that is used in the continuous rolling mill that has a plurality of mill stands and be provided with loop lifter between adjacent mill stand has been proposed, this controller comprises:

First backfeed loop, its measurement or estimate the intermediate stand tension force of workpiece, and calculate the rotary speed instruction of the roll that is used for mill stand according to the difference between the intermediate stand tension force of required intermediate stand tension force and measurement or the work that estimates;

Second feedback control loop, it measures looping angle, and calculates complete torque instruction or complete speed command according to the difference between looping angle of measuring and the required looping angle, and proofreaies and correct this complete torque instruction or complete speed command simultaneously;

First interference inverter, its by rotating speed that calculates complete speed command and by first feedback control loop and the rotating speed corrected value that calculates by this first interference inverter and be applied to one and receive this rotary speed instruction and this complete speed and provide on the model of intermediate stand tension force and obtain a tension force that estimates, estimate the interference that acts on first feedback control loop according to the difference between the intermediate stand tension force of this tension force that estimates and measurement or the work that estimates, and calculate the corrected value of rotating speed, to offset the interference that is estimated; And

Second interference inverter, its by the complete torque instruction that calculates by second feedback control loop or complete speed command and complete torque corrected value that calculates by this second interference inverter or complete velocity correction value and be applied on the model that receives this complete torque instruction or complete speed command and a complete speed is provided and obtain a complete speed that estimates, the difference of the complete speed of measuring according to this complete speed and one that estimates between the two estimates the interference that acts on second feedback control loop, calculate the corrected value or the complete velocity correction value of complete torque simultaneously, to offset the interference that is estimated;

Thus, according to the value that the corrected value that is calculated by first interference inverter is added and obtained to the rotary speed instruction that is provided by first feedback control loop, can control the rotating speed of the roll of roller cage, and according to the corrected value that is calculated by second interference inverter being added and on the complete torque instruction or complete speed command that are provided by second feedback control loop, just can being controlled to cover torque or complete speed.By this intermediate stand tension controller, can realize second purpose of the present invention.

In a fifth aspect of the present invention, a kind of intermediate stand tension controller that is used in the continuous rolling mill that has a plurality of mill stands and be provided with loop lifter between adjacent mill stand has been proposed, this controller comprises:

One feedback control loop, it calculates: complete torque instruction or the complete speed command determining the rotary speed instruction of the required rotating speed of roll of mill stand, obtain according to the measurement of the workpiece between the mill stand or the intermediate stand tension force that estimates, the deviation of the deviation of intermediate stand tension force of measuring or estimating and required intermediate stand tension force, the looping angle of measurement, the looping angle of measuring and required looping angle, the rotating speed of measuring of rolls of rolling stand and the complete speed of measuring; Proofread and correct rotating speed and the complete torque or the complete speed of the roll of mill stand simultaneously;

First interference inverter, its by the rotary speed instruction that calculates by feedback control loop and the rotating speed corrected value that calculates by this first interference inverter and and the complete speed applications to measured receive this rotary speed instruction and provide on the model of intermediate stand tension force of workpiece and obtain an intermediate stand tension force that estimates, estimate the interference that acts on the feedback control loop according to this intermediate stand tension force that estimates and measurement or the intermediate stand tension force that the estimates difference between the two, calculate the corrected value of rotating speed simultaneously, to offset above-mentioned interference; And

Second interference inverter, its by the complete torque instruction that calculates by feedback control loop or complete speed command and the complete torque corrected value that calculates by this second interference inverter and and the intermediate stand tension force measuring or estimate be applied to one and receive complete torque instruction or complete speed command and provide on the model of a looping angle and obtain a looping angle that estimates, estimate the interference that acts on the feedback control loop according to this looping angle that estimates and the looping angle the measured difference between the two, calculate the corrected value or the complete velocity correction value of complete torque simultaneously, to offset above-mentioned interference;

Therefore, according to the rotary speed instruction that calculates by feedback control loop and the rotating speed corrected value that calculates by first interference inverter and, the rotating speed of the roll of control mill stand, and simultaneously according to the complete torque instruction that calculates by feedback control loop or complete speed command and complete torque corrected value that calculates by second interference inverter or complete velocity correction value and, control complete torque or complete speed.By this intermediate stand tension controller, can realize the 3rd purpose of the present invention.

In a sixth aspect of the present invention, a kind of intermediate stand tension controller that is used in the continuous rolling mill that has a plurality of mill stands and be provided with loop lifter between adjacent mill stand has been proposed, this controller comprises:

One feedback control loop, the deviation of complete torque instruction that it calculates the rotary speed instruction of the required rotating speed of roll of determining mill stand, obtain according to the measurement of the workpiece between the mill stand or the intermediate stand tension force that estimates or complete speed command, the intermediate stand tension force of measuring or estimating and required intermediate stand tension force, the looping angle of measuring, the deviation of looping angle of measuring and required looping angle, the rotating speed of measuring of the roll of mill stand and the complete speed of measuring; And proofread and correct rotating speed and the complete torque or the complete speed of roll simultaneously;

First interference inverter, its by the rotary speed instruction that calculates by feedback control loop and the rotating speed corrected value that calculates by first interference inverter and and the model of complete speed applications to the reception rotary speed instruction measured and intermediate stand tension force that the workpiece between the milling train is provided on obtain an intermediate stand tension force that estimates, estimate the interference that acts on the feedback control loop according to this intermediate stand tension force that estimates and measurement or the intermediate stand tension force that the estimates difference between the two, and calculate the corrected value of rotating speed simultaneously, to offset the interference that this estimates; And

Second interference inverter, its by the complete torque instruction that calculates by feedback control loop or complete speed command and the complete torque corrected value that calculates by second interference inverter and and the intermediate stand tension force measuring or estimate be applied to one and receive this complete torque instruction or complete speed command and provide on the model of a complete speed and obtain a complete speed that estimates, estimate the interference that acts on the feedback control loop according to this complete speed that estimates and the complete speed the measured difference between the two, and calculate the corrected value or the complete velocity correction value of complete torque simultaneously, to offset above-mentioned interference;

Thus, according to the rotary speed instruction that calculates by feedback control loop and the rotating speed corrected value that calculates by first interference inverter and, the rotating speed of the roll of control mill stand, and simultaneously according to the complete torque instruction that calculates by feedback control loop or complete speed command and complete torque corrected value that calculates by second interference inverter or complete velocity correction value and, control complete torque or complete speed.By this intermediate stand tension controller, can realize the 3rd purpose of the present invention.

In a seventh aspect of the present invention, having proposed a kind of being used in has a plurality of mill stands and is being provided with between the adjacent mill stand on the continuous rolling mill of loop lifter, come the method for the intermediate stand tension force of workpiece in the controlled rolling, it is by the rotating speed of the roll of adjustment mill stand, make the intermediate stand tension force of workpiece and required intermediate stand uniform tension in order, and control looping angle by complete torque or the complete speed of adjusting loop lifter, and make looping angle consistent with required looping angle, the method may further comprise the steps:

In one first controlled system, the rotating speed of roll is a performance variable and intermediate stand tension force is a controlled variable, obtain an intermediate stand tension force that estimates by a rotary speed instruction being applied on the model that receives this rotary speed instruction and an intermediate stand tension force is provided, estimate the interference that acts on this first controlled system according to the intermediate stand tension force of this intermediate stand tension force that estimates and a measurement or the work that the estimates difference between the two;

Calculate the rotary speed instruction of the above-mentioned interference that estimates of a counteracting;

Adjust rotating speed according to this rotary speed instruction that calculates;

In one second controlled system, complete torque or complete speed are performance variables and looping angle is a controlled variable, receive this complete torque instruction or complete speed command and provide on the model of a looping angle and obtain a looping angle that estimates by a complete torque instruction or complete speed command being applied to one, estimate the interference that acts on this second controlled system according to the two difference of this looping angle that estimates and the looping angle measured;

Calculate the complete torque instruction or the complete speed command of offsetting this interference that estimates; And

Adjust complete torque or complete speed according to this complete torque instruction that calculates or complete speed command.By the method for this control intermediate stand tension force, can realize first purpose of the present invention.

In a eighth aspect of the present invention, having proposed a kind of being used in has a plurality of mill stands and is being provided with between the adjacent mill stand on the continuous rolling mill of loop lifter, come the method for the intermediate stand tension force of workpiece in the controlled rolling, it is by the rotating speed of the roll of adjustment mill stand, make the intermediate stand tension force of workpiece and required intermediate stand uniform tension in order, and control looping angle by complete torque or the complete speed of adjusting loop lifter, and make this looping angle consistent with required looping angle, the method may further comprise the steps:

In one second controlled system, complete torque or complete speed are performance variables and looping angle is a controlled variable, receive this complete torque instruction or complete speed command and provide on the model of a complete speed and obtain a complete speed that estimates by a complete torque instruction or complete speed command being applied to one, estimate the interference that acts on this second controlled system according to this complete speed that estimates and the complete speed the measured difference between the two;

In a ninth aspect of the present invention, having proposed a kind of being used in has a plurality of mill stands and is being provided with between the adjacent mill stand on the continuous rolling mill of loop lifter, come the method for the intermediate stand tension force of workpiece in the controlled rolling, it is by the rotating speed of the roll of adjustment mill stand, make the intermediate stand tension force of workpiece and required intermediate stand uniform tension in order, and control looping angle by complete torque or the complete speed of adjusting loop lifter, and make looping angle consistent with required looping angle, the method may further comprise the steps:

In one first controlled system, the rotating speed of roll is a performance variable and intermediate stand tension force is a controlled variable, by a rotary speed instruction and a complete speed applications are obtained an intermediate stand tension force that estimates to receiving this rotating speed order and complete speed and providing on the model of an intermediate stand tension force, estimate the interference that acts on this first controlled system according to the intermediate stand tension force of this intermediate stand tension force that estimates and a measurement or the work that the estimates difference between the two;

In one second controlled system, complete torque or complete speed are performance variables and looping angle is a controlled variable, receive complete torque instruction or complete speed command and provide on the model of a looping angle and obtain a looping angle that estimates by a complete torque instruction or complete speed command being applied to one, estimate the interference that acts on this second controlled system according to this looping angle that estimates and the looping angle the measured difference between the two;

Adjust complete torque or complete speed according to this complete torque instruction that calculates or complete speed command.By the method for this control intermediate stand tension force, can realize second purpose of the present invention.

