CN113578974A - Vertical rolling mill and control method and control system thereof - Google Patents
Vertical rolling mill and control method and control system thereof Download PDFInfo
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- CN113578974A CN113578974A CN202110858316.4A CN202110858316A CN113578974A CN 113578974 A CN113578974 A CN 113578974A CN 202110858316 A CN202110858316 A CN 202110858316A CN 113578974 A CN113578974 A CN 113578974A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/16—Control of thickness, width, diameter or other transverse dimensions
- B21B37/22—Lateral spread control; Width control, e.g. by edge rolling
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a control method of a vertical rolling mill, which comprises the following steps: acquiring a torque amplitude limit value of a main motor of the vertical rolling mill and an overload rolling force of a vertical roll; after the vertical roll is loaded, acquiring the main transmission torque of the vertical roll, the load torque of the vertical roll and the rolling force of the vertical roll; after the vertical roll is loaded and before the flat roll is loaded, if the main transmission torque of the vertical roll is smaller than the torque amplitude limit value of the main motor, when the load torque of the vertical roll is increased, the rotating speed of the vertical roll is reduced, and when the load torque of the vertical roll is reduced, the rotating speed of the vertical roll is increased; after the vertical roll is loaded and before the flat roll is loaded, if the rolling force of the vertical roll is greater than or equal to the overload rolling force, reducing the rotating speed of the vertical roll and synchronously reducing the rotating speed of the flat roll; the control method can further improve the maximum width reducing amount and the effective width reducing amount of the vertical roll on the premise of ensuring the stable operation of the equipment.
Description
Technical Field
The application relates to the technical field of plate strip hot rolling control, in particular to a vertical rolling mill and a control method and a control system thereof.
Background
The conventional hot rolling production line mainly comprises width control equipment: a fixed width press and a vertical roller mill. In actual production, because the main motor of the vertical roll mill is in constant torque control and torque cutoff protection of the main motor, the maximum width reduction amount of the vertical roll is not high, generally about 50mm, and the effective width reduction amount is small, generally about 30-40mm, so that the input rate of the fixed width press is high, the rough rolling pure rolling time is increased, the rough rolling temperature drop is increased, more importantly, the hot rolling capacity is limited, and the production cost is increased. Therefore, the improvement of the effective width reduction amount of the vertical roller mill and the reduction of the input rate of the fixed width press become one of the necessary attack and customs work for cost reduction and efficiency improvement of a hot rolling production line.
Disclosure of Invention
The invention provides a vertical rolling mill and a control method and a control system thereof, which aim to solve or partially solve the technical problems that the effective width reduction amount of the existing vertical rolling mill on a plate blank is low, and the production cost of a hot-rolled plate coil is increased.
In order to solve the above technical problem, according to an alternative embodiment of the present invention, there is provided a control method of a vertical rolling mill, including:
acquiring a torque amplitude limit value of a main motor of the vertical rolling mill and an overload rolling force of a vertical roll;
after the vertical roll is loaded, acquiring the main transmission torque of the vertical roll, the load torque of the vertical roll and the rolling force of the vertical roll;
after the vertical roll is loaded and before the flat roll is loaded, if the main transmission torque of the vertical roll is smaller than the torque limit value of the main motor, when the load torque of the vertical roll is increased, the rotating speed of the vertical roll is reduced, and when the load torque of the vertical roll is reduced, the rotating speed of the vertical roll is increased;
and after the vertical roll is loaded and before the flat roll is loaded, if the rolling force of the vertical roll is greater than or equal to the overload rolling force, reducing the rotating speed of the vertical roll and synchronously reducing the rotating speed of the flat roll.
Optionally, after the vertical roll is loaded and before the flat roll is loaded, the control method includes:
if the main transmission torque of the vertical roll is equal to the torque amplitude limit value of the main motor, controlling the rotating speed of the vertical roll to keep constant;
and if the main transmission torque of the vertical roll is larger than the torque amplitude limit value of the main motor, reducing the rotating speed of the vertical roll so as to enable the main transmission torque of the vertical roll to be smaller than the torque amplitude limit value of the main motor.
Optionally, the reducing the rotation speed of the vertical roll when the vertical roll load torque increases, and increasing the rotation speed of the vertical roll when the vertical roll load torque decreases includes:
acquiring real-time power of the main motor and main transmission torque of the vertical roller;
when the load torque of the vertical roll is increased, reducing the real-time rotating speed of the vertical roll according to the corresponding relation among the real-time power of the main motor, the main transmission torque of the vertical roll and the preset power of the main motor, the main transmission torque of the vertical roll and the rotating speed of the vertical roll;
and when the load torque of the vertical roll is reduced, increasing the real-time rotating speed of the vertical roll according to the corresponding relation among the real-time power of the main motor, the main transmission torque of the vertical roll and the preset power of the main motor, the main transmission torque of the vertical roll and the rotating speed of the vertical roll.
Optionally, the synchronously reducing the rotation speed of the flat roll specifically comprises:
acquiring the real-time rotating speed of the vertical roll and the current rotating speed of the flat roll;
calculating the real-time change rate of the rotating speed of the vertical roll according to the real-time rotating speed of the vertical roll;
and determining the real-time rotating speed of the flat roll according to the real-time change rate of the rotating speed of the vertical roll and the current rotating speed of the flat roll.
Optionally, the control method further includes:
if the rolling force of the vertical roll is larger than or equal to the overload rolling force, determining the roll gap compensation amount of the vertical roll according to the rolling force of the vertical roll;
and increasing the roll gap of the vertical roll according to the roll gap compensation amount of the vertical roll.
Optionally, the control method further includes:
and after the vertical roll and the flat roll are loaded, if the vertical roll load torque is increased, increasing the head short stroke parameter and the tail short stroke parameter of the vertical roll in the vertical roll free tension control FTC module.
Optionally, the control method further includes:
obtaining the theoretical maximum side pressure of a vertical roll and the theoretical maximum width reduction of a plate blank;
determining the overload allowance of the vertical roll transmission system according to the torque amplitude limit value of the main motor;
determining the overload allowance of the rolling force of the vertical roll according to the overload rolling force of the vertical roll;
and determining the maximum width reduction amount of the vertical rolling mill according to the minimum value of the theoretical maximum side pressure amount of the vertical roll, the theoretical maximum width reduction amount of the plate blank, the overload allowance amount of the vertical roll transmission system and the overload allowance amount of the vertical roll rolling force.
According to yet another alternative embodiment of the present invention, there is provided a control system of a vertical rolling mill, including:
the acquisition module is used for acquiring the torque amplitude limit value of a main motor of the vertical rolling mill and the overload rolling force of the vertical roll; after the vertical roll is loaded, acquiring the main transmission torque of the vertical roll, the load torque of the vertical roll and the rolling force of the vertical roll;
the control module is used for reducing the rotating speed of the vertical roll when the load torque of the vertical roll is increased and increasing the rotating speed of the vertical roll when the load torque of the vertical roll is reduced if the main transmission torque of the vertical roll is smaller than the torque amplitude limit value of the main motor after the vertical roll is loaded and before the flat roll is loaded; and after the vertical roll is loaded and before the flat roll is loaded, if the rolling force of the vertical roll is greater than or equal to the overload rolling force, reducing the rotating speed of the vertical roll and synchronously reducing the rotating speed of the flat roll.
Optionally, the control module is further configured to:
if the main transmission torque of the vertical roll is equal to the torque amplitude limit value of the main motor, controlling the rotating speed of the vertical roll to keep constant;
and if the main transmission torque of the vertical roll is larger than the torque amplitude limit value of the main motor, reducing the rotating speed of the vertical roll so as to enable the main transmission torque of the vertical roll to be smaller than the torque amplitude limit value of the main motor.
According to an alternative embodiment of the present invention, there is provided a vertical rolling mill comprising a control system as in the preceding claims.
Through one or more technical schemes of the invention, the invention has the following beneficial effects or advantages:
the invention provides a control method of a vertical roller mill, which is characterized in that torque amplitude limiting protection of a main motor and overload rolling force protection of a vertical roller are introduced, on one hand, in the stage that the vertical roller is loaded and a flat roller is not loaded, the original constant torque control logic of the main motor is converted into dynamic torque control logic, and in the motor overload protection range determined by the torque amplitude limiting value, when the increase of the load torque of the vertical roller is detected, the rotating speed of the vertical roller is reduced, so that the increase rate of the main transmission torque of the vertical roller is slowed down; when the load torque of the vertical roll is detected to be reduced, the rotating speed of the vertical roll is increased, so that the change of the main transmission torque of the vertical roll is more stable, the main transmission torque of the vertical roll during the loading period of the vertical roll, namely the increasing rate of the actual torque of a main motor, is reduced, and the phenomenon that the main transmission of the vertical roll generates blocking tripping because the torque exceeds the amplitude limit or reaches the cutting torque is avoided; on the other hand, the vertical roll rolling force is monitored in the stage that the vertical roll is loaded and the flat roll is not loaded, when the vertical roll load is large, namely the vertical roll rolling force exceeds the preset overload rolling force, the vertical roll speed is reduced, the flat roll speed is synchronously reduced, the speed difference amplitude between the vertical roll and the flat roll is kept stable, so that the impact speed drop at the moment that the flat roll bites the steel is effectively reduced at the moment that the flat roll bites the steel when the vertical roll load is large, the overcurrent tripping of the vertical roll main transmission is avoided, the secondary increase of the vertical roll load caused by the flat roll impact speed drop is avoided, and the torque of the main motor is prevented from exceeding the limit. Generally speaking, through the combination of the two aspects, the torque increasing rate of the main motor can be controlled after the vertical roll is loaded, the blocking tripping caused by the fact that the motor torque quickly reaches the torque amplitude limiting protection or the torque cutting protection is avoided, and the vertical roll main transmission overcurrent tripping caused by the fact that the flat roll impact speed drops is avoided, so that the maximum width reducing amount and the effective width reducing amount of the vertical roll can be further improved on the original basis on the premise that the stable operation of equipment is ensured, and the input rate of the fixed width press is reduced.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 illustrates a graphical schematic of a edger torque block trip according to one embodiment of the present invention;
FIG. 2 shows a schematic flow diagram of a control method for a edger according to one embodiment of the present invention;
FIG. 3 shows a schematic of the main motor dynamic torque control with edgewise loaded and with flat rolls unloaded in accordance with one embodiment of the invention;
FIG. 4 is a schematic diagram illustrating the synchronous control of the speed difference between the vertical roll and the flat roll according to one embodiment of the present invention;
FIG. 5 shows a edger limit widen amount setting map according to one embodiment of the invention;
FIG. 6 shows a rolling curve after a first pass vertical roll load lift of E1 according to yet another embodiment of the present invention;
FIG. 7 shows a rolling curve after a first pass vertical roll load lift of E2 according to yet another embodiment of the present invention;
fig. 8 shows a schematic view of a control device of a edger according to a further embodiment of the invention.
Detailed Description
In order to make the present application more clearly understood by those skilled in the art to which the present application pertains, the following detailed description of the present application is made with reference to the accompanying drawings by way of specific embodiments. Throughout the specification, unless otherwise specifically noted, terms used herein should be understood as having meanings as commonly used in the art. Accordingly, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. If there is a conflict, the present specification will control. Unless otherwise specifically stated, various apparatuses and the like used in the present invention are either commercially available or can be prepared by existing methods.
Research finds that the main factor for preventing the vertical roller mill from further improving the effective width reduction amount is the limit of vertical roller main transmission tripping, which is mainly reflected in two aspects: on one hand, when the vertical roll is loaded and the flat roll is not loaded, the torque of the vertical roll exceeds the cutting torque to limit the amplitude, so that the rotation resistance is tripped; the reason is that the conventional vertical rolling mill executes the vertical roll constant torque control logic after the vertical roll is loaded and before the flat roll is loaded, with the torque value after the vertical roll detects the load as a reference value and with the aim of maintaining the vertical roll set speed; when the width reduction amount of the vertical roll is increased, the load is rapidly increased after the vertical roll is loaded, and the actual torque of the main motor quickly reaches the preset torque cutting amplitude limit, the vertical roll overload protection is triggered, the vertical roll speed is passively reduced to 0m/s, and the vertical roll rotation resistance tripping occurs, as shown in figure 1. On the other hand, in the vertical rolling mill speed-up stage of the vertical roll load and the flat roll load, at the moment when the flat rolls bite steel, due to the influence of multiple factors such as transmission characteristics, rolling load, steel type, temperature and speed, the flat roll speed is subjected to impact speed reduction at the moment when the slab bites the flat roll mill, so that the speed between the vertical roll and the flat roll is not matched, the condition of push steel rolling is presented, the vertical roll speed and the flat roll speed are not matched, overcurrent tripping of vertical roll transmission is easily caused, the vertical roll load is increased, the torque of a main motor is secondarily increased, and the vertical roll width reduction amount is not favorably improved.
Based on the research conclusion, in order to solve the problem that the effective width reduction amount of the vertical rolling mill on the plate blank is not high and achieve the purpose of improving the effective width reduction amount of the vertical rolling mill on the premise of stable operation of equipment, the invention provides a control method of the vertical rolling mill, and the overall thought of the control method is as follows:
acquiring a torque amplitude limit value of a main motor of the vertical rolling mill and an overload rolling force of a vertical roll; after the vertical roll is loaded, acquiring the main transmission torque of the vertical roll, the load torque of the vertical roll and the rolling force; after the vertical roll is loaded and before the flat roll is loaded, if the main transmission torque of the vertical roll is smaller than the torque limit value of the main motor, when the load torque of the vertical roll is increased, the rotating speed of the vertical roll is reduced, and when the load torque of the vertical roll is reduced, the rotating speed of the vertical roll is increased; and after the vertical roll is loaded and before the flat roll is loaded, if the rolling force of the vertical roll is greater than or equal to the overload rolling force, reducing the rotating speed of the vertical roll and synchronously reducing the rotating speed of the flat roll.
The principle that the method can obviously improve the effective width reduction amount of the vertical roll is as follows: the method comprises the steps that torque amplitude limiting overload protection is added in a main motor torque overload protection mechanism in a vertical roll control system, after a vertical roll is loaded, a flat roll is not loaded, original constant torque control logic of a main motor is converted into dynamic torque control logic, and when the load torque of the vertical roll is detected to be increased within a motor overload protection range determined by the torque amplitude limiting value, the rotating speed of the vertical roll is reduced, so that the increase rate of the main transmission torque of the vertical roll is reduced; when the reduction of the vertical roll load torque is detected, increasing the vertical roll rotating speed; through the dynamic torque control, the change of the main transmission torque of the vertical roll is more stable, the main transmission torque of the vertical roll during the loading period of the vertical roll, namely the increasing rate of the actual torque of a main motor, is reduced, and the vertical roll main transmission is prevented from generating blocking tripping due to the fact that the torque exceeds the amplitude limit or reaches the cutting-off torque; on the other hand, after the vertical rolls are loaded, the load of the vertical rolls, namely the actual rolling force, needs to be monitored in the stage that the flat rolls are not loaded, when the load of the vertical rolls is large, namely the rolling force of the vertical rolls exceeds the preset overload rolling force, the speed of the vertical rolls is reduced, the speed difference between the vertical rolls and the flat rolls is synchronously reduced, and the speed difference range between the vertical rolls and the flat rolls is kept stable. Generally speaking, through the combination of the two aspects, the torque increasing rate of the main motor can be controlled after the vertical roll is loaded, the blocking tripping caused by the fact that the motor torque quickly reaches the torque amplitude limiting protection or the torque cutting protection is avoided, and the vertical roll main transmission overcurrent tripping caused by the fact that the flat roll impact speed drops is avoided, so that the maximum width reducing amount and the effective width reducing amount of the vertical roll can be further improved on the premise that the stable operation of equipment is ensured on the original basis.
Next, in an alternative embodiment, the above scheme is further described.
As shown in fig. 2, the control method of the vertical rolling mill in the present embodiment is applied to a control system of the vertical rolling mill, and specifically includes the following steps:
s1: acquiring a torque amplitude limit value of a main motor of the vertical rolling mill and an overload rolling force of a vertical roll;
the trip protection torque of the main motor is determined based on the overload protection characteristic of the main drive system of the edger roll. For example, the main motor can operate for a long time at 1.15 times the rated torque, and trip is momentarily cut off at 2.75 times the rated torque. The torque amplitude limiting value in the embodiment is obtained by comprehensively considering the single-pass rolling time of the vertical roll and the flat roll at the same time, introducing an overload protection amplitude limiting mechanism of the main motor in the risk range of the tripping condition of the main motor of the vertical roll, gradually increasing the width reduction amount of the vertical roll, and determining the final torque amplitude limiting value by taking the amplitude limiting protection time t of the main motor of the vertical roll to be less than the single-pass rolling time t1 of the vertical roll and the flat roll as the target on the premise of ensuring the stable operation of equipment. Taking the single-pass rolling time of the vertical roll and the flat roll as an example, the torque limiting value comprises tripping at 2 times of the rated torque value for 60 seconds or tripping at 2.25 times of the rated torque value for 200 seconds.
Then, in the overload capacity and duration range of the main motor design and the allowable range of the vertical roll equipment, for example, the load capacity of the vertical roll can be gradually increased, and because the load of the vertical roll is influenced by various factors such as the load capacity of the vertical roll, the steel grade, the temperature, the speed and the like, in order to prevent the equipment from being impacted by the larger load of the vertical roll, the overload protection function of the rolling force of the vertical roll, namely the guide force, is added in a primary control programIn-overload rolling force FOverload。
Therefore, optionally, the present solution further includes:
if the rolling force of the vertical roll is larger than or equal to the overload rolling force, determining the roll gap compensation amount of the vertical roll according to the rolling force of the vertical roll; and increasing the roll gap of the vertical roll according to the roll gap compensation amount of the vertical roll.
Namely: actual rolling force F in vertical rollsPractice ofExceeding overload rolling force FOverloadThe control system will then produce a compensation quantity to reduce the actual rolling force F by increasing the roll gap of the vertical rollsPractice ofMaintaining the actual rolling force F of the vertical rollsPractice of≤FOverload，FPractice of≤FOverload≤Fmax。
S2: after the vertical roll is loaded, acquiring the main transmission torque of the vertical roll, the load torque of the vertical roll and the rolling force of the vertical roll;
the vertical roll loading means that the vertical rolls start to perform side pressure on the plate blank, and at the moment, the main transmission torque of the vertical rolls, the load torque of the vertical rolls and the rolling force of the vertical rolls start to be collected. The vertical roll main transmission torque corresponds to the actual torque or the output torque of the main motor, and the vertical roll load torque is the load generated by rolling the slab with the vertical rolls, namely the load torque generated by the rolling force of the vertical rolls.
S3: after the vertical roll is loaded and before the flat roll is loaded, if the main transmission torque of the vertical roll is smaller than the torque limit value of the main motor, when the load torque of the vertical roll is increased, the rotating speed of the vertical roll is reduced, and when the load torque of the vertical roll is reduced, the rotating speed of the vertical roll is increased;
due to the conventional vertical roller mill, after the vertical roller is loaded, the vertical roller constant torque control logic is executed before the flat roller is loaded, and the rotating speed of the vertical roller is controlled according to the set speed of the vertical roller; when the width of the vertical roller is increased, the main transmission torque of the vertical roller is rapidly increased, and the main motor cutting torque protection value is quickly exceeded, so that overload and overrun tripping is caused.
In order to solve the problem, the dynamic torque control of a main motor is carried out in the stage after the vertical roll is loaded and before the flat roll is loaded, the actual rotating speed of the vertical roll tends to the set rotating speed as a control target in the motor overload protection range determined by the torque limit value, and when the increase of the load torque of the vertical roll is detected, the rotating speed of the vertical roll is reduced to slow down the increase rate of the main transmission torque of the vertical roll; when the reduction of the vertical roll load torque is detected, the rotating speed of the vertical roll can be increased; figure 3 shows a vertical rolling curve for a certain coil of steel using the above-described main motor dynamic torque control. Through the dynamic torque control, after the side pressure of the vertical roll is further increased, the main transmission torque of the vertical roll is changed more stably, the main transmission torque of the vertical roll during the loading of the vertical roll, namely the increase rate of the actual torque of the main motor, is reduced, and the phenomenon that the actual torque of the main motor exceeds the amplitude limit or reaches the cut-off torque to generate the blocking trip is avoided.
In order to ensure that the rotating speed of the vertical roll can respond and adjust in time when the load torque of the vertical roll changes, optionally, the scheme for dynamically controlling the rotating speed of the vertical roll according to the load torque of the vertical roll may be as follows:
s301: acquiring real-time power of the main motor and main transmission torque of the vertical roller;
s302: when the load torque of the vertical roll is increased, reducing the real-time rotating speed of the vertical roll according to the corresponding relation among the real-time power of the main motor, the main transmission torque of the vertical roll and the preset power of the main motor, the main transmission torque of the vertical roll and the rotating speed of the vertical roll;
s303: and when the load torque of the vertical roll is reduced, increasing the real-time rotating speed of the vertical roll according to the corresponding relation among the real-time power of the main motor, the main transmission torque of the vertical roll and the preset power of the main motor, the main transmission torque of the vertical roll and the rotating speed of the vertical roll.
The control principle of the scheme is as follows:
according to the mathematical expressions of the main motor torque, the main motor power and the vertical roll rotating speed:
the actual torque of the main motor is equal to the main transmission torque T of the vertical roller is equal to F multiplied by R; (1)
the vertical roll rotating speed (linear speed) V is 2 pi R multiplied by n; (2)
the power of the main motor is F multiplied by V; (3)
wherein F is the main transmission torque force; r is the acting radius, namely the radius of the vertical roll; n is the rotation speed in revolutions per second.
By the simultaneous use of the formulas (1) to (3), the following results are obtained:
P＝T/R×2πR×n＝2π×T×n； (4)
therefore, the power of the main motor is in direct proportion to the torque of the main motor and the rotating speed of the vertical roll, the torque of the main motor is in inverse proportion to the rotating speed of the vertical roll, and in order to improve the smooth control of the torque of the vertical roll motor and ensure that the rotating speed responds in time when the torque of the vertical roll changes, the corresponding relation of the power of the main motor, the main transmission torque of the vertical roll and the rotating speed of the vertical roll is determined in advance according to the relational expression of the expression (4) and stored in a control program.
The scheme provides a main motor dynamic torque control logic when the main transmission torque of the vertical roll is smaller than the torque amplitude limit value of the main motor, if the main transmission torque of the vertical roll continuously rises, the torque amplitude limit value of the main motor is reached or exceeded, and for equipment safety, the following scheme can be further included in the stage after the vertical roll is loaded and before the flat roll is loaded:
s31: and if the main transmission torque of the vertical roll is equal to the torque amplitude limit value of the main motor, controlling the rotating speed of the vertical roll to keep constant.
S32: and if the main transmission torque of the vertical roll is larger than the torque amplitude limit value of the main motor, reducing the rotating speed of the vertical roll so as to enable the main transmission torque of the vertical roll to be smaller than the torque amplitude limit value of the main motor.
The control logic of the scheme is as follows: when the load torque of the vertical roll is stable, but the main transmission torque of the vertical roll reaches the torque amplitude limit value of the main motor, the rotating speed of the vertical roll is maintained at the current state and is not adjusted until the flat roll is loaded; when the main transmission torque of the vertical roll continuously increases and exceeds the torque limit value of the main motor, the rotating speed of the vertical roll is continuously reduced so as to reduce the main transmission torque of the vertical roll; if the main transmission torque of the vertical roller still rises and reaches a torque limiting value for a specified time, such as 200% of rated torque for 60 seconds, or reaches a cut-off torque, such as 275% of rated torque, the main motor has a torque overload overrun trip.
The scheme controls the blocking tripping caused by the fact that the actual torque of the motor exceeds the amplitude limit or reaches the cutting torque value after the flat roller is loaded. On the other hand, when the vertical roll is loaded and the flat roll is loaded, the flat roll is subjected to the problem of overcurrent tripping of the vertical roll main transmission caused by impact speed reduction, and the following scheme is adopted to solve the problem:
s4: and after the vertical roll is loaded and before the flat roll is loaded, if the rolling force of the vertical roll is greater than or equal to the overload rolling force, reducing the rotating speed of the vertical roll and synchronously reducing the rotating speed of the flat roll.
The control principle of the step is that the speed of the vertical roll and the speed of the flat roll are synchronously changed before the vertical roll is loaded and the flat roll is not loaded, when the rolling force of the vertical roll is more than or equal to the overload rolling force, the vertical roll load is larger at the moment, the rotating speed of the vertical roll is reduced, simultaneously, the speed of the flat roll is controlled to be synchronously reduced, the speed difference amplitude between the vertical roll and the flat roll is kept stable, and as shown in figure 4, the actual speed of the vertical roll and the actual speed of the flat roll are reduced according to the same slope, so that the speed difference is kept stable; therefore, the impact speed drop of the flat roll in the moment of biting the steel can be effectively reduced when the load of the vertical roll is large and the flat roll bites the steel, the overcurrent tripping of the vertical roll transmission is avoided, the secondary increase of the load of the vertical roll caused by the impact speed drop of the flat roll can be controlled, and the torque of the main motor is prevented from exceeding the limit.
The method for synchronously reducing the rotating speed of the flat roll along with the rotating speed of the vertical roll can be as follows:
s401: acquiring the real-time rotating speed of the vertical roll and the current rotating speed of the flat roll;
s402: calculating the real-time change rate of the rotating speed of the vertical roll according to the real-time rotating speed of the vertical roll;
s403: and determining the real-time rotating speed of the flat roll according to the real-time change rate of the rotating speed of the vertical roll and the current rotating speed of the flat roll.
The method comprises the steps of firstly calculating the real-time change rate or real-time slope of the rotating speed of the vertical roll according to the reduction of the rotating speed of the vertical roll, and then adjusting the current rotating speed of the flat roll according to the real-time change rate of the rotating speed of the vertical roll, so that the change rate of the real-time rotating speed of the flat roll is the same as the real-time change rate of the rotating speed of the vertical roll, and thus, the slopes of the rotating speed curve of the flat roll and the rotating speed curve of the vertical roll are the same, and the speed difference amplitude between the rotating speed curve of the flat roll and the rotating speed curve of the vertical roll is kept consistent while the rotating speed of the flat roll is synchronously reduced along with the reduction of the rotating speed of the vertical roll.
In general, the control scheme can control the torque increasing rate of the main motor after the vertical roll is loaded, and avoids the blocking tripping of the vertical roll main transmission caused by the fact that the motor torque quickly reaches torque amplitude limiting protection or cutoff protection and the overcurrent tripping of the vertical roll main transmission caused by the fact that the flat roll impact speed drops, so that the maximum width reducing amount and the effective width reducing amount of the vertical roll can be further improved on the original basis on the premise that the stable operation of equipment is ensured.
Optionally, the control method may further include:
s5: and after the vertical roll and the flat roll are loaded, if the vertical roll load torque is increased, increasing the head short stroke parameter and the tail short stroke parameter of the vertical roll in the vertical roll free tension control FTC module.
The FTC (free tension control) function in the vertical roll rolling is to play a role in balancing the load between the vertical roll and the flat roll when the vertical roll and the flat roll are simultaneously loaded, thereby ensuring that the vertical roll and the flat roll are kept in micro-tension rolling. When the slab enters the vertical rolling mill, the torque after the vertical roll load is stored as a reference value, and when the slab enters the flat rolling mill, the torque changes, and the FTC control performs speed correction on the main transmission, thereby adjusting the torque to return to the reference value.
The calculation formula of the micro-tension between the vertical roll and the flat roll is as follows:
ΔM＝(ME1-ME0)/ME0 (5)
wherein: ME 0: the vertical roller carries the torque of the rear motor;
ME 1: the torque of a motor after the flat roll is loaded;
Δ M: relative torque difference (micro-tension).
With the increase of the vertical roll load, the metal at the end part of the plate blank is not bound, so that the fishtail shape exists at the head and the tail of the plate blank, and the head and the tail of the intermediate plate blank are narrow, so that the SSC parameter which is the short stroke parameter of the head and the tail of the vertical roll is required to be increased while the vertical roll load is increased.
Through the real-time control scheme, the torque increasing rate of the vertical roll after loading is stabilized, and the blocking tripping and overcurrent tripping of the vertical roll main transmission are delayed, so that the torque amplitude limit value and the overload rolling force of the vertical roll can be gradually improved on the premise of ensuring the stable operation of equipment, and the maximum width reduction amount and the effective width reduction amount of the vertical roll are improved.
Based on this, an alternative method for determining the maximum reduction of the vertical rolling mill is as follows:
s61: obtaining the theoretical maximum side pressure of a vertical roll and the theoretical maximum width reduction of a plate blank;
s62: determining the overload allowance of the vertical roll transmission system according to the torque amplitude limit value of the main motor;
s63: determining the overload allowance of the rolling force of the vertical roll according to the overload rolling force of the vertical roll;
s64: and determining the maximum width reduction amount of the vertical rolling mill according to the minimum value of the theoretical maximum side pressure amount of the vertical roll, the theoretical maximum width reduction amount of the plate blank, the overload allowance amount of the vertical roll transmission system and the overload allowance amount of the vertical roll rolling force.
The theoretical maximum side pressure of the vertical roll is determined according to the vertical roll equipment, and is calculated by adopting the following formula:
wherein:
Δ h: side pressure of a vertical roll;
Δhmax: the theoretical maximum side pressure of the vertical roll;
d: diameter of the vertical roll;
f: coefficient of friction between the vertical rolls and the rolled stock (hot rolled slab).
The material of the vertical roller of the regular hot rolling production line adopts a high-chromium steel roller, and according to the related materials, when the t of the hot rolling carbon steel is more than 700 ℃ and the V is less than 5m/s, the friction coefficient of the high-chromium steel roller can be calculated by adopting the following formula:
f＝1.05-0.0005t-0.056v (7)
wherein:
t: the temperature of the hot-rolled plate blank when the hot-rolled plate blank is rolled by a vertical roller;
v: the speed of the hot rolled slab during the vertical rolling.
From the above information, it is found that the theoretical maximum side pressure of the vertical roll is proportional to the roll diameter while other factors of the vertical rolling mill are kept constant, and the maximum side pressure of the vertical roll can be calculated for different roll diameters.
The theoretical maximum width reduction amount of the plate blank is the theoretical maximum side pressure amount related to the plate blank specification, and the width reduction permeability of the vertical roll is not strong in the capacity of the fixed width press, so that the deformation of the plate blank mainly changes at the edge of the plate blank along with the increase of the width reduction amount of the vertical roll, and the plate blank gradually presents the conditions of single-edge warping and double-edge warping along with the increase of the width reduction amount.
The calculation formula of the theoretical maximum width reduction amount of the plate blank is as follows:
Dmax: the theoretical maximum width reduction amount of the plate blank is in mm;
w0: the width of the plate blank is mm;
h0: the slab thickness is in mm.
FIG. 5 is a graph showing a setting of a maximum width reduction amount of a vertical roll in a maximum width side pressure ratio vs. a slab width ratio calculated from a theoretical maximum width reduction amount of a slab, and when the maximum width reduction amount of the vertical roll is below a curve, normal rolling is possible; above the curve, the single-sided warpage and the double-sided warpage gradually appear as the limit width reduction amount increases.
According to the torque limiting value of the main motor, such as 200% rated torque lasting for 60 seconds and 225% rated torque lasting for 20 seconds, the overload allowance of the vertical roller transmission system corresponding to the main transmission torque of the vertical rollers in the range can be calculated, namely the maximum allowable width reduction amount of the plate blank determined by the vertical roller transmission system;
according to the overload rolling force F of the vertical rollsOverloadCan be calculated at FOverloadThe maximum allowable width reduction of the slab under the rolling force is the allowable overload of the vertical rolling force.
After the four maximum side pressure values or the width reducing values are obtained, the minimum value is taken from the four maximum side pressure values or the width reducing values for stable operation of the equipment and is used as the maximum width reducing value of the current vertical rolling mill.
Based on the same inventive concept of the foregoing embodiment, in yet another alternative embodiment, the foregoing scheme is explained with reference to specific implementation data:
a certain rough rolling of a certain hot rolling plant belongs to a semi-continuous production line, and a rough rolling area width control device mainly comprises: a fixed width press and two vertical rolling mills (E1, E2) belong to a semi-continuous production line, and the conventional rolling modes comprise a 1+5 mode and a 3+3 mode. The maximum width reduction amount of the vertical roller mill is limited to 50mm before optimization, and the situations that the torque exceeds the limit due to the large width reduction amount of the vertical roller, the vertical roller and the flat roller are not matched in the processes of vertical roller rotation resistance tripping and R2 speed raising after loading, and the vertical roller is subjected to overcurrent tripping are caused. The production line urgently needs to promote the vertical roller mill to effectively reduce the width for further improving the productivity, reducing the cost, improving the efficiency and increasing the SSP empty rate of the fixed width press.
1. Basic parameters of vertical rolling mill
The basic equipment parameters of the vertical rolling mill are shown in table 1:
table 1: basic parameters of vertical roll equipment
2. Rolling information
1) Steel grade: SDC01, the specification of the slab is as follows: 230mm multiplied by 1340mm multiplied by 10000mm, the specification of a hot rolled plate finished product is 2.5mm multiplied by 1257mm, and the thickness of an intermediate blank is 48 mm; tapping temperature 1218 ℃, RT2 temperature: 1072 deg.C; the diameter of the vertical roller is 1165 mm;
2) the rough rolling adopts a 1+5 mode, and the maximum width reduction amount of the vertical rolling mill is determined according to the calculation of flat roll load setting, model pre-calculation vertical roll inlet temperature, speed setting, vertical roll theoretical maximum side pressure amount (formula 6) and slab theoretical maximum width reduction amount (formula 8). The maximum width reduction of the vertical rolling mill is set by taking the minimum value of the theoretical maximum side pressure of the vertical roll and the theoretical maximum width reduction of the slab, as shown in table 2:
table 2: maximum reduction calculation for a vertical rolling mill
According to the maximum width reduction amount of the vertical rolling mill, because the third and fifth passes of E2 are limited by the roll diameter and the maximum side pressure ratio, the load is less than the maximum width reduction amount limit of the production line at the early stage, and no key analysis is performed; in the first pass of E1, the load of the first pass of E2 is greater than the maximum width reduction limit of the production line at the previous stage, so that the important monitoring is performed for the first pass.
3) Vertical roll overload protection parameter
The vertical roll torque protection amplitude limit is set to be 2 times of rated torque, and the overload protection duration time is 60 seconds; 2.25 times rated torque, and the overload protection duration is 20 seconds; the vertical roll overload rolling force protection F _ max is 4800 KN. The parameters are determined by using the control scheme provided by the invention after the torque amplitude limit and the overload rolling force are iterated for multiple times, and the overload protection setting is suitable for the current hot rolling vertical roll unit.
The main motor and the vertical roll overload protection parameter settings are shown in table 3:
table 3: main motor torque limit limitation of vertical roll and overload rolling force setting of vertical roll
4) Rolling curve recording
It can be seen that the movable torque control is implemented by the vertical roll after the load of the vertical roll is lifted and before the load of the vertical roll is carried to the load of the flat roll, so that the stable transition is realized; the speed difference between the vertical roll and the flat roll is synchronously controlled, the load impact speed drop of the flat roll is reduced, and the speed matching of the vertical roll and the flat roll is improved; FTC control is implemented on the vertical roll and the flat roll, and after the flat roll is loaded, the torque of the vertical roll and the torque of the flat roll are stably controlled.
E1A first pass rolling curve is shown in FIG. 6, the actual width reduction amount of the vertical roll is 74.535mm, and the set requirement is met;
the first pass rolling curve of E2 is shown in FIG. 7, the actual width reduction of the vertical roll is 75.183mm, which meets the set requirements.
5) Conclusion
By the control method of the embodiment, the maximum width reduction amount of the vertical roll in a single pass can be increased from the previous 50mm to the maximum 90mm, the effective width reduction amount of the vertical roll of the production line is increased from the previous 30-40mm to 50-65mm, the SSP idle rate is improved by about 10%, and favorable conditions are created for improving the productivity of a hot rolling production line, reducing cost and improving efficiency.
Based on the same inventive concept of the foregoing embodiment, as shown in fig. 8, the present invention further provides a control system of a vertical rolling mill, including:
the acquisition module 10 is used for acquiring a torque amplitude limit value of a main motor of the vertical rolling mill and an overload rolling force of a vertical roll; after the vertical roll is loaded, acquiring the main transmission torque of the vertical roll, the load torque of the vertical roll and the rolling force of the vertical roll;
the control module 20 is used for reducing the rotating speed of the vertical roll when the load torque of the vertical roll is increased and increasing the rotating speed of the vertical roll when the load torque of the vertical roll is reduced if the main transmission torque of the vertical roll is smaller than the torque amplitude limit value of the main motor after the vertical roll is loaded and before the flat roll is loaded; and after the vertical roll is loaded and before the flat roll is loaded, if the rolling force of the vertical roll is greater than or equal to the overload rolling force, reducing the rotating speed of the vertical roll and synchronously reducing the rotating speed of the flat roll.
Optionally, the control module 20 is further configured to:
and if the main transmission torque of the vertical roll is equal to the torque amplitude limit value of the main motor, controlling the rotating speed of the vertical roll to keep constant.
And if the main transmission torque of the vertical roll is larger than the torque amplitude limit value of the main motor, reducing the rotating speed of the vertical roll so as to enable the main transmission torque of the vertical roll to be smaller than the torque amplitude limit value of the main motor.
Optionally, the obtaining module 10 is specifically configured to:
acquiring real-time power of the main motor and main transmission torque of the vertical roller;
the control module 20 is specifically configured to:
when the load torque of the vertical roll is increased, reducing the real-time rotating speed of the vertical roll according to the corresponding relation among the real-time power of the main motor, the main transmission torque of the vertical roll and the preset power of the main motor, the main transmission torque of the vertical roll and the rotating speed of the vertical roll; and when the load torque of the vertical roll is reduced, increasing the real-time rotating speed of the vertical roll according to the corresponding relation among the real-time power of the main motor, the main transmission torque of the vertical roll and the preset power of the main motor, the main transmission torque of the vertical roll and the rotating speed of the vertical roll.
Optionally, the obtaining module 10 is configured to:
acquiring the real-time rotating speed of the vertical roll and the current rotating speed of the flat roll;
the control module 20 is configured to:
calculating the real-time change rate of the rotating speed of the vertical roll according to the real-time rotating speed of the vertical roll;
and determining the real-time rotating speed of the flat roll according to the real-time change rate of the rotating speed of the vertical roll and the current rotating speed of the flat roll.
Optionally, the control module 20 is further configured to:
if the rolling force of the vertical roll is larger than or equal to the overload rolling force, determining the roll gap compensation amount of the vertical roll according to the rolling force of the vertical roll;
and increasing the roll gap of the vertical roll according to the roll gap compensation amount of the vertical roll.
Optionally, the control module 20 is further configured to:
and after the vertical roll and the flat roll are loaded, if the vertical roll load torque is increased, increasing the head short stroke parameter and the tail short stroke parameter of the vertical roll in the vertical roll free tension control FTC module.
Optionally, the obtaining module 10 is configured to:
obtaining the theoretical maximum side pressure of a vertical roll and the theoretical maximum width reduction of a plate blank;
the control module 20 is configured to:
determining the overload allowance of the vertical roll transmission system according to the torque amplitude limit value of the main motor; determining the overload allowance of the rolling force of the vertical roll according to the overload rolling force of the vertical roll; and determining the maximum width reduction amount of the vertical rolling mill according to the minimum value of the theoretical maximum side pressure amount of the vertical roll, the theoretical maximum width reduction amount of the plate blank, the overload allowance amount of the vertical roll transmission system and the overload allowance amount of the vertical roll rolling force.
Based on the same inventive concept of the previous embodiment, the invention also provides a vertical rolling mill which comprises any one of the control systems in the previous embodiments.
Through one or more embodiments of the present invention, the present invention has the following advantageous effects or advantages:
the invention provides a control method of a vertical roller mill, which is characterized in that torque amplitude limiting protection of a main motor and overload rolling force protection of a vertical roller are introduced, on one hand, in the stage that the vertical roller is loaded and a flat roller is not loaded, the original constant torque control logic of the main motor is converted into dynamic torque control logic, and in the motor overload protection range determined by the torque amplitude limiting value, when the increase of the load torque of the vertical roller is detected, the rotating speed of the vertical roller is reduced, so that the increase rate of the main transmission torque of the vertical roller is slowed down; when the load torque of the vertical roll is detected to be reduced, the rotating speed of the vertical roll is increased, so that the change of the main transmission torque of the vertical roll is more stable, the main transmission torque of the vertical roll during the loading period of the vertical roll, namely the increasing rate of the actual torque of a main motor, is reduced, and the phenomenon that the main transmission of the vertical roll generates blocking tripping because the torque exceeds the amplitude limit or reaches the cutting torque is avoided; on the other hand, the vertical roll rolling force is monitored in the stage that the vertical roll is loaded and the flat roll is not loaded, when the vertical roll load is large, namely the vertical roll rolling force exceeds the preset overload rolling force, the vertical roll speed is reduced, the flat roll speed is synchronously reduced, the speed difference amplitude between the vertical roll and the flat roll is kept stable, so that the impact speed drop at the moment that the flat roll bites the steel is effectively reduced at the moment that the flat roll bites the steel when the vertical roll load is large, the overcurrent tripping of the vertical roll main transmission is avoided, the secondary increase of the vertical roll load caused by the flat roll impact speed drop is avoided, and the torque of the main motor is prevented from exceeding the limit. Generally speaking, through the combination of the two aspects, the torque increasing rate of the main motor can be controlled after the vertical roll is loaded, the blocking tripping caused by the fact that the motor torque quickly reaches the torque amplitude limiting protection or the torque cutting protection is avoided, and the vertical roll main transmission overcurrent tripping caused by the fact that the flat roll impact speed drops is avoided, so that the maximum width reducing amount and the effective width reducing amount of the vertical roll can be further improved on the original basis on the premise that the stable operation of equipment is ensured, and the input rate of the fixed width press is reduced.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A control method of a vertical rolling mill, characterized by comprising:
acquiring a torque amplitude limit value of a main motor of the vertical rolling mill and an overload rolling force of a vertical roll;
after the vertical roll is loaded, acquiring the main transmission torque of the vertical roll, the load torque of the vertical roll and the rolling force of the vertical roll;
after the vertical roll is loaded and before the flat roll is loaded, if the main transmission torque of the vertical roll is smaller than the torque limit value of the main motor, when the load torque of the vertical roll is increased, the rotating speed of the vertical roll is reduced, and when the load torque of the vertical roll is reduced, the rotating speed of the vertical roll is increased;
and after the vertical roll is loaded and before the flat roll is loaded, if the rolling force of the vertical roll is greater than or equal to the overload rolling force, reducing the rotating speed of the vertical roll and synchronously reducing the rotating speed of the flat roll.
2. The control method according to claim 1, wherein after the vertical roll is loaded and before the flat roll is loaded, the control method comprises:
if the main transmission torque of the vertical roll is equal to the torque amplitude limit value of the main motor, controlling the rotating speed of the vertical roll to keep constant;
and if the main transmission torque of the vertical roll is larger than the torque amplitude limit value of the main motor, reducing the rotating speed of the vertical roll so as to enable the main transmission torque of the vertical roll to be smaller than the torque amplitude limit value of the main motor.
3. The control method according to claim 1, wherein the decreasing the rotation speed of the vertical rolls when the vertical roll load torque increases and the increasing the rotation speed of the vertical rolls when the vertical roll load torque decreases comprises:
acquiring real-time power of the main motor and main transmission torque of the vertical roller;
when the load torque of the vertical roll is increased, reducing the real-time rotating speed of the vertical roll according to the corresponding relation among the real-time power of the main motor, the main transmission torque of the vertical roll and the preset power of the main motor, the main transmission torque of the vertical roll and the rotating speed of the vertical roll;
and when the load torque of the vertical roll is reduced, increasing the real-time rotating speed of the vertical roll according to the corresponding relation among the real-time power of the main motor, the main transmission torque of the vertical roll and the preset power of the main motor, the main transmission torque of the vertical roll and the rotating speed of the vertical roll.
4. The control method according to claim 1, wherein said synchronously reducing the rotational speed of the flat rolls comprises:
acquiring the real-time rotating speed of the vertical roll and the current rotating speed of the flat roll;
calculating the real-time change rate of the rotating speed of the vertical roll according to the real-time rotating speed of the vertical roll;
and determining the real-time rotating speed of the flat roll according to the real-time change rate of the rotating speed of the vertical roll and the current rotating speed of the flat roll.
5. The control method according to claim 1, further comprising:
if the rolling force of the vertical roll is larger than or equal to the overload rolling force, determining the roll gap compensation amount of the vertical roll according to the rolling force of the vertical roll;
and increasing the roll gap of the vertical roll according to the roll gap compensation amount of the vertical roll.
6. The control method according to claim 1, further comprising:
and after the vertical roll and the flat roll are loaded, if the vertical roll load torque is increased, increasing the head short stroke parameter and the tail short stroke parameter of the vertical roll in the vertical roll free tension control FTC module.
7. The control method according to claim 1, further comprising:
obtaining the theoretical maximum side pressure of a vertical roll and the theoretical maximum width reduction of a plate blank;
determining the overload allowance of the vertical roll transmission system according to the torque amplitude limit value of the main motor;
determining the overload allowance of the rolling force of the vertical roll according to the overload rolling force of the vertical roll;
and determining the maximum width reduction amount of the vertical rolling mill according to the minimum value of the theoretical maximum side pressure amount of the vertical roll, the theoretical maximum width reduction amount of the plate blank, the overload allowance amount of the vertical roll transmission system and the overload allowance amount of the vertical roll rolling force.
8. A control system for a vertical rolling mill, the control system comprising:
the acquisition module is used for acquiring the torque amplitude limit value of a main motor of the vertical rolling mill and the overload rolling force of the vertical roll; after the vertical roll is loaded, acquiring the main transmission torque of the vertical roll, the load torque of the vertical roll and the rolling force of the vertical roll;
the control module is used for reducing the rotating speed of the vertical roll when the load torque of the vertical roll is increased and increasing the rotating speed of the vertical roll when the load torque of the vertical roll is reduced if the main transmission torque of the vertical roll is smaller than the torque amplitude limit value of the main motor after the vertical roll is loaded and before the flat roll is loaded; and after the vertical roll is loaded and before the flat roll is loaded, if the rolling force of the vertical roll is greater than or equal to the overload rolling force, reducing the rotating speed of the vertical roll and synchronously reducing the rotating speed of the flat roll.
9. The control system of claim 8, wherein the control module is further to:
if the main transmission torque of the vertical roll is equal to the torque amplitude limit value of the main motor, controlling the rotating speed of the vertical roll to keep constant;
and if the main transmission torque of the vertical roll is larger than the torque amplitude limit value of the main motor, reducing the rotating speed of the vertical roll so as to enable the main transmission torque of the vertical roll to be smaller than the torque amplitude limit value of the main motor.
10. A vertical rolling mill, characterized in that it comprises a control system according to claim 9.
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