EP2384830B1 - Method for determining the parameters of a model for a roller assembly - Google Patents

Method for determining the parameters of a model for a roller assembly Download PDF

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Publication number
EP2384830B1
EP2384830B1 EP11163141.2A EP11163141A EP2384830B1 EP 2384830 B1 EP2384830 B1 EP 2384830B1 EP 11163141 A EP11163141 A EP 11163141A EP 2384830 B1 EP2384830 B1 EP 2384830B1
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Prior art keywords
model
rolling mill
parameters
actual value
stored
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German (de)
French (fr)
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EP2384830A1 (en
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Luis Rey-Mas
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GE Energy Power Conversion GmbH
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GE Energy Power Conversion GmbH
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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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  • the invention relates to a method for determining parameters of a model, with which at least one area of a rolling mill can be simulated mathematically.
  • the invention also relates to a method for operating a rolling mill, wherein at least one area of the rolling mill is simulated by calculation with the model having a parameter.
  • DE 43 38 608 A1 and DE 197 31 980 A1 each describe procedures in which a mathematical model of an automated process is adapted online as part of the process. Furthermore, in the DE 43 38 608 A1 and the DE 197 31 980 A1 just a single adaptation of the mathematical model performed between each process flow.
  • a method for operating a rolling mill in which a measured actual value of an operating variable of the rolling mill is compared with an associated desired value and a manipulated variable is determined as a function thereof. It is provided a so-called process observer, which includes a model, in particular a real-time simulation model, with which at least part of the rolling mill is mathematically modeled. Depending on the operating variables of the rolling plant, for example as a function of the desired value, a calculated actual value associated with the measured actual value is determined from this model. Then the measured actual value and the calculated actual value are compared with each other. From the result of the comparison, it is possible to deduce an error in the rolling mill or in the rolling process.
  • the model has a plurality of equations with which output variables of the rolling mill are calculated as a function of input variables of the rolling mill.
  • multiplicative and / or additive parameters are provided. These parameters must be determined and adjusted with regard to the actual rolling mill to be replicated or the model must be parameterized.
  • the object of the invention is to provide a method for determining the said parameters.
  • FIG. 1 The drawing shows a schematic block diagram of an embodiment of a method for operating a rolling mill by means of a model and FIG. 2 shows a schematic block diagram of an embodiment of a method according to the invention for determining parameters for the model of FIG. 1 ,
  • FIG. 1 illustrated method is provided for the operation of a rolling mill.
  • This may be a cold rolling mill or a hot rolling mill.
  • the in the FIG. 1 specified general sizes can be realized by different special operating variables of the rolling mill.
  • the measured actual value IWG may be, for example, a measured strip thickness actual value or a measured strip tension actual value or another actual value of the rolling mill.
  • the setpoint SW may be an associated strip thickness setpoint or strip setpoint.
  • the measured actual value IWG and the setpoint SW relate to a specific rolling stand.
  • the difference between the measured actual value IWG and the setpoint value SW is supplied to a controller 12, which, inter alia, generates a manipulated variable SG as a function of these two operating variables.
  • a controller 12 which, inter alia, generates a manipulated variable SG as a function of these two operating variables.
  • this manipulated variable SG for example, the roller position of the associated rolling stand can be influenced, in order in turn to act on the strip thickness or the strip tension. In this way, a control and / or regulation of operating variables of the rolling mill can be realized. It is understood that other influences on the rolling mill are possible.
  • the setpoint value SW is supplied to a model 13, in particular a simulation model operating in real time, which is furthermore acted on by a plurality of operating variables of the rolling mill.
  • These operating variables can be any actual values, setpoints and / or manipulated variables that occur within the rolling mill.
  • individual models of the rolling mill or the entire rolling mill are modeled by the model 13.
  • an attempt is made to represent the deformation of the rolled stock during a pass through a roll stand in order to be able to determine an actual value for the same operating variable on which basis the measured actual value IWG is already present.
  • This determined actual value represents an output variable of the model 13 and is referred to below as the calculated actual value IWB.
  • the model 13 is provided to determine the calculated actual value IWB for the same operating size of the rolling mill, for which the measured actual value IWG already exists. It is understood that the model 13 is not only suitable for determining this one calculated actual value IWB, but rather a plurality of such output variables.
  • the calculated actual value IWB is compared with the measured actual value IWG.
  • the two variables of a subtraction 15 are supplied.
  • an error signal FS which is substantially equal to zero, when the calculated actual value IWB is approximately equal to the measured actual value IWG, but deviates from zero, if the calculated actual value IWB and the measured actual value IWG substantially differ.
  • the error signal FS thus represents the result signal of a process observer, which is substantially equal to zero in error-free operation, but which indicates erroneous operation by a non-zero output signal.