In a tenth aspect of the present invention, having proposed a kind of being used in has a plurality of mill stands and is being provided with between the adjacent mill stand on the continuous rolling mill of loop lifter, come the method for the intermediate stand tension force of workpiece in the controlled rolling, it is by the rotating speed of the roll of adjustment mill stand, make the intermediate stand tension force of workpiece and required intermediate stand uniform tension in order, and control looping angle by complete torque or the complete speed of adjusting this loop lifter, and make looping angle consistent with required looping angle, the method may further comprise the steps:

Adjust complete torque and complete speed according to this complete torque instruction that calculates or complete speed command.This method by control intermediate stand tension force can realize second purpose of the present invention.

As shown in Figure 3 and Figure 4, each intermediate stand tension controller in aspect of the present invention first to fourth and traditional no interactional intermediate stand tension controller are similar, they comprise first feedback control loop, its measurement or estimate the intermediate stand tension force of workpiece, and calculate the rotary speed instruction of the required rotating speed of the roll of determining mill stand according to the difference between the intermediate stand tension force of required intermediate stand tension force and measurement or the work that estimates, and proofread and correct the rotating speed of roll simultaneously, and also comprise second feedback control loop, it measures looping angle, and calculate complete torque instruction or complete speed command according to the difference between looping angle of measuring and the required looping angle, proofread and correct complete torque or complete speed simultaneously.

The difference of the intermediate stand tension controller of first to fourth aspect of the present invention and traditional no interactional intermediate stand tension controller is, there are two interference inverter estimations to act on interference on above two kinds of feedback control loops, and offsetting that this interference signals adds and to by on the signal that feedback control loop provided.This class is disturbed the interference that comprises a kind of equivalence, for example change the variation that the controlled system characteristic that causes takes place because of the parameter of Xiang Shi modulus one class of workpiece, also have the interactional influence between these two kinds of feedback control loops, and the variation of the mill speed that causes because of the thickness or the variations in temperature of workpiece etc.

In the intermediate stand tension controller aspect of the present invention first to fourth, interaction between aforementioned two kinds of feedback control loops can be by being compensated by above-mentioned two kinds of interference-cancelled signals that interference inverter provided, and these two kinds of feedback control loops also can be designed to separate.Therefore, this class intermediate stand tension controller is convenient to design, and can be to changing such as rolling mill speed and the interference of changing features one class of controlled system has very high stability.

In the intermediate stand tension controller aspect the of the present invention the 5th and the 6th, as Fig. 5 and shown in Figure 6, when existing one can receive multiple measurable feedback control loop, described two kinds of interference inverters estimate the interference that affacts on the feedback control loop, and offsetting that a correction signal that this class disturbs adds and to the signal that calculates by a feedback control system.When including the multiple measurable backfeed loop of a kind of like this reception, be not need by offset interference between tension force and the looping angle by the corrected value that interference inverter provided, because this kind interference between tension force and the looping angle is subjected to the control of this feedback control loop already.So, complete speed added and to receiving rotary speed instruction and providing on the model of intermediate stand tension force of workpiece, and a tension force of measuring adds and to receiving complete torque instruction or complete speed command and providing on the model of complete speed, make these two kinds of interference inverters that the corrected value of any counteracting interference will no longer be provided.Therefore, the interference here comprises the variation of the mill speed that causes because of thickness of workpiece and variations in temperature, and the characteristic variations that causes because of the parameter of Xiang Shi modulus one class of workpiece changes of this controlled system etc.

Can receive a plurality of measurable the sort of feedback control loops even resemble to have in the of the present invention the 5th and the 6th aspect, be the characteristic variations that can resist the interference of controlled system and stable controlled system owing to adopted two kinds of compensators, control system.

In first aspect present invention shown in Figure 3, second interference inverter of intermediate stand tension controller uses looping angle that estimates and the looping angle of measuring, be used for estimating the interference that acts on second feedback control loop, the looping angle that estimates is to obtain like this, promptly the complete torque instruction that calculates by second feedback control loop or complete speed command and the corrected value that calculates by second interference inverter and be applied to and receive this complete torque instruction or complete speed command and provide on the model of a looping angle.On the other hand, in a second aspect of the present invention shown in Figure 4, the intermediate stand tension controller adopts complete speed that estimates and the complete speed of measuring, be used for estimating the interference that acts on second feedback control loop, in other words, the loop lifter of the intermediate stand tension controller in the first aspect present invention and the model of interference inverter, can adopt following formula correction:

θ in ω (1) expression formula of θ=(1/S) is a looping angle and ω is complete speed.Therefore, although the intermediate stand tension controller in first and second aspect of the present invention is identical on the merit chest, but plant the structure of controller at this point and discuss, intermediate stand controller in the ratio first aspect in the second aspect is more simple, simultaneously, the rank of the loop lifter of the intermediate stand tension controller in this second aspect and filter model will be lower than the rank of same model of the intermediate stand tension controller of first aspect present invention.

Relation and the 5th between third and fourth aspect of the present invention, the relation between six aspects then be and first and second aspect between relation identical.

In aspect of the present invention first to fourth, be used for controlling the feedback control loop of intermediate stand tension force by the rotating speed of roll of control mill stand, and be used for controlling the feedback control loop of looping angle by controlling complete torque or complete speed, be to be used for two controlled variables of the intermediate stand tension force of workpiece and loop lifter are adjusted on the corresponding desirable value, influencing each other between these two kinds of feedback control loops is to be compensated by two interference compensation signals that interference inverter provided, and these two kinds of feedback control loops can design independently simultaneously.So this intermediate stand tension controller is easy to design, and has very high stability for the interference that mill speed changes characteristic variations with controlled system and so on.In addition, although can receive multiple measurable feedback control loop as having one in aspect the present invention the 5th and the 6th, by adopting two kinds of interference inverters, control system just can be resisted the interference of controlled system and the variation of characteristic.Therefore, can be by satisfied profile and correct size rolling workpiece, the while can the stable rolling operation.

The method that the workpiece to rolling on continuous rolling mill in aspect the present invention the 7th to the tenth is controlled its middle support tension force is to adjust the rotating speed of the roll of mill stand, with the required intermediate stand tension force of the intermediate stand tension adjustment to of workpiece, adjust complete torque or complete speed simultaneously, looping angle is adjusted to required looping angle, as Fig. 7 and shown in Figure 8.In above-mentioned control operation, rotating speed is a performance variable and intermediate tension is a controlled variable, the interference that acts on this controlled system is by obtaining an intermediate stand tension force that estimates on the model that a rotary speed instruction is applied to the intermediate stand tension force that receives this rotary speed instruction and workpiece is provided, estimate according to the difference between the work intermediate stand tension force of this intermediate stand tension force that estimates and measurement or the workpiece that estimates, calculate the rotary speed instruction of offsetting above-mentioned interference again, adjust the rotating speed of roll then according to this rotary speed instruction that calculates.

In a seventh aspect of the present invention, as shown in Figure 7, acting on wherein with complete torque or complete speed is performance variable and be interference on the controlled system of controlled variable with the looping angle, be according to by complete torque instruction or complete speed command being applied to this complete commentaries on classics apart from instructing or complete speed command and provide on the model of an intermediate tension and obtain a looping angle that estimates, difference between the looping angle of measuring according to this looping angle that estimates and one estimates, calculate a complete torque instruction or the complete speed command that to offset this kind interference again, and adjust this complete torque or complete speed according to complete torque instruction that calculates or complete speed command.

As mentioned above, intermediate stand tension force and looping angle are interactional.In aspect the of the present invention the 7th to the tenth, these interactional components are considered to acting on the interference on those two control loops, this kind interference is to estimate according to the difference between each order output of control loop that is arranged to controlled system parallel connection therewith respectively and model, and calculate one simultaneously and can offset this kind interference signals, and its with the instruction that adjusts performance variable.Like this, the interference that acts on this kind control loop just is cancelled, and can stably control operation.Above-mentioned interference comprises a kind of interference of equivalence, because of the parameter of Xiang Shi modulus one class of workpiece changes the variation of the controlled system characteristic that causes, also has the variation of the mill speed that thickness or temperature change because of workpiece cause etc.These interference can be suppressed by the method for the present invention the 7th to the tenth aspect to be eliminated.In aspect the of the present invention the 7th to the tenth, the intermediate tension controller is regarded as a kind of interference to influencing each other between two control loops, estimates this effect simultaneously, and it is compensated, and these two kinds of control loops can be designed independently.Therefore, be easy to design above-mentioned two kinds of feedback control loops, and this kind controller just can be resisted all interference of the characteristic variations of the variation that comprises mill speed and controlled system highly effectively.

In a eighth aspect of the present invention, as shown in Figure 8, is performance variable and be interference on the controlled system of controlled variable with the looping angle for acting on this with complete torque or complete speed, be by a complete torque instruction or complete speed command are applied to one receive this complete change apart from instruction or complete speed command and provide on the model of a complete speed obtain a complete speed that estimates, difference between the complete speed of measuring according to this complete speed and one that estimates estimates again, calculate complete torque instruction or the complete speed command that to offset this interference then, and adjust complete torque or complete speed according to the instruction that this calculates.In a eighth aspect of the present invention, the complete speed that estimates and the complete speed of measuring are used to estimate that to act on this be performance variable and be interference on the controlled system of controlled variable with the looping angle with complete torque or complete speed; In other words, loop lifter system in seventh aspect present invention and filter model have used expression formula (1) to do correction.Therefore, although the of the present invention the 7th with eight aspect in the intermediate stand tension controller be identical in merit on subjectively, but the structure of the intermediate stand tension controller in the eight aspect is more simple than the intermediate stand tension controller in the 7th aspect, and the rank of the model of loop lifter in eight aspect and wave filter are also lower than the corresponding rank in aspect the 7th, thereby the structure of this kind intermediate stand tension controller is simple.

As can see from Figure 8, the method in the eighth aspect present invention is that complete speed is adjusted to zero, keeping a constant looping angle, and does not adopt needed any looping angle.But this needed looping angle in fact is constant, thereby is able to keep fully in practice a constant looping angle.

According to the 7th to the tenth aspect of the present invention, have a plurality of mill stands and between adjacent support, be provided with in the continuous rolling mill of a loop lifter, first control loop is controlled intermediate stand tension force by the roll of adjusting mill stand, and second control loop is controlled looping angle by adjusting complete torque or complete speed, thus two controlled variables of the intermediate stand tension force of workpiece and loop lifter are adjusted on the corresponding desirable value, influencing each other between two control loops estimated as a kind of interference, and adjust performance variable to offset this interference, compensate influencing each other between two control loops thus.Therefore, these two kinds of control loops can design independently, the design work of control loop is simplified, and drawn the interference that the intermediate stand tension controller can be resisted characteristic variations one class of mill speed variation and controlled system highly effectively.Thereby, can be rolled work by satisfied profile and size, and can stably be rolled operation.

Of the present invention aspect first and second in, just the rotating speed order that calculates by first feedback control loop and the corrected value that calculates by first interference inverter and be applied on the model that the intermediate stand of workpiece tension force is provided, and the 3rd with fourth aspect in also in addition complete speed also is added on this model.Again, aspect the of the present invention the 5th and the 6th in, just the rotary speed instruction of the rotating speed of the roll of definite mill stand is added on this kind model, and the of the present invention the 7th and eight aspect in, also in addition complete speed is added on this model.

Though as mentioned above, intermediate stand tension force and looping angle are interactional, and loop lifter can absorb this class effectively when the intermediate stand tension variation changes.Therefore, when interactional effect is not eliminated fully between intermediate stand tension force and looping angle, it is narrower when intermediate stand tension variation scope is eliminated fully than this effect, if and want influencing each other between seat tension force and the looping angle in the middle of this is just often, just then looping angle changes in a narrow scope.In other words, do not go to eliminate fully influencing each other between the two, can improve the stability of intermediate stand tension force and loop lifter operation on the contrary by allowing to carry out the interaction of appropriateness between intermediate stand tension force and the looping angle.Of the present invention third and fourth, seven and eight aspect in, be that complete speed is added on the model that the intermediate stand of workpiece tension force is provided, to regulate to this interactional counteracting.When the interaction between intermediate stand tension force and the loop lifter operation being done some reservation, can further improve the stability of this intermediate stand tension force and loop lifter operation.

By some preferred embodiments of detailed hereafter, can more be expressly understood the present invention above-mentioned with other features of novelty and advantage.

Below with reference to accompanying drawing in detail the preferred embodiments of the present invention are described in detail, in the accompanying drawing:

Fig. 1 is the block diagram of traditional loop lifter controller;

Fig. 2 is the block diagram of traditional no interaction loop lifter controller;

Block diagram among Fig. 3 is the basic configuration that has shown the intermediate stand tension controller of the present invention's first part;

Block diagram among Fig. 4 is the basic configuration that has shown the intermediate stand tension controller of the present invention's second part;

Block diagram among Fig. 5 is the basic configuration that has shown the intermediate stand tension controller of the present invention's the 5th part;

Block diagram among Fig. 6 is the basic configuration that has shown the intermediate stand tension controller of the present invention's the 6th part;

Block diagram among Fig. 7 is the basic configuration that has shown the intermediate stand tension controller of the present invention's the 7th part;

Block diagram among Fig. 8 is the basic configuration that has shown the intermediate stand tension controller of the present invention's the 8th part;

Fig. 9 is the block diagram that first embodiment of first part according to the present invention is applied to the intermediate stand tension controller of hot rolling;

Figure 10 is the block diagram that second embodiment of first part according to the present invention is applied to the intermediate stand tension controller of hot rolling;

Figure 11 is the block diagram that is included in the model of the loop lifter tension control system among above-mentioned two embodiment;

The 3rd embodiment of Figure 12 second part according to the present invention is applied to the block diagram of the intermediate stand tension controller of hot rolling;

Figure 13 is the block diagram of the intermediate stand tension controller of the 4th embodiment of second part according to the present invention;

Figure 14 is a curve map, and it shows the tension force control effect of traditional no interactional intermediate stand tension controller;

Figure 15 is a curve map, and it shows the looping angle control effect of traditional no interactional intermediate stand tension controller;

Figure 16 is a curve map, and it shows the tension force control effect of the intermediate stand tension controller in the present invention first to fourth embodiment;

Figure 17 is a curve map, and it shows the looping angle control effect of the intermediate stand tension controller in the present invention first to fourth embodiment;

Figure 18 is the block diagram of the intermediate stand tension controller of the 5th embodiment of the 3rd part according to the present invention;

Figure 19 is the block diagram of the intermediate stand tension controller of the 6th embodiment of the 3rd part according to the present invention;

Figure 20 is a curve map, and it shows the tension force control effect of the intermediate stand tension controller of the present invention the 5th and the 6th embodiment;

Figure 21 is a curve map, and it shows the looping angle control effect of the intermediate stand tension controller of the present invention the 5th and the 6th embodiment;

Figure 22 is the block diagram of the intermediate stand tension controller of the 7th embodiment of the 4th part according to the present invention;

Figure 23 is the block diagram of the intermediate stand tension controller of the 8th embodiment of the 5th part according to the present invention;

Figure 24 is the block diagram of the intermediate stand tension controller of the 9th embodiment of the 5th part according to the present invention;

Figure 25 is the block diagram according to the intermediate stand tension controller of the tenth embodiment of the 6th part of the present invention;

Figure 26 is the block diagram according to the intermediate stand tension controller of the 11 embodiment of the 6th part of the present invention;

Figure 27 is a curve map, and it shows the tension force control effect of the intermediate stand tension controller of the tenth to the 11 embodiment of the present invention;

Figure 28 is a curve map, and it shows the looping angle control effect of the intermediate stand tension controller of the present invention the tenth to the 11 embodiment;

Figure 29 is a block diagram, and it helps to illustrate the tension control system in the intermediate stand tension controller that is included in the first to the 11 embodiment;

Figure 30 is a block diagram, and it helps a kind of remodeling of the illustrated the sort of tension control system of explanation earlier in respect of figures 29;

Figure 31 is a block diagram, and it helps the another kind remodeling of the illustrated the sort of tension control system of explanation earlier in respect of figures 29;

Figure 32 is the block diagram of the intermediate stand tension controller of the 12 embodiment of the 7th part according to the present invention;

Figure 33 is the block diagram of the intermediate stand tension controller of the 13 embodiment of the 7th part according to the present invention;

Figure 34 is the block diagram that the 14 embodiment of the 8th part according to the present invention is applied to the intermediate stand tension controller of hot rolling;

Figure 35 is the block diagram of the intermediate stand tension controller of the 15 embodiment of the 8th part according to the present invention;

Figure 36 is the 16 the practicing in the block diagram of the intermediate stand tension controller of hot rolling of the 9th part according to the present invention;

Figure 37 is the block diagram of the intermediate stand tension controller of the 17 embodiment of the 9th part according to the present invention;

Figure 38 is the block diagram of the intermediate stand tension controller of the 18 embodiment of the tenth part according to the present invention;

Figure 39 is a block diagram, and it helps explanation to be included in the tension control system of the intermediate stand tension controller of the present invention the 12 to the 18 embodiment;

Figure 40 is a block diagram, and it helps a kind of remodeling of the illustrated tension control system of explanation earlier in respect of figures 39; And

Figure 41 is a block diagram, and it helps the another kind remodeling of the illustrated tension control system of explanation earlier in respect of figures 39.

Intermediate stand that is used to control the workpiece on the hot-rolling mill and the preferred embodiment of controlling the loop lifter on the hot-rolling mill are described with reference to the accompanying drawings, in institute's drawings attached, indicate identical or corresponding parts with identical reference number.

First embodiment

Now referring to shown in Figure 9, its show the two adjacent mill stands that are applied to a hot-rolling mill, according to the present invention the intermediate stand tension controller of first embodiment of first part, be shown with a workpiece 10 and two adjacent mill stands 12 and 13 among the figure, they have working

roll

12a and 12b and working

roll

13a and 13b respectively.One motor 20

drives working roll

12a and 12b, and motor 20 is subjected to the control of roller speed controller 22, so that working

roll

12a and 12b can be driven rotation by required rotating speed.The workpiece 10 of dividing a word with a hyphen at the end of a line from left to right in Fig. 9 is subjected to the supporting of a loop lifter 16, the support set roller 16a that this loop lifter has a support set arm 16b and to be supported to can to rotate on the free end of support set arm 16b.The bottom of support set arm 16b is connected on the motor 24 effectively.Motor 24 is subjected to the control of loop lifter torque controller 26, to produce required torque.

In a tension control system, one tension feeler 30 receives the signal that an expression acts on the reaction force of the workpiece 10 on the loop lifter 16 from a load transducer (not shown), and this load transducer is installed on the loop lifter, and calculating the tension value σ m that one of workpiece 10 is measured, the difference between the required tension value σ r that is determined according to this tension value σ m that measures with by a master computer 50 by a tension feedback controller calculates a rotary speed instruction ub then.

The tension force interference inverter 34 that one inside is provided with a model estimates the interference that acts on the mentioned strain control system, and calculates the rotating speed corrected value uf of this kind of counteracting interference.Adder 36 rotary speed instruction ub and rotating speed corrected value uf are added and, to send a speed command u who has proofreaied and correct to roller speed controller 22.The model of tension force interference inverter 34 receives speed command u that has proofreaied and correct and the tension value that estimates workpiece 10 according to the speed command that this has proofreaied and correct, and the difference between the tension value σ m that measures that the tension value of this estimation and tension feeler are provided regards a kind of interference as, calculates the rotating speed corrected value uf of this kind of payment interference then.

Referring to Fig. 9, in a loop lifter control system, looping angle controller 42 is according to calculating a complete torque instruction gb by a looping angle controller 42 according to a looping angle θ m who measures who is surveyed by a looping angle detector 40 with from the difference between the next required looping angle θ r of master computer 40 receptions.

The loop lifter interference inverter 44 that one inside is provided with a model estimates the interference that acts on this loop lifter control system, and calculates the complete torque correction gf of this interference that estimates of counteracting.One adder 46 the complete therewith torque corrected value of this complete torque instruction gb gf is added and, and send a complete torque instruction g who has proofreaied and correct to a complete torque controller 26.Loop lifter interference inverter 44 is applied to by the torque instruction g that this has been proofreaied and correct and obtains a looping angle that estimates on its model, difference between the looping angle θ m who measures who is surveyed according to this looping angle that estimates with by loop lifter looping angle detector 40 estimates the interference that acts on the loop lifter 16, calculate complete torque nuclear then on the occasion of gf, to offset the interference that this kind estimates.

Second embodiment

Control complete torque although be by the complete torque controller 26 of intermediate stand tension controller in first embodiment, to adjust looping angle, but in the second embodiment of the present invention, the intermediate stand tension controller comprises that then one is used for surveying the complete speed detector 52 of complete speed and the complete speed control 54 of formation one complete speed control loop as shown in figure 10.Tension force interference inverter 34 and loop lifter interference inverter 44 model and wave filter separately will be described in detail in detail below.

Figure 11 represents the characteristic of the intermediate stand tension force and the loop lifter on the hot-rolling mill of the workpiece on the hot-rolling mill in the mode of example.In Figure 11, Kg σ and Kg θ are influence coefficients, and influence coefficient shows interactional influence between intermediate stand tension force and the looping angle, utilize the transfer function of low order, suppose not have interactional influence between mentioned strain and the looping angle, and produce a tension model and a loop lifter model.These two kinds of models are by representing with following each expression formula.

Tension model

Gσ＝eKv/{(S＋eKvσ)(1＋TvS)} (2)

The loop lifter model

Gθ＝1/{S(1＋T _ASRS)} (3)

Because the interaction between the expression formula (2) that forms this tension model of expression and loop lifter model is not considered controlled system and disturbed during with (3), thereby the estimation tension force that is obtained by expression formula (2) and (3) and estimate that looping angle is not only noiseless but also do not have a result under the interactional ideal conditions.Therefore, by adopting the difference between estimated value that each model calculates and the value of measuring of the state of representing corresponding controlled system, just reflected interactional effect between the controlled system, act on the interference on the controlled system, and the difference on the characteristic between model and the actual controlled system.

In the mentioned strain system, the difference between the output of tension model and actual tension can be expressed as

In Δ σ=(P σ-G σ) u+P σ d (4) expression formula, Δ σ is the difference between the output of tension model and actual tension, and P σ is the transmission constant of tension system, and u is a rotary speed instruction and d disturbs.

The characteristic F σ of wave filter can be expressed as:

Fσ＝-1/Gσ (5)

Wave filter promptly is rotating speed corrected value uf corresponding to this output valve F σ of tension force difference DELTA σ, and it is expressed as:

uf＝-d (6)

Because above-mentioned rotating speed corrected value uf is the negative that disturbs d, so the rotary speed instruction by being proofreaied and correct by rotating speed corrected value uf just can be offset this interference fully.But in this case, owing to be included in the appreciable impact of the noise in the tension force of measuring, thus can not offset this interference fully.Thereby adopt a kind of wave filter with characteristic F σ, it is represented with following expression formula:

F σ=-L/G σ (7) formula in L be the characteristic of determining the low pass filter of interference suppressioning characteristic.

Like this, by the mentioned strain model, the subtracter and this wave filter that calculate the difference DELTA σ between tension force that estimates that tension model thus calculates and the tension force of measuring just formed tension force interference inverter 34.

Configuration same as described above is applicable to the loop lifter system; By a loop lifter model, the subtracter and the wave filter that calculate the difference between looping angle that estimates that loop lifter model thus calculates and the looping angle of measuring just formed loop lifter interference inverter 44.

The tracking performance of tension force that the tracking of intermediate stand tension controller is required and required looping angle depends on the performance of tension feedback controller 32 and looping angle controller 42.

The 3rd embodiment

Please, in having, the intermediate tension controller of third embodiment of the invention configuration one establishes the loop lifter interference inverter 60 of a loop lifter model referring to Figure 12.This compensator 60 estimates the interference that acts on the loop lifter control system, and calculates a complete torque corrected value gf, to offset the above-mentioned interference that estimates.Adder 46 complete torque instruction gb and complete torque corrected value gf are added and, and a complete torque instruction g who has proofreaied and correct flowed to complete torque controller 26.The loop lifter model of loop lifter interference inverter 60 receives the torque instruction g that has proofreaied and correct and a complete speed that estimates is provided, and calculate the difference between complete speed that estimates and the complete speed of measuring, and this difference is considered as acting on interference in this loop lifter system, and then calculate the corrected value gf of complete torque, to offset the interference that this estimates, promptly above-mentioned difference.

The 4th embodiment

In view of the 3rd embodiment adjusts looping angle by controlling complete torque by complete torque controller 26.Intermediate stand tension controller in the fourth embodiment of the present invention then shown in Figure 13 is provided with a complete speed control loop, and it comprises that a detector 52 and that is used for surveying complete speed receives the complete speed control 54 of the output signal of this complete speed detector 52.According to expression formula (1) and (3), this loop lifter model representation is:

Gθ(S)＝1/(1＋T _ASRS) (8)

Though the loop lifter model of the intermediate stand tension controller among second embodiment is represented by quadratic expression, the loop lifter model of the intermediate stand tension controller in this 4th embodiment is then represented by a linear representation.Because this wave filter comprises loop lifter model G θ (S), the rank of wave filter have just reduced.

Figure 14 to Figure 17 expresses the effect of the intermediate stand tension controller among first to fourth embodiment that confirms by simulation, in this simulation process, the mill speed variation that will cause because of 10 μ m change amounts in ventilating is applied on these intermediate stand tension controllers.Can see that great changes have taken place with looping angle (Figure 15) both for intermediate stand tension force (Figure 14) from Figure 14 of the control performance that shows traditional no interaction intermediate stand tension controller and Figure 15, it needs long time return to stable state.On the other hand, from Figure 16 of the control performance of representing intermediate stand tension controller of the present invention and Figure 17, see that intermediate stand tension controller of the present invention is restricted to very low degree with the variation (Figure 16) of intermediate stand tension force and the variation of looping angle.

The 5th embodiment

Referring to shown in Figure 180, the output of complete speed detector 52 sends a tension force interference inverter 35 to by an interaction fader 70, and is applied on the tension model of this tension force interference inverter 35.The complete rate signal of part that plan is applied on the compensator 35 can be regulated by interaction fader 70, both not estimatedly also is not cancelled.

The 6th embodiment

In the 5th embodiment, looping angle is by being adjusted by the complete torque of complete torque controller 26 controls, but in the intermediate stand tension controller of sixth embodiment of the invention shown in Figure 19, be to survey complete speed, and this complete speed feedback that will detect is returned a complete speed control 54 by a complete speed detector 52.This detector 52 constitutes a complete speed control loop with controller 54.

Figure 20 and Figure 21 are by simulation, and the effect of the intermediate stand tension controller of confirmation the present invention the 5th and the 6th embodiment, in simulation, cause the 10 μ m change that causes because of ventilation the variable quantity of mill speed to be applied on these intermediate stand tension controllers.From showing Figure 14 and Figure 15 of effect of the no interactional intermediate stand tension controller of tradition, can see in the comparative observation that Figure 20 and Figure 21 did of effect with the intermediate stand tension controller that shows the present invention the 5th and the 6th embodiment, when middle support tension force is when being controlled by traditional intermediate stand tension controller, intermediate stand tension force and looping angle alter a great deal, and when middle support tension force be when being controlled by the intermediate stand tension controller of the present invention the 5th and the 6th embodiment, the two the variation of intermediate stand tension force and looping angle then is restricted to very low degree.Figure 16 and Figure 17 of the simulation control performance of the intermediate stand tension controller from show the present invention first to fourth embodiment, can see in the comparative observation that Figure 20 and Figure 21 did of simulation control performance with the intermediate stand tension controller that shows the present invention the 5th and the 6th embodiment, the tension variation of the latter's (the 5th and the 6th embodiment) intermediate stand tension controller suppresses the intermediate stand tension controller that effect is slightly better than the former (first to fourth embodiment), and the looping angle of the latter's intermediate stand tension controller changes the looping angle that suppresses the intermediate stand tension controller that effect then is inferior to the former slightly and changes and suppress effect.But when looping angle is when being controlled by the latter's intermediate stand tension controller, the degree that looping angle changes is low to being enough to guarantee that workpiece stably divides a word with a hyphen at the end of a line, and can not cause any practical problem fully.Allow between intermediate stand tension force and looping angle among appropriateness the interactional the 5th and the 6th embodiment, the control operation result who simulates its middle support tension controller proves that loop lifter has absorbed the variation of tension force.

The 7th embodiment

The 7th embodiment of the 4th part and the 3rd embodiment are similar according to the present invention, can form according to configuration shown in Figure 2.

The simulation of the intermediate stand tension controller in seventh embodiment of the invention control operation shows, its result effect with the intermediate stand tension controller of the 5th and the 6th embodiment fully is identical.

The 8th embodiment

The 8th embodiment in the present invention's the 5th part is described in detail in detail below.

In the 8th embodiment shown in Figure 23, tension force/loop lifter controller 74 receives: the deviation of the tension value σ m that measures that is provided by tension feeler 30, by the looping angle θ m that measures that looping angle detector 40 is surveyed, the deviation of the looping angle θ m that measures and the required looping angle 6r that provides by master computer 50; Complete speed omega m that measures that is surveyed by complete speed detector 52 and the rotating speed VRm that measures that is surveyed by rotating speed detector 72, and calculate complete torque instruction gb and rotary speed instruction ub simultaneously, so that actual tension is consistent with required tension force θ r, and actual looping angle is conformed to required looping angle θ r.

Be similar to the used tension force interference inverter 76 of the present invention of first embodiment and comprise a model, difference according to model thus tension force that estimates that provides and the tension force σ m that measures that is surveyed by tension feeler 30, this compensator 76 estimates the interference that acts on tension force/loop lifter controller 74, and calculates the rotating speed corrected value uf that offsets this interference.This embodiment and first embodiment different are in: tension force interference inverter 76 does not need to compensate the tension variation that the interference because of loop lifter brings, and this is because the interference between this tension force and the looping angle is controlled by tension force/loop lifter controller 74.The complete speed omega m that measures that is surveyed by complete speed detector 52 is added and in the input to model, makes rotating speed corrected value uf not comprise that any compensation loop lifter disturbs and the component of the tension variation that causes.

Similar among the loop lifter interference inverter 78 and first embodiment, it comprises a model, difference between the looping angle θ m that measures that estimates looping angle and provided by looping angle detector 40 that provides according to model thus, estimate the interference that acts on tension force/loop lifter controller 74, calculate the complete torque corrected value gf that offsets this interference then.This embodiment is different from the first embodiment part and is, loop lifter interference inverter 78 does not need to compensate the variation of being disturbed caused looping angle by tension force, and this is because tension force/loop lifter controller 74 has been controlled the interference between tension force and the looping angle.The tension force σ m that measures that is surveyed by tension feeler 30 is added and in the input to this model, makes complete torque corrected value gf not comprise any component that disturbs the looping angle that causes to change because of tension force that goes to compensate.

The 9th embodiment

In the 8th embodiment,, and in the 9th embodiment, then can adopt the complete speed control loop of the complete speed control 54 that comprises as shown in figure 24 though complete torque controller 26 is controlled looping angle by controlling complete torque.The model that comprises in the used interference inverter among this 9th embodiment can with as the situation of the second embodiment expression formula, use expression formula (2) and (3).

The the tenth and the 11 embodiment

The the tenth of the 6th part the and the 11 embodiment is similar with the 3rd and the 4th embodiment according to the present invention, and they can have Figure 25 and configuration shown in Figure 26, wherein, and the loop lifter interference inverter of 79 these two embodiment of expression.

Figure 27 and Figure 28 are curve maps, and they show the tension force of the intermediate stand tension controller among the tenth and the 11 embodiment and the adjustment effect of looping angle.

, can be improved by controlling the control performance that complete torque or complete speed are adjusted intermediate stand tension force and adjusted traditional intermediate stand tension controller of looping angle simultaneously by the rotating speed of roll of control mill stand by having two kinds of feedback control loops by in these two kinds of feedback control loops, adding two interference inverters respectively.But because this intermediate stand tension force and looping angle are indirectly by interactional control between tension force and the looping angle, the rank of this kind controlled system and the rank of model just can increase, and make the intermediate stand tension controller have complicated configuration, and this is undesirable.

In the middle of the intermediate stand tension controller of first to the 7th embodiment, tension force interference inverter 34 and loop

lifter interference inverter

44 or 60, can replace by single interference inverter, this single interference inverter is provided with a model, comprises interactional item between expression tension force and the looping angle in the model.But in this case, do not comprise above-mentioned interactional of any compensation in the output of this kind interference inverter.Therefore, intermediate stand tension controller at this moment must also dispose parts suitable with the precompensation device outside tension feedback controller 32 and tension controller 42, and the result just makes the structure complicated of intermediate stand tension controller.Adopt the model that does not comprise any interactional item if save precompensation, for example do not use model used in the previous embodiment of the present invention, and compensate as the interaction of disturbing by interference inverter, just can more effectively improve the control performance of intermediate tension controller.

Aforementioned those embodiment dispose tension model and loop lifter model, and according to the difference between the output of tension model and the intermediate stand tension force measured, and, determine corresponding interference compensation signal by wave filter respectively simultaneously according to the difference between the output of loop lifter model and the looping angle measured.In this model, the configuration that wave filter had is by comprising that as shown in figure 29 the expression formula (7) of inversion model 1/G σ is represented, and the mounted cast P σ difference between the output of model G6 therewith then is applied on this inversion model 1/G σ.The output of mounted cast P σ can be applied directly on as shown in figure 30 the inversion model G σ.Also can be with the difference integration between the output of the output of this mounted cast P σ and model G σ, feed back to model G σ and this integration be multiply by by the resulting value of last gain K, and feedback signal as an interference compensation signal, as shown in figure 31.At this moment, the symbol of this interference compensation signal just conversely.Configuration shown in Figure 29 to 31 can change in case of necessity, as long as the configuration that is changed and Figure 29 are to equivalence shown in Figure 31.

The 12 embodiment

Intermediate stand tension controller shown in Figure 32 is in the hot-rolling mill that is applied to have a plurality of mill stands and be provided with loop lifter between adjacent support.

Be included in the tension control system of this intermediate stand tension controller one, be provided with: tension feeler 30, its reception is that loop lifter 16 interior load transducer (not shown) send by being installed in, expression workpiece 10 acts on the reaction force on the loop lifter 16, and calculates the intermediate stand tension force σ m that measures of workpiece 10; Tension model 82, it calculates the tension value σ p that estimates according to the rotary speed instruction u that gives roller speed controller 22; Subtracter 84, it calculate the tension force σ p that estimates and the intermediate stand tension force σ m that measures that provides by tension feeler 30 between difference DELTA σ, subtracter 86, it deducts difference DELTA σ from the required tension force σ r that is provided by master computer 50, then this signal that subtracts each other the result of expression is flowed to wave filter 88, and this wave filter 88 calculates a rotary speed instruction u, comes batch to disappear to be included in interference in the input signal.

In the included loop lifter control system of support tension controller, be provided with hereinto: looping angle detector 40, its is surveyed looping angle and also provides a looping angle θ m who measures; Loop lifter model 92, it estimates a looping angle θ p who estimates according to the complete torque instruction g that is defeated by a complete torque controller 26; Subtracter 94, it calculate this looping angle θ p that estimates and the looping angle θ m that measures that provides by looping angle detector 40 between difference DELTA θ; Subtracter 96, it deducts above-mentioned difference DELTA θ from the required looping angle θ r that is provided by master computer 50, and will represent that this signal that subtracts each other the result is defeated by a wave filter 98, and it is to offset to disturb required complete torque instruction g that this wave filter 98 calculates.

The 13 embodiment

Aforementioned intermediate stand tension controller is by adjusting looping angle by the complete torque of complete torque controller 26 controls.Be provided with a complete speed control loop in the intermediate tension controller of thriteenth embodiment of the invention shown in Figure 33, it comprises a complete speed detector 52, is used for a complete speed feedback that is detected to complete speed control 54.The included model 82 of this 13 intermediate stand tension controller in implementing and 92 and

wave filter

88 and 98 will be described in detail in detail below.

Characteristic, tension model (expression formula (2)) and the loop lifter model (expression formula (3)) of the loop lifter on the characteristic of the intermediate stand tension force of the workpiece on the hot-rolling mill and the hot-rolling mill be identical with shown in second embodiment all.Difference DELTA σ between the output of model 82 and the intermediate stand tension force measured is represented by expression formula (4).The characteristic F σ of wave filter 88 is expressed as:

F σ=-1/P σ (9) and wave filter 88 be expressed as corresponding to the output u of difference DELTA σ:

D in u=-d (10) expression formula is for disturbing.Therefore, when rotating speed is output u according to wave filter 88 when controlling, disturb and just can offset fully.But, represent required intermediate stand tension force σ r therewith the transfer function of the relation between the intermediate stand tension force should be " 1 ", thereby this kind interference can not be offset fully.So wave filter 88 must have by expression formula:

F σ=-the represented characteristic F σ of L/P σ (11), the L in the expression formula is the characteristic of the interference suppressioning characteristic and the low pass filter that response characteristic is relied on of this tension system.

Similarly, the interference suppressioning characteristic of loop lifter system and response characteristic also can be measured by wave filter 98.

The 14 embodiment

In the intermediate stand tension controller of the 14 embodiment of the present invention shown in Figure 34 the 8th part, be provided with: complete speed detector 52, it surveys complete speed omega m; Loop lifter model 110, it is according to complete torque instruction g estimation one a complete speed omega p who estimates who flows to complete torque controller 26; Subtracter 112, it calculate the complete speed omega p that estimates and the complete speed omega m that measures that provided by above-mentioned detector 52 between difference DELTA ω, and this difference flowed to wave filter 114, and wave filter to calculate one according to this input signal be to offset to disturb essential complete torque instruction g.

The 15 embodiment

Intermediate stand tension controller among the 14 embodiment is by adjusting looping angle by the complete torque of complete torque controller 26 controls.And the intermediate stand tension controller in the fifteenth embodiment of the invention shown in Figure 35 disposes a complete speed control loop, and this control loop comprises a complete speed detector 52, so that a complete speed feedback that detects is returned complete speed control 54.This intermediate tension controller among the 15 embodiment is provided with the loop lifter model, and is identical by the represented loop lifter model of expression formula (8) among this loop lifter model and the 4th embodiment.

The tension force of the intermediate stand tension controller in the 12 to the 15 embodiment control effect confirms by simulated experiment, and is identical with intermediate stand tension controller among Figure 16 and first to fourth embodiment shown in Figure 17.

The 16 embodiment

Shown in Figure 36 according to the present invention the intermediate stand tension controller among the 16 embodiment of the 9th part, its output with complete speed detector 52 flows to a tension model 82 by an interaction fader 70.Plan is defeated by the part signal of the complete speed of expression of tension model 82 can be not estimated by interaction fader 70 control and this signal, not as interference compensation.

The 17 embodiment

Intermediate stand tension controller among the 16 embodiment is by adjusting looping angle by the complete torque of complete torque controller 26 controls.And the intermediate stand tension controller in the seventeenth embodiment of the invention shown in Figure 37 is provided with a complete speed control loop, and this control loop comprises that a complete speed detector 52 is used for the complete speed that detects is flowed to a complete speed control 54.

The effect of the intermediate stand tension controller of this 17 embodiment confirms by simulated experiment, and is basic identical with the intermediate stand tension controller among Figure 21 and the 15 and 16 embodiment shown in Figure 22.

The 18 embodiment

Intermediate stand tension controller among the 18 embodiment of the tenth part that Figure 38 represents according to the present invention.The effect of the intermediate stand tension controller of this 18 embodiment confirms through simulated experiment, and the effect of the intermediate stand tension controller among itself and the 16 embodiment is basic identical.

Although above-mentioned each embodiment is an intermediate stand tension force of surveying workpiece by tension feeler 30, the intermediate stand tension force of workpiece also can estimate according to the caused complete torque component of the intermediate stand tension force because of workpiece that is detected.

Traditional intermediate stand tension controller has adopted by controlling complete torque or complete speed and has adjusted the control loop of intermediate stand tension force and the control loop of adjusting looping angle by the rotating speed of roll of control mill stand, its control performance is by the interaction between these two kinds of control loops is estimated as a kind of interference, and this interaction is compensated.But under this kind situation, because intermediate stand tension force and looping angle are to control by interactional between this tension force and the looping angle indirectly, the controlled system rank of class model therewith just can increase, thereby make the intermediate stand tension controller have complicated configuration, and this is undesirable.

In the intermediate stand tension controller of the 12 to the 18 embodiment, interactional single model replacement between grid seat tension force and the looping angle in the middle of tension model 82 and

loop lifter model

92 or 110 can be handled by.At this moment, because the output of

wave filter

88,98 and 114 does not comprise any this interactional component that is used for compensating, this intermediate stand tension controller must dispose a precompensation device, thereby causes these two kinds of loops independently not form, and makes configuration complicated.If do not carry out this precompensation, when removing interactional in the model from then on, control performance will strengthen, and this interacts just as a kind of interference compensation.

In the 12 to the 18 embodiment, the difference between the output of tension model and the intermediate stand tension force measured, and the difference between the output of loop lifter model and the looping angle measured are all obtained a signal that is used for compensate for disturbances by wave filter.The wave filter of tension model adopts the inversion model 1/G6 of expression formula (11) expression; The difference that is handle assembly model P σ and model G σ is applied among the inversion model 1/G σ shown in Figure 39.The output of mounted cast P σ can be added on the inversion model 1/G σ shown in Figure 40.Can also and this integration be multiply by the feedback signal that is produced by gain K with the difference between the output of output by integrating gear model P σ and model G σ is applied on the model G σ shown in Figure 41.Configuration shown in Figure 39 to 41 can be changed in case of necessity, as long as configuration of being changed and the configuration equivalence of Figure 39 to 41.

The present invention is not limited to be applied in the intermediate stand tension controller that hot-rolling mill uses.

Being familiar with those skilled in the art should know, above described embodiment only belong to indicative and the expression the application of the principles of the present invention, know the professional person of present technique for those, under the prerequisite that does not depart from the scope of the present invention with spirit, can promptly design the variation pattern that is different from other above-mentioned numerous configurations.

Claims

1.-and kind being used in the intermediate stand tension controller in the continuous rolling mill that has a plurality of mill stands and between adjacent mill stand, be provided with a loop lifter, this controller comprises:

First feedback control loop, its measurement or estimate the intermediate stand tension force of workpiece, and calculate the rotary speed instruction of the required rotating speed of the roll that is identified for mill stand, and proofread and correct this rotary speed instruction simultaneously according to the difference between the intermediate stand tension force of the intermediate stand tension force of required intermediate stand tension force and measurement or the work that estimates and measurement or the work that estimates;

Second feedback control loop, it measures looping angle, and calculates complete torque instruction or complete torque instruction or complete speed command according to the difference between looping angle of measuring and the required looping angle, and proofreaies and correct this complete torque instruction or complete speed command simultaneously;

First interference inverter, its by the rotary speed instruction that calculates by first feedback control loop at least and the corrected value that calculates by this first interference inverter and be applied to one receive at least the roll of determining mill stand rotating speed the rotating speed order and provide on the model of intermediate stand tension force of a workpiece and obtain a tension force that estimates, estimate the interference that acts on first feedback control loop according to the difference between this tension force of settling accounts out and measurement or the working tension that estimates, and calculate the corrected value of the rotating speed of roll simultaneously, with the interference that estimated of negative function on first feedback control loop; And

Second interference inverter, its corrected value by the complete torque that calculates the complete torque instruction that calculates by second feedback control loop or complete speed command and by second interference inverter or complete velocity correction value and be applied to one and receive this complete torque instruction or complete speed command and provide on the model of a looping angle and obtain a looping angle control variables that estimates, difference between the looping angle control variables of measuring according to this looping angle control variables and one that estimates estimates the interference that acts on this second feedback control loop, and calculate the corrected value or the complete velocity correction value of complete torque, to offset the interference that is estimated;

Thus, according to the value that the corrected value that is calculated by first interference inverter is added and obtain to the rotary speed instruction that is provided by first backfeed loop, controlled the rotating speed of roll, simultaneously, controlled complete torque or complete speed according to the value that the complete velocity correction value that is calculated by second interference inverter is added and obtain on complete torque instruction that is provided by second backfeed loop or the complete speed command.

2. intermediate stand tension controller as claimed in claim 1, it is characterized in that: second interference inverter comprises a model that looping angle is provided as the loop lifter control variables, and the difference between the looping angle of measuring according to the looping angle that estimates and that this model provides estimates the interference that acts on this second feedback control loop.

3. intermediate stand tension controller as claimed in claim 1, it is characterized in that, second interference inverter comprises a model that complete speed is provided as the loop lifter variable, and the difference between the complete speed of measuring according to a complete speed and one that estimates estimates the interference that acts on second feedback control loop.

4. intermediate stand tension controller as claimed in claim 1, it is characterized in that, first interference inverter comprises that one receives the rotary speed instruction of the required rotating speed of roll be identified for mill stand and the model of complete speed, and rotary speed instruction that is calculated according to this complete speed and by first feedback control loop and the corrected value that calculates by first interference inverter and determine the tension force that estimates.

5. intermediate stand tension controller that is used in the continuous rolling mill that has a plurality of mill stands and between adjacent mill stand, be provided with loop lifter, this controller comprises:

First feedback control loop, its measurement or estimate the intermediate stand tension force of workpiece, and calculate the rotary speed instruction of the required rotating speed of roll of determining mill stand, and proofread and correct this rotary speed instruction simultaneously according to the difference between the intermediate stand tension force of required support tension force and measurement or the work that estimates;

Second feedback control loop, it measures looping angle, calculates complete torque instruction or complete speed command according to the difference between looping angle of measuring and the required looping angle, and proofreaies and correct this complete torque instruction or complete speed command simultaneously;

First interference inverter, its by the rotary speed instruction that calculates by first feedback control loop and the rotating speed corrected value that calculates by this first interference inverter and be applied to one and receive the rotary speed instruction of the roll that is used for mill stand and provide on the model of intermediate stand tension force of workpiece and obtain a tension force that estimates, estimate the interference that acts on first feedback control loop according to the difference between the intermediate stand tension force of this tension force that estimates and measurement or the work that estimates, and calculate the corrected value of rotating speed, to offset the interference on first feedback control loop of acting on that is estimated; And

Second interference inverter, its by the complete torque instruction that calculates by second feedback control loop or complete speed command and the corrected value that calculates by this second interference inverter and be applied on the model that receives this complete torque instruction or complete speed command and a looping angle is provided and obtain a looping angle that estimates, the difference of the looping angle of measuring according to this looping angle that estimates and one between the two estimates the interference that acts on second feedback control loop, and calculate the corrected value or the complete velocity correction value of complete torque simultaneously, to offset the interference that is estimated;

Thus, according to the value that the rotating speed corrected value that is calculated by first interference inverter is added and obtained to the rotary speed instruction that provides by first feedback control loop, can control the rotating speed of roll, and according to the corrected value that is calculated by second interference inverter being added and on complete torque instruction that provides by second feedback control loop or complete speed command, just can being controlled to cover torque or complete speed.

6. intermediate stand tension controller that is used in the continuous rolling mill that has a plurality of mill stands and between adjacent mill stand, be provided with loop lifter, described intermediate stand controller comprises:

First feedback control loop, its measurement or estimate the intermediate stand tension force of workpiece, calculate the rotary speed instruction of the required rotating speed of the roll that is used for mill stand according to the difference between the intermediate stand tension force of required support tension force and measurement or the work that estimates, proofread and correct rotating speed simultaneously;

Second feedback control loop, it measures looping angle, calculates complete torque instruction or complete speed command according to the difference between required looping angle and the looping angle measured, and proofreaies and correct this complete torque instruction or complete speed command simultaneously;

First interference inverter, its by the rotary speed instruction that calculates by first feedback control loop and the corrected value that calculates by this first interference inverter and be applied to one and receive the rotary speed instruction of the roll that is used for mill stand and provide on the model of intermediate stand tension force of workpiece and obtain a tension force that estimates, estimate the interference that acts on first feedback control loop according to the difference between this tension force that estimates and measurement or the work intermediate stand tension force that estimates, and calculate the corrected value of rotating speed, to offset the interference that is estimated; And

Second interference inverter, its by the complete torque instruction that calculates by second feedback control loop or complete speed command and the corrected value that calculates by this second interference inverter and be applied on the model that receives this complete torque instruction or complete speed command and a complete speed is provided and obtain a complete speed that estimates, the difference of the complete speed of measuring according to this complete speed and one that estimates between the two estimates the interference that acts on second feedback control loop, calculate the corrected value or the complete velocity correction value of complete torque simultaneously, to offset the interference on second feedback control loop of acting on estimated;

Thus, the value that adds and obtained to the rotary speed instruction that is provided by first feedback control loop according to the rotating speed corrected value that first interference inverter is calculated, can control the rotating speed of roll, and according to the corrected value of the complete torque that calculates by second interference inverter or complete velocity correction value adds and the value that obtains on complete torque instruction that is provided by second feedback control loop or the complete speed command, just can be controlled to cover torque or complete speed.

7. intermediate stand tension controller that is used for the continuous rolling mill that has a plurality of mill stands and between adjacent mill stand, be provided with loop lifter, described intermediate stand tension controller comprises:

First feedback control loop, its measurement or estimate the intermediate stand tension force of workpiece, and calculate the rotary speed instruction of the roll that is used for mill stand according to the intermediate stand tensometer of required intermediate stand tension force and measurement or the work that estimates, proofread and correct rotating speed simultaneously;

Second feedback control loop, it measures looping angle, and calculates complete torque instruction or complete speed command according to the difference between required looping angle and the looping angle measured, and proofreaies and correct this complete torque instruction or complete speed command simultaneously;

First interference inverter, its by the rotary speed instruction that calculates by first feedback control loop and the corrected value that calculates by first interference inverter and and a complete speed applications to receive the complete therewith speed of this rotary speed instruction and provide attack on the model of intermediate stand tension force of a workpiece a tension force that estimates, estimate the interference that acts on first feedback control loop according to the difference between the intermediate stand tension force of this tension force that estimates and measurement or the work that estimates, calculate the rotating speed corrected value of the above-mentioned interference that estimate of negative function on first feedback control loop simultaneously;

Second interference inverter, its by the complete torque instruction that calculates by second feedback control loop or complete speed command and the corrected value that calculates by second interference inverter and be applied to one and receive complete torque instruction or complete speed command and provide on the model of a looping angle to obtain a looping angle that estimates, difference between the looping angle of measuring according to this looping angle that estimates and one estimates the interference that acts on second feedback control loop, calculate complete torque corrected value or complete velocity correction value simultaneously, with the interference of negative function on second feedback control loop;

Thus, according to the value that rotary speed instruction that is provided by first feedback control loop and the rotating speed corrected value that is provided by first interference inverter are added and obtain, just rotation rate-controllable; And, just can be controlled to torque or the complete speed of overlapping according to the value that the corrected value or the complete velocity correction value of the complete torque instruction that is provided by second backfeed loop or complete speed command and the complete torque that is provided by second interference inverter are added and obtain.

8. intermediate stand tension controller that is used for the continuous rolling mill that has a plurality of mill stands and between adjacent mill stand, be provided with loop lifter, described intermediate stand tension controller comprises:

First feedback control loop, its measurement or estimate the intermediate stand tension force of workpiece, and calculate the rotary speed instruction that is used for rolls of rolling stand according to the intermediate stand tensometer of required intermediate stand tension force and measurement or the work that estimates, proofread and correct rotating speed simultaneously;

Second feedback control loop, it measures looping angle, and calculates complete torque instruction or complete speed command according to the difference between required looping angle and the looping angle measured, proofreaies and correct this complete torque instruction or complete speed command simultaneously;

First interference inverter, its by the rotary speed instruction that calculates by first feedback control loop and the corrected value that calculates by first interference inverter and and a complete speed applications to receive on the model of the rotary speed instruction of the roll that is used for mill stand and the intermediate stand tension force that complete speed provides a workpiece and obtain a tension force that estimates, estimate the interference that acts on first feedback control loop according to the difference between the intermediate stand tension force of this tension force that estimates and measurement or the work that estimates, calculate the rotating speed corrected value of the interference that estimate of negative function on first feedback control loop simultaneously;

Second interference inverter, its by the complete torque instruction that calculates by second feedback control loop or complete speed command and the corrected value that calculates by this second interference inverter and be applied to one and receive complete torque instruction or complete speed command and provide on the model of a complete speed to obtain a complete speed that estimates, difference between the complete speed of measuring according to this complete speed and one that estimates estimates the interference that acts on second feedback control loop, calculate the corrected value or the complete velocity correction value of complete torque simultaneously, with the interference of negative function on second feedback control loop;

Thus, add and the value that obtains, just rotation rate-controllable according to rotary speed instruction that is provided by first feedback control loop and the rotating speed corrected value that provides by first interference inverter; And, just can be controlled to torque or the complete speed of overlapping according to the value that the corrected value or the complete velocity correction value of the complete torque instruction that is provided by second feedback control loop or complete speed command and the complete torque that is provided by second interference inverter adds and obtain.

9. intermediate stand tension controller that is used in the continuous rolling mill that has a plurality of mill stands and between adjacent mill stand, be provided with loop lifter, described intermediate stand tension controller comprises:

One feedback control loop, it calculates: the drift angle of the deviation of complete torque instruction that be used for the rotary speed instruction of the roll of mill stand, obtains according to the measurement of the workpiece between the mill stand or the intermediate stand tension force that estimates or complete speed command, the intermediate stand tension force of measuring or estimating and required tension force, the looping angle of measuring, this looping angle of measuring and required looping angle, the rotating speed of measuring of the roll of mill stand and the complete speed of measuring; Proofread and correct rotating speed and the complete torque or the complete speed of roll simultaneously;

First interference inverter, its rotary speed instruction by the roll that is used for mill stand that calculates the complete speed measured and by feedback control loop and the corrected value that calculates by first interference inverter and be applied to this rotary speed instruction of reception and provide on the model of tension force of the workpiece between the mill stand and obtain a tension force that estimates, estimate the interference that acts on the feedback control loop according to this tension force that estimates and measurement or the tension force that the estimates difference between the two, and calculate the corrected value of rotating speed simultaneously, with the interference that estimate of negative function on feedback control loop; And

Second interference inverter, its by the complete torque instruction that calculates preceding planar survey or the tension force that estimates and by feedback control loop or complete speed command and the corrected value that calculates by this second interference inverter and be applied to one and receive this complete torque instruction or complete speed command and provide on the model of a loop lifter control variables and obtain a loop lifter control variables that estimates, estimate the interference that acts on the feedback control loop according to this complete device control variables that estimates and the loop lifter control variables the measured difference between the two, calculate the corrected value or the complete velocity correction value of complete torque simultaneously, act on interference on the feedback control loop with what counteracting estimated;

Thus, according to the rotary speed instruction that calculates by feedback control loop and the rotating speed corrected value that calculates by first interference inverter and, the rotating speed of the roll of control mill stand, according to the complete torque instruction that calculates by feedback control loop or complete speed command and the complete torque corrected value or the complete velocity correction value that calculate by second interference inverter, control complete torque or complete speed simultaneously.

10. intermediate stand tension controller as claimed in claim 9, it is characterized in that, second interference inverter comprises a model that looping angle is provided as the loop lifter control variables, and the difference of measuring between the looping angle according to the looping angle that estimates and that model thus provides estimates the interference that acts on second feedback control loop.

11. intermediate stand tension controller as claimed in claim 9, it is characterized in that, second interference inverter comprises a model that complete speed is provided as the loop lifter control variables, and the difference between the complete speed of measuring according to a complete speed and one that estimates estimates the interference that acts on this second feedback control loop.

12. an intermediate stand tension controller that is used in the continuous rolling mill that has a plurality of mill stands and be provided with loop lifter between adjacent mill stand, described intermediate stand tension controller comprises:

One feedback control loop, the deviation of the looping angle of the complete torque instruction that it calculates the rotary speed instruction of the roll of mill stand, obtain according to the measurement of the workpiece between the mill stand or the intermediate stand tension force that estimates or the deviation of complete speed command, the tension force of measuring or estimating and required tension force, measurement, the looping angle that this measures and required looping angle, the rotating speed of measuring of the roll of mill stand and the complete speed of measuring; Proofread and correct rotating speed and the complete torque or the complete speed of the roll of mill stand simultaneously;

First interference inverter, its rotary speed instruction by the roll that is used for mill stand that calculates the complete speed measured and by feedback control loop and the corrected value that calculates by this first interference inverter and be applied to this rotary speed instruction of reception and provide on the model of intermediate stand tension force of workpiece between the mill stand and obtain an intermediate stand tension force that estimates, estimate the interference that acts on the feedback control loop according to this intermediate stand tension force that estimates and measurement or the intermediate stand tension force that the estimates difference between the two, calculate the corrected value of a rotating speed simultaneously, act on interference on the feedback control loop with what counteracting estimated; And

Second interference inverter, its by the complete torque instruction that calculates the intermediate stand tension force of measuring or estimating and by feedback control loop or complete speed command and the corrected value that calculates by this second interference inverter and be applied to one and receive this complete torque instruction or complete speed command and provide on the model of a looping angle and obtain a looping angle that estimates, estimate the interference that acts on the feedback control loop according to this looping angle that estimates and the looping angle the measured difference between the two, calculate the corrected value or the complete velocity correction value of a complete torque simultaneously, act on interference on the feedback control loop with what counteracting estimated;

Thus, according to the rotary speed instruction that calculates by feedback control loop and the rotating speed corrected value that calculates by first interference inverter and, the rotating speed of the roll of control mill stand, simultaneously, control complete torque or complete speed according to the complete torque instruction that calculates by feedback control loop or complete speed command corrected value or complete velocity correction value with the complete torque that calculates by second interference inverter.

13. an intermediate stand tension controller that is used in the continuous rolling mill that has a plurality of mill stands and be provided with loop lifter between adjacent mill stand, described intermediate stand tension controller comprises:

One feedback control loop, it calculates: the rotary speed instruction of the roll of mill stand, the complete torque instruction or the complete speed command that obtain according to the measurement of workpiece between the mill stand or the tension force that estimates, the deviation of tension force of measuring or estimating and required tension force, the looping angle of measuring, the deviation of looping angle that this measures and required looping angle, the rotating speed of measuring of the roll of mill stand and the complete speed of measuring; Proofread and correct rotating speed and the complete torque or the complete speed of roll simultaneously;

First interference inverter, its by the complete speed measured and by feedback control loop a rotary speed instruction that calculates and a corrected value that calculates by first interference inverter and be applied to one and receive this rotary speed instruction and provide on the model of intermediate stand tension force of workpiece and obtain a tension force that estimates, estimate the interference that acts on the feedback control loop according to this tension force that estimates and measurement or the tension force that the estimates difference between the two; Calculate the corrected value of a rotating speed simultaneously, offset the interference on the feedback control loop of acting on estimate; And

Second interference inverter, its by the complete torque instruction that calculates the tension force of measuring or estimating and by feedback control loop or complete speed command and the corrected value that calculates by this second interference inverter and be applied to one and receive this complete torque instruction or complete speed command and provide on the model of a complete speed and obtain a complete speed that estimates, estimate the interference that acts on the feedback control loop according to this complete speed that estimates and the complete speed the measured difference between the two, calculate the corrected value or the complete velocity correction value of complete torque simultaneously, act on interference on the feedback control loop with what counteracting estimated;

Thus, according to the rotary speed instruction that calculates by feedback control loop and the rotating speed corrected value that calculates by first interference inverter and, the rotating speed of the roll of control mill stand, simultaneously according to the corrected value of the complete torque instruction that calculates by feedback control loop or complete speed command and the complete torque that calculates by second interference inverter or complete velocity correction value and, control complete torque or complete speed.

14. one kind is used in and has a plurality of mill stands and be provided with between the adjacent mill stand on the continuous rolling mill of loop lifter, come the method for the intermediate stand tension force of workpiece in the controlled rolling, its rotating speed by the roll of control mill stand is with the intermediate stand tension force of required intermediate stand tension adjustment workpiece, and by control loop lifter complete torque or complete speed adjust looping angle with required looping angle, the method may further comprise the steps:

In one first controlled system, the rotating speed of roll is a performance variable and intermediate stand tension force is a controlled variable, at least one rotary speed instruction that is used for rolls of rolling stand is applied on first model of the intermediate stand tension force that receives at least one rotary speed instruction and a workpiece is provided and obtains an intermediate stand tension force that estimates, estimate the interference that acts on this first controlled system according to this intermediate stand tension force that estimates and a measurement or the work intermediate stand tension force that the estimates difference between the two;

Calculate the rotary speed instruction of this interference that estimates of counteracting;

Adjust rotating speed according to the rotary speed instruction that calculates;

In one second controlled system, the complete torque of loop lifter or complete speed are performance variables and its looping angle is a controlled variable, one complete torque instruction or complete speed command are applied to one receive this complete torque instruction or complete speed command and provide on second model of a loop lifter control variables and obtain a loop lifter control variables that estimates, estimate the interference that acts on this second controlled system according to this loop lifter control variables and the loop lifter control variables the measured difference between the two;

Adjust complete torque and complete speed according to this complete torque instruction that calculates or complete speed command.

15. method as claimed in claim 14, it is characterized in that, the loop lifter control variables that is provided by second model is a looping angle, and the interference that acts on second controlled system then is to estimate according to the looping angle difference between the two that the looping angle that estimates and that is provided by second model is measured.

16. method as claimed in claim 14, it is characterized in that, the loop lifter control variables that is provided by second model is a complete speed, and the interference that acts on second controlled system then is to estimate according to the complete speed difference between the two that the complete speed and one that estimates that is provided by second model is measured.

17. method as claimed in claim 14 is characterized in that, the intermediate stand tension force that estimates is according to rotary speed instruction and complete speed and definite.

18. one kind is used in and has a plurality of mill stands and be provided with between the adjacent mill stand on the continuous rolling mill of loop lifter, come the method for the intermediate stand tension force of workpiece in the controlled rolling, it adjusts intermediate stand tension force by the rotating speed of control rolls of rolling stand with required intermediate stand tension force, and adjust looping angle with required looping angle by complete torque or the complete speed of controlling this loop lifter, the method may further comprise the steps:

In one first controlled system, the rotating speed of roll is a performance variable and intermediate stand tension force is a controlled variable, obtain an intermediate stand tension force that estimates by the rotary speed instruction of the roll of a mill stand being applied on first model of intermediate stand tension force that receives this rotary speed instruction and provide a workpiece, estimate the interference that acts on this first controlled system according to the intermediate stand tension force of this intermediate stand tension force that estimates and a measurement or the work that the estimates difference between the two;

In one second controlled system, complete torque or complete speed are performance variables and the looping angle of loop lifter is a controlled variable, receive this complete torque instruction or complete speed command and provide on second model of looping angle of a workpiece and obtain a looping angle that estimates by a complete torque instruction or complete speed command being applied to one, the difference of the looping angle of measuring according to this looping angle that estimates and one between the two estimates the interference that acts on this second controlled system;

19. one kind is used in and has a plurality of mill stands and be provided with between the adjacent mill stand on the continuous rolling mill of loop lifter, come the method for the intermediate stand tension force of workpiece in the controlled rolling, its rotating speed by the roll of control mill stand is adjusted the intermediate stand tension force of workpiece with required intermediate stand tension force, and by control loop lifter complete torque or complete speed adjust looping angle with required looping angle, the method may further comprise the steps:

In one first controlled system, the rotating speed of roll is a performance variable and intermediate stand tension force is a controlled variable, obtain an intermediate stand tension force that estimates by the rotary speed instruction of the roll of a mill stand being used, estimate the interference that acts on this first controlled system according to the intermediate stand tension force of this intermediate stand tension force that estimates and a measurement or the work that the estimates difference between the two to receive this rotary speed instruction and to provide on first model of intermediate stand tension force of workpiece;

In one second controlled system, complete torque or complete speed are performance variables and the looping angle of loop lifter is a controlled variable, receive this complete torque instruction or complete speed command and provide on second model of a looping angle and obtain a complete speed that estimates by a complete torque instruction or complete speed command being applied to one, the difference of the complete speed of measuring according to this complete speed and one that estimates between the two estimates the interference that acts on this second controlled system;

20. one kind is used in and has a plurality of mill stands and be provided with between the adjacent mill stand on the continuous rolling mill of loop lifter, come the method for the intermediate stand tension force of workpiece in the controlled rolling, its rotating speed by the roll of control mill stand is adjusted the intermediate stand tension force of workpiece with required intermediate stand tension force, and by the control complete torque of loop lifter or complete speed with required looping angle, looping angle the method for adjusting loop lifter may further comprise the steps:

In one first controlled system, the rotating speed of roll is a performance variable and intermediate stand tension force is a controlled variable, obtain an intermediate stand tension force that estimates by being used for the rotary speed instruction of roll of mill stand and complete speed applications to one to receiving this rotary speed instruction and complete speed and providing on the model of intermediate stand tension force of a workpiece, estimate the interference that acts on this first controlled system according to the intermediate stand tension force of this intermediate stand tension force that estimates and a measurement or the work that the estimates difference between the two;

In one second controlled system, complete torque or complete speed are performance variables and looping angle is a controlled variable, receive this complete torque instruction or complete speed command and provide on second model of a looping angle and obtain a looping angle that estimates by a complete torque instruction or complete speed command being applied to one, estimate the interference that acts on this second controlled system according to this looping angle that estimates and the looping angle the measured difference between the two;

21. one kind is used in and has a plurality of mill stands and be provided with between the adjacent mill stand on the continuous rolling mill of loop lifter, come the method for the intermediate stand tension force of workpiece in the controlled rolling, its rotating speed by the roll of control mill stand is adjusted the intermediate stand tension force of workpiece with required intermediate stand tension force, and adjust looping angle with required looping angle by complete torque or the complete speed of controlling this loop lifter, the method may further comprise the steps:

In one first controlled system, the rotating speed of roll is a performance variable and the intermediate stand tension force of workpiece is a controlled variable, by the rotary speed instruction of the roll of a mill stand and a complete speed applications are acquired an intermediate stand tension force that estimates to receiving this rotary speed instruction and complete speed and providing on first model of intermediate stand tension force of a workpiece, estimate the interference that acts on this first controlled system according to this intermediate stand tension force that estimates and a measurement or the work intermediate stand tension force that the estimates difference between the two;

Calculate the rotary speed instruction of offsetting this interference that estimates;

In one second controlled system, complete torque or complete speed are performance variables and looping angle is a controlled variable, receive complete torque instruction or complete speed command and provide on first model of a complete speed and obtain a complete speed that estimates by a complete torque instruction or complete speed command being applied to one, the complete speed difference of measuring according to this complete speed and one that estimates between the two estimates the interference that acts on this second controlled system;

Adjust complete torque and complete speed according to complete torque instruction that calculates or complete speed command.