  • the determination of the error signal takes place in real time, ie substantially simultaneously with the respective current determination of the measured actual value IWG. This makes it possible to intervene immediately in the control and / or regulation of the rolling mill, in particular in the case of a fault signal FS different from zero, ie in particular also in real time.
  • a device for controlling and / or regulating the rolling mill is provided.
  • This may preferably be a digital computing device which is deleted with an electronic memory, on which a program is stored, which can run on the computing device in real time, and which is then suitable for carrying out the method.
  • the above-described model 13 serves the FIG. 1 To simulate individual areas of the rolling mill or the entire rolling mill by calculation, in particular to simulate in real time. This is done by constructing the model 13 from a plurality of equations in which the input variables supplied to the model 13 are computationally processed. With the aid of the equations, the output quantity (s) of the model 13 is / are then calculated.
  • the equations can be any equations suitable for mathematically representing the actual technical relationships of the rolling mill. For example, it may be exponential equations of higher order, with which the time course of outputs in dependence on a plurality of input variables can be calculated. For the weighting of the individual input variables, each input variable is usually associated with a multiplicative and / or additive parameter which ultimately determines the influence of the Input size / s to the output size / s. These parameters depend on the actual rolling mill.
  • the model 13 must therefore be parameterized. This will be explained below with reference to FIG. 2 explained.
  • the method illustrated is intended to provide the parameters of the equations of model 13 of FIG. 1 to investigate.
  • the procedure of FIG. 2 can be carried out independently of the operation of the rolling mill.
  • the method can be carried out on a computing device, for example on a notebook, which operates "off-line" with respect to the rolling mill and possibly in real time.
  • FIG. 2 It is now assumed that on the example provided notebook, which is necessary for the implementation of the method FIG. 2 is provided in connection with the FIG. 1 model 13 of the rolling mill is shown in the form of a program. This means that all those equations are programmed on this computing device, which are provided for the mathematical simulation of the rolling mill in real time.
  • the parameters of these equations have an output value that can be specified, for example, when programming the equations.
  • the initial value is yet in no way adapted to the actual rolling mill.
  • Each of the data sets 18 contained in the database 17 contains a multiplicity of operating variables, which may be actual values, setpoints, manipulated variables and / or other operating variables of the rolling plant. These operating variables are recorded time-dependent on the associated Walzgang, ie on the passage of time of the rolling stock through the rolling mill.
  • the stored operating variables are at least those operating variables of the rolling plant which are required by the model 13 as input variables and which are calculated by the model 13 as output variables.
  • These farm sizes are in the FIG. 2 in each case referred to in their entirety as input variables EG and output variables AG of the model 13.
  • the database 17 may be a part of the notebook on which the model 13 of the FIG. 2 located.
  • the data records 18 must be stored in some way during operation of the rolling mill on a storage medium and then made available to the notebook, in particular in real time. It is also possible that the database 17 is assigned to the actual rolling mill.
  • the data records 18 can be transmitted via a communication link to the notebook provided as an example, on which the model 13 of the FIG. 2 located. This transmission of the data records 18 can take place in real time, so that the model 13 of the FIG. 2 can take place in real time. But this is not mandatory.
  • model 13 is now calculated on the basis of the output values of the parameters and the input variables EG of a first data set 17 stored in the database 17 and the associated output variables of the model 13 are determined , These output variables, which are referred to in their entirety as model output variables AG *, are compared with the output variables AG of the same first data set 17 stored in the database 18.
  • the method described above is run again, but not with the output values for the parameters of the model 13, but with the first new values of the parameters determined in the first pass of the method.
  • the operating variables from the first data record 18 of the database are used again.
  • a new comparison is made by the block 19 and second new values for the parameters of the model 13 are determined.
  • This repetition of the method can be carried out until the respectively newly determined values for the parameters of the model 13 no longer differ significantly from the previous values.
  • the entire process can be continued with a second data record 18 from the database 17.
  • the operating variables from the second data set 18 as well as the previously determined values for the parameters are used by the model 13 in order then to re-influence the values for the parameters via the block 19.
  • the method can in turn be repeated several times with the second data set 18.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Metal Rolling (AREA)

Description

Die Erfindung betrifft ein Verfahren zum Ermitteln von Parametern eines Modells, mit dem zumindest ein Bereich einer Walzanlage rechnerisch nachbildbar ist. Die Erfindung betrifft ebenfalls ein Verfahren zum Betreiben einer Walzanlage, bei dem mit einem Parameter aufweisenden Modell zumindest ein Bereich der Walzanlage rechnerisch nachgebildet wird.The invention relates to a method for determining parameters of a model, with which at least one area of a rolling mill can be simulated mathematically. The invention also relates to a method for operating a rolling mill, wherein at least one area of the rolling mill is simulated by calculation with the model having a parameter.

Die DE 41 05 321 A1 , DE 43 38 608 A1 und DE 197 31 980 A1 beschreiben jeweils Verfahren, in dem ein mathematisches Modell eines automatisierten Prozesses als Teil des Prozesses online angepasst wird. Ferner wird in der DE 43 38 608 A1 und der DE 197 31 980 A1 nur eine einzige Anpassung des mathematischen Modells zwischen jedem Prozessablauf durchgeführt.The DE 41 05 321 A1 . DE 43 38 608 A1 and DE 197 31 980 A1 each describe procedures in which a mathematical model of an automated process is adapted online as part of the process. Furthermore, in the DE 43 38 608 A1 and the DE 197 31 980 A1 just a single adaptation of the mathematical model performed between each process flow.

Aus der DE 10 2006 025 026 A1 ist ein Verfahren zum Betreiben einer Walzanlage bekannt, bei dem ein gemessener Istwert einer Betriebsgröße der Walzanlage mit einem zugehörigen Sollwert verglichen und in Abhängigkeit davon eine Stellgröße ermittelt wird. Es ist ein sogenannter Prozessbeobachter vorgesehen, der ein Modell umfasst, insbesondere ein in Echtzeit arbeitendes Simulationsmodell, mit dem zumindest ein Teil der Walzanlage rechnerisch nachgebildet wird. Von diesem Modell wird in Abhängigkeit von Betriebsgrößen der Walzanlage, beispielsweise in Abhängigkeit von dem Sollwert, ein dem gemessenen Istwert zugehöriger berechneter Istwert ermittelt. Es werden dann der gemessene Istwert und der berechnete Istwert miteinander verglichen. Aus dem Vergleichsergebnis kann auf einen Fehler in der Walzanlage oder in dem Walzprozess geschlossen werden.From the DE 10 2006 025 026 A1 a method for operating a rolling mill is known, in which a measured actual value of an operating variable of the rolling mill is compared with an associated desired value and a manipulated variable is determined as a function thereof. It is provided a so-called process observer, which includes a model, in particular a real-time simulation model, with which at least part of the rolling mill is mathematically modeled. Depending on the operating variables of the rolling plant, for example as a function of the desired value, a calculated actual value associated with the measured actual value is determined from this model. Then the measured actual value and the calculated actual value are compared with each other. From the result of the comparison, it is possible to deduce an error in the rolling mill or in the rolling process.

Wie erwähnt, wird mit dem Modell zumindest ein Teil der Walzanlage in Echtzeit rechnerisch nachgebildet. Hierzu weist das Modell eine Mehrzahl von Gleichungen auf, mit denen Ausgangsgrößen der Walzanlage in Abhängigkeit von Eingangsgrößen der Walzanlage berechnet werden. Zur Gewichtung der Eingangsgrößen sind multiplikative und/oder additive Parameter vorgesehen. Diese Parameter müssen im Hinblick auf die nachzubildende tatsächliche Walzanlage ermittelt und eingestellt werden bzw. das Modell muss parametriert werden.As mentioned, with the model at least part of the rolling mill is simulated in real time by calculation. For this purpose, the model has a plurality of equations with which output variables of the rolling mill are calculated as a function of input variables of the rolling mill. To weight the input variables, multiplicative and / or additive parameters are provided. These parameters must be determined and adjusted with regard to the actual rolling mill to be replicated or the model must be parameterized.

Aufgabe der Erfindung ist es, ein Verfahren zum Ermitteln der genannten Parameter zu schaffen.The object of the invention is to provide a method for determining the said parameters.

Die Erfindung löst diese Aufgabe durch ein Verfahren nach Anspruch 1. Optionale Merkmale sind in den abhängigen Ansprüchen definiert.The invention achieves this object by a method according to claim 1. Optional features are defined in the dependent claims.

Weitere Merkmale, Anwendungsmöglichkeiten und Vorteile der Erfindung ergeben sich aus der nachfolgenden Beschreibung von Ausführungsbeispielen der Erfindung, die in den Figuren der Zeichnung dargestellt sind. Dabei bilden alle beschriebenen oder dargestellten Merkmale für sich oder in beliebiger Kombination den Gegenstand der Erfindung, unabhängig von ihrer Zusammenfassung in den Patentansprüchen oder deren Rückbeziehung sowie unabhängig von ihrer Formulierung bzw. Darstellung in der Beschreibung bzw. in der Zeichnung.Other features, applications and advantages of the invention will become apparent from the following description of embodiments of the invention, which are illustrated in the figures of the drawing. All described or illustrated features, alone or in any combination form the subject matter of the invention, regardless of their summary in the claims or their dependency and regardless of their formulation or representation in the description or in the drawing.

Figur 1 der Zeichnung zeigt ein schematisches Blockschaltbild eines Ausführungsbeispiels eines Verfahrens zum Betreiben einer Walzanlage mit Hilfe eines Modells und Figur 2 zeigt ein schematisches Blockschaltbild eines Ausführungsbeispiels eines erfindungsgemäßen Verfahrens zum Ermitteln von Parametern für das Modell der Figur 1. FIG. 1 The drawing shows a schematic block diagram of an embodiment of a method for operating a rolling mill by means of a model and FIG. 2 shows a schematic block diagram of an embodiment of a method according to the invention for determining parameters for the model of FIG. 1 ,

Das in der Figur 1 dargestellte Verfahren ist für den Betrieb einer Walzanlage vorgesehen. Dabei kann es sich um eine Kaltwalzstraße oder um ein Warmwalzwerk handeln. Die in der Figur 1 angegebenen allgemeinen Größen können dabei durch unterschiedliche spezielle Betriebsgrößen der Walzanlage realisiert werden.That in the FIG. 1 illustrated method is provided for the operation of a rolling mill. This may be a cold rolling mill or a hot rolling mill. The in the FIG. 1 specified general sizes can be realized by different special operating variables of the rolling mill.

So wird in der Figur 1 ein gemessener Istwert IWG und ein zugehöriger Sollwert SW mit Hilfe einer Subtraktion 11 miteinander verglichen. Bei dem gemessenen Istwert IWG kann es sich dabei beispielsweise um einen gemessenen Banddickenistwert oder um einen gemessenen Bandzugistwert oder um einen anderen Istwert der Walzanlage handeln. Entsprechend kann es sich bei dem Sollwert SW um einen zugehörigen Banddickensollwert oder Bandzugsollwert handeln. Der gemessene Istwert IWG und der Sollwert SW beziehen sich dabei auf ein bestimmtes Walzgerüst.So will in the FIG. 1 a measured actual value IWG and an associated setpoint value SW are compared with one another by means of a subtraction 11. The measured actual value IWG may be, for example, a measured strip thickness actual value or a measured strip tension actual value or another actual value of the rolling mill. Accordingly, the setpoint SW may be an associated strip thickness setpoint or strip setpoint. The measured actual value IWG and the setpoint SW relate to a specific rolling stand.

Die Differenz des gemessenen Istwerts IWG und des Sollwerts SW ist einem Regler 12 zugeführt, der unter anderem in Abhängigkeit von diesen beiden Betriebsgrößen eine Stellgröße SG erzeugt. Mit dieser Stellgröße SG kann beispielsweise die Walzenposition des zugehörigen Walzgerüsts beeinflusst werden, um damit wiederum auf die Banddicke oder den Bandzug einzuwirken. Auf diese Weise kann eine Steuerung und/oder Regelung von Betriebsgrößen der Walzanlage realisiert werden. Es versteht sich, dass auch andere Einflussnahmen auf die Walzanlage möglich sind.The difference between the measured actual value IWG and the setpoint value SW is supplied to a controller 12, which, inter alia, generates a manipulated variable SG as a function of these two operating variables. With this manipulated variable SG, for example, the roller position of the associated rolling stand can be influenced, in order in turn to act on the strip thickness or the strip tension. In this way, a control and / or regulation of operating variables of the rolling mill can be realized. It is understood that other influences on the rolling mill are possible.

Unabhängig von diesen Einflussnahmen ist der Sollwert SW einem Modell 13 zugeführt, insbesondere einem in Echtzeit arbeitenden Simulationsmodell, das weiterhin von einer Mehrzahl von Betriebsgrößen der Walzanlage beaufschlagt ist. Bei diesen Betriebsgrößen kann es sich um beliebige Istwerte, Sollwerte und/oder Stellgrößen handeln, die innerhalb der Walzanlage auftreten. In Abhängigkeit von diesen Eingangsgrößen werden von dem Modell 13 einzelne Bereiche der Walzanlage oder die gesamte Walzanlage rechnerisch nachgebildet. Es wird also beispielsweise versucht, die Verformung des Walzguts bei einem Durchlauf durch ein Walzgerüst rechnerisch darzustellen, um auf dieser Grundlage einen Istwert zu derselben Betriebsgröße ermitteln zu können, zu der bereits der gemessene Istwert IWG vorhanden ist. Dieser ermittelte Istwert stellt eine Ausgangsgröße des Modells 13 dar und wird nachfolgend als berechneter Istwert IWB bezeichnet. Es liegen damit zwei Istwerte z.B. für die Banddicke oder den Bandzug vor, nämlich der gemessene Istwert IWG und der berechnete Istwert IWB.Regardless of these influences, the setpoint value SW is supplied to a model 13, in particular a simulation model operating in real time, which is furthermore acted on by a plurality of operating variables of the rolling mill. These operating variables can be any actual values, setpoints and / or manipulated variables that occur within the rolling mill. Depending on these input variables, individual models of the rolling mill or the entire rolling mill are modeled by the model 13. Thus, for example, an attempt is made to represent the deformation of the rolled stock during a pass through a roll stand in order to be able to determine an actual value for the same operating variable on which basis the measured actual value IWG is already present. This determined actual value represents an output variable of the model 13 and is referred to below as the calculated actual value IWB. There are thus two actual values, e.g. for the strip thickness or the strip tension, namely the measured actual value IWG and the calculated actual value IWB.

Verallgemeinert ist also das Modell 13 dazu vorgesehen, den berechneten Istwert IWB für dieselbe Betriebsgröße der Walzanlage zu ermitteln, für die bereits der gemessene Istwert IWG vorliegt. Es versteht sich dabei, dass das Modell 13 nicht nur dazu geeignet ist, diesen einen berechneten Istwert IWB zu ermitteln, sondern eine Mehrzahl derartiger Ausgangsgrößen.Generalized, therefore, the model 13 is provided to determine the calculated actual value IWB for the same operating size of the rolling mill, for which the measured actual value IWG already exists. It is understood that the model 13 is not only suitable for determining this one calculated actual value IWB, but rather a plurality of such output variables.

Es ist nunmehr möglich, dass der zeitliche Verlauf des gemessenen Istwerts IWG und des berechneten Istwerts IWB bei einem fehlerfreien Betrieb weitgehend übereinstimmen, dass aber der berechnete Istwert IWB in seinem absoluten Wert von dem Sollwert SW abweicht. So ist es beispielsweise möglich, dass ein auf dem Band oder den Walzen vorhandener Ölfilm von dem Modell 13 nicht berücksichtigt werden kann, mit der Folge, dass der gemessene Istwert IWG und der berechnete Istwert IWB absolut - aufgrund des Ölfilms - voneinander abweichen, relativ jedoch im wesentlichen denselben zeitlichen Verlauf haben. Zur Kompensation derartiger Abweichungen kann eine Anpassung vorgesehen sein, die jedoch nicht zwingend erforderlich ist, und die deshalb nachfolgend nicht erläutert und auch nicht berücksichtigt wird.It is now possible that the time course of the measured actual value IWG and the calculated actual value IWB largely coincide with a fault-free operation, but that the calculated actual value IWB deviates in its absolute value from the setpoint SW. Thus, it is possible, for example, that an oil film present on the belt or rollers can not be taken into account by the model 13, with the result that the measured actual value IWG and the calculated actual value IWB absolutely deviate from each other due to the oil film, but relatively have essentially the same time course. To compensate for such deviations may be provided an adjustment, which is not mandatory, and therefore not explained below and is not taken into account.

Der berechnete Istwert IWB wird mit dem gemessenen Istwert IWG verglichen. Hierzu werden die beiden Größen einer Subtraktion 15 zugeführt. Ausgangsseitig ergibt sich ein Fehlersignal FS, das im wesentlichen gleich Null ist, wenn der berechnete Istwert IWB etwa gleich ist dem gemessenen Istwert IWG, das jedoch von Null abweicht, wenn der berechnete Istwert IWB und der gemessene Istwert IWG wesentlich voneinander abweichen.The calculated actual value IWB is compared with the measured actual value IWG. For this purpose, the two variables of a subtraction 15 are supplied. On the output side results in an error signal FS, which is substantially equal to zero, when the calculated actual value IWB is approximately equal to the measured actual value IWG, but deviates from zero, if the calculated actual value IWB and the measured actual value IWG substantially differ.

Im fehlerfreien Betrieb der Walzanlage wird der berechnete Istwert IWB weitgehend mit dem gemessenen Istwert IWG übereinstimmen. Dies ergibt sich daraus, dass in diesem Fall keine Störung vorliegt und somit die von dem Modell 13 vorgenommenen rechnerischen Ermittlungen im wesentlichen dem tatsächlichen Betrieb der Walzanlage entsprechen.In error-free operation of the rolling mill, the calculated actual value IWB will largely match the measured actual value IWG. This results from the fact that in this case there is no disturbance and thus that of the model 13 carried out arithmetic investigations essentially correspond to the actual operation of the rolling mill.

Liegt jedoch irgend eine Störung des Betriebs der Walzanlage vor, tritt zum Beispiel ein Rutschen der Walzen beim Durchlauf des Walzguts durch ein Walzgerüst auf, so weicht der tatsächliche Betrieb der Walzanlage aufgrund dieser Störung von demjenigen Verhalten ab, das dem Modell 13 rechnerisch zugrunde gelegt ist. Dies hat zur Folge, dass bei dem von dem Modell 13 berechneten Istwert IMB die vorgenannte Störung nicht berücksichtigt ist, so dass der berechnete Istwert IWB von dem tatsächlich in der Walzanlage gemessenen Istwert IWG, bei dem die Störung zur Wirkung kommt, mit großer Wahrscheinlichkeit abweicht. Es ergibt sich damit ein Fehlersignal FS, das ungleich Null ist.However, if there is any malfunction in the operation of the rolling mill, for example, a slippage of the rolls occurs during passage of the rolling stock through a rolling stand, so the actual operation of the rolling mill deviates from the behavior due to this disturbance, which is the mathematical basis for the model 13 , As a result, in the actual value IMB calculated by the model 13, the aforementioned disturbance is not taken into account, so that the calculated actual value IWB deviates with great probability from the actual value IWG actually measured in the rolling plant, at which the disturbance takes effect , This results in an error signal FS, which is not equal to zero.

Das Fehlersignal FS stellt damit das Ergebnissignal eines Prozessbeobachters dar, das im fehlerfreien Betrieb im wesentlichen gleich Null ist, das jedoch einen fehlerbehafteten Betrieb durch ein von Null verschiedenes Ausgangssignal anzeigt.The error signal FS thus represents the result signal of a process observer, which is substantially equal to zero in error-free operation, but which indicates erroneous operation by a non-zero output signal.

Die Ermittlung des Fehlersignals erfolgt in Echtzeit, also im wesentlichen gleichzeitig mit der jeweils aktuellen Ermittlung des gemessenen Istwerts IWG. Damit ist es möglich, insbesondere bei einem von Null verschiedenen Fehlersignal FS sofort, also insbesondere ebenfalls in Echtzeit, in die Steuerung und/oder Regelung der Walzanlage einzugreifen.The determination of the error signal takes place in real time, ie substantially simultaneously with the respective current determination of the measured actual value IWG. This makes it possible to intervene immediately in the control and / or regulation of the rolling mill, in particular in the case of a fault signal FS different from zero, ie in particular also in real time.

Zur Ausführung des beschriebenen Verfahrens ist eine Vorrichtung zur Steuerung und/oder Regelung der Walzanlage vorgesehen. Dabei kann es sich vorzugsweise um ein digitales Rechengerät handeln, das mit einem elektronischen Speicher verschen ist, auf dem ein Programm abgespeichert ist, das auf dem Rechengerät in Echtzeit ablaufen kann, und das dann zur Durchführung des Verfahrens geeignet ist.For carrying out the described method, a device for controlling and / or regulating the rolling mill is provided. This may preferably be a digital computing device which is deleted with an electronic memory, on which a program is stored, which can run on the computing device in real time, and which is then suitable for carrying out the method.

Wie erläutert wurde, dient das vorstehend erläuterte Modell 13 der Figur 1 dazu, einzelne Bereiche der Walzanlage oder die gesamte Walzanlage rechnerisch nachzubilden, insbesondere in Echtzeit zu simulieren. Dies geschieht dadurch, dass das Modell 13 aus einer Vielzahl von Gleichungen aufgebaut ist, in denen die dem Modell 13 zugeführten Eingangsgrößen rechnerisch verarbeitet werden. Mit Hilfe der Gleichungen wird/werden dann die Ausgangsgröße/n des Modells 13 berechnet.As has been explained, the above-described model 13 serves the FIG. 1 To simulate individual areas of the rolling mill or the entire rolling mill by calculation, in particular to simulate in real time. This is done by constructing the model 13 from a plurality of equations in which the input variables supplied to the model 13 are computationally processed. With the aid of the equations, the output quantity (s) of the model 13 is / are then calculated.

Bei den Gleichungen kann es sich um jegliche Gleichungen handeln, die dazu geeignet sind, die tatsächlichen technischen Zusammenhänge der Walzanlage rechnerisch darzustellen. Beispielsweise kann es sich um Exponentialgleichungen höherer Ordnung handeln, mit denen der zeitliche Verlauf von Ausgangsgrößen in Abhängigkeit von einer Mehrzahl von Eingangsgrößen berechnet werden kann. Zur Gewichtung der einzelnen Eingangsgrößen ist dabei üblicherweise jede Eingangsgröße mit einem multiplikativen und/oder additiven Parameter verknüpft, der letztlich den Einfluss der Eingangsgröße/n auf die Ausgangsgröße/n festlegt. Diese Parameter sind von der tatsächlichen Walzanlage abhängig.The equations can be any equations suitable for mathematically representing the actual technical relationships of the rolling mill. For example, it may be exponential equations of higher order, with which the time course of outputs in dependence on a plurality of input variables can be calculated. For the weighting of the individual input variables, each input variable is usually associated with a multiplicative and / or additive parameter which ultimately determines the influence of the Input size / s to the output size / s. These parameters depend on the actual rolling mill.

Vor einem Betrieb der Walzanlage ist es somit erforderlich, die Parameter zu ermitteln und das Modell 13 der Walzanlage entsprechend einzustellen. Das Modell 13 muss also parametriert werden. Dies wird nachfolgend anhand der Figur 2 erläutert.Before operating the rolling mill, it is thus necessary to determine the parameters and to adjust the model 13 of the rolling mill accordingly. The model 13 must therefore be parameterized. This will be explained below with reference to FIG. 2 explained.

Das in der Figur 2 dargestellte Verfahren ist dazu vorgesehen, die Parameter der Gleichungen des Modells 13 der Figur 1 zu ermitteln. Das Verfahren der Figur 2 kann dabei unabhängig von dem Betrieb der Walzanlage durchgeführt werden. Insbesondere kann das Verfahren auf einem Rechengerät, beispielsweise auf einem Notebook durchgeführt werden, das im Hinblick auf die Walzanlage "off-line" und ggf. in Echtzeit arbeitet.That in the FIG. 2 The method illustrated is intended to provide the parameters of the equations of model 13 of FIG FIG. 1 to investigate. The procedure of FIG. 2 can be carried out independently of the operation of the rolling mill. In particular, the method can be carried out on a computing device, for example on a notebook, which operates "off-line" with respect to the rolling mill and possibly in real time.

Es wird nunmehr davon ausgegangen, dass auf dem beispielhaft vorgesehenen Notebook, das für die Durchführung des Verfahrens der Figur 2 vorgesehen ist, das im Zusammenhang mit der Figur 1 erläuterte Modell 13 der Walzanlage in der Form eines Programms vorhanden ist. Dies bedeutet, dass auf diesem Rechengerät all diejenigen Gleichungen programmiert sind, die für die rechnerische Nachbildung der Walzanlage in Echtzeit vorgesehen sind. Die Parameter dieser Gleichungen weisen einen Ausgangswert auf, der beispielsweise bei der Programmierung der Gleichungen vorgegeben werden kann. Der Ausgangswert ist dabei noch in keiner Weise an die tatsächliche Walzanlage angepasst.It is now assumed that on the example provided notebook, which is necessary for the implementation of the method FIG. 2 is provided in connection with the FIG. 1 model 13 of the rolling mill is shown in the form of a program. This means that all those equations are programmed on this computing device, which are provided for the mathematical simulation of the rolling mill in real time. The parameters of these equations have an output value that can be specified, for example, when programming the equations. The initial value is yet in no way adapted to the actual rolling mill.

Weiter wird davon ausgegangen, dass eine Datenbank 17 vorhanden ist, auf der ein oder mehrere Datensätze 18 von Walzgängen der tatsächlichen Walzanlage abgespeichert sind. Unter einem Walzgang wird dabei der vollständige Durchlauf eines Walzguts durch die Walzanlage verstanden. Der einem Walzgang zugehörige Datensatz 18 bezieht sich damit nur auf einen bestimmten Durchlauf des Walzguts durch die Walzanlage.It is further assumed that there is a database 17 on which one or more datasets 18 of rolling passes of the actual rolling mill are stored. Under a Walzgang thereby the complete passage of a rolling stock is understood by the rolling mill. The data associated with a rolling pass record 18 thus refers only to a specific passage of the rolling stock through the rolling mill.

Jeder der in der Datenbank 17 enthaltenen Datensätze 18 enthält eine Vielzahl von Betriebsgrößen, bei denen es sich um Istwerte, um Sollwerte, um Stellgrößen und/oder um sonstige Betriebsgrößen der Walzanlage handeln kann. Diese Betriebsgrößen sind dabei zeitabhängig über den zugehörigen Walzgang aufgezeichnet, also über den zeitlichen Durchlauf des Walzguts durch die Walzanlage.Each of the data sets 18 contained in the database 17 contains a multiplicity of operating variables, which may be actual values, setpoints, manipulated variables and / or other operating variables of the rolling plant. These operating variables are recorded time-dependent on the associated Walzgang, ie on the passage of time of the rolling stock through the rolling mill.

Bei den abgespeicherten Betriebsgrößen handelt es sich zumindest um diejenigen Betriebsgrößen der Walzanlage, die von dem Modell 13 als Eingangsgrößen benötigt werden und die von dem Modell 13 als Ausgangsgrößen berechnet werden. Diese Betriebsgrößen sind in der Figur 2 jeweils gesamtheitlich als Eingangsgrößen EG und Ausgangsgrößen AG des Modells 13 bezeichnet.The stored operating variables are at least those operating variables of the rolling plant which are required by the model 13 as input variables and which are calculated by the model 13 as output variables. These farm sizes are in the FIG. 2 in each case referred to in their entirety as input variables EG and output variables AG of the model 13.

Die Datenbank 17 kann ein Teil des Notebooks sein, auf dem sich das Modell 13 der Figur 2 befindet. In diesem Fall müssen die Datensätze 18 in irgend einer Weise im Betrieb der Walzanlage auf ein Speichermedium abgespeichert werden und dann dem Notebook insbesondere in Echtzeit zugänglich gemacht werden. Ebenfalls ist es möglich, dass die Datenbank 17 der tatsächlichen Walzanlage zugeordnet ist. In diesem Fall können die Datensätze 18 über eine Kommunikationsverbindung zu dem beispielhaft vorgesehenen Notebook übertragen werden, auf dem sich das Modell 13 der Figur 2 befindet. Diese Übertragung der Datensätze 18 kann dabei in Echtzeit stattfinden, so dass auch das Modell 13 der Figur 2 an sich in Echtzeit ablaufen kann. Dies ist aber nicht zwingend erforderlich.The database 17 may be a part of the notebook on which the model 13 of the FIG. 2 located. In this case, the data records 18 must be stored in some way during operation of the rolling mill on a storage medium and then made available to the notebook, in particular in real time. It is also possible that the database 17 is assigned to the actual rolling mill. In this case, the data records 18 can be transmitted via a communication link to the notebook provided as an example, on which the model 13 of the FIG. 2 located. This transmission of the data records 18 can take place in real time, so that the model 13 of the FIG. 2 can take place in real time. But this is not mandatory.

Zur Ermittlung der Parameter der Gleichungen des Modells 13 wird nunmehr auf dem Notebook damit begonnen, dass das Modell 13 mit den Ausgangswerten der Parameter und den in der Datenbank 17 abgespeicherten Eingangsgrößen EG eines ersten Datensatzes 17 durchgerechnet wird und die zugehörigen Ausgangsgrößen des Modells 13 ermittelt werden. Diese gesamtheitlich als Modell-Ausgangsgrößen AG* bezeichneten Ausgangsgrößen werden mit den in der Datenbank 18 abgespeicherten Ausgangsgrößen AG desselben ersten Datensatzes 17 verglichen.To determine the parameters of the equations of the model 13, the model 13 is now calculated on the basis of the output values of the parameters and the input variables EG of a first data set 17 stored in the database 17 and the associated output variables of the model 13 are determined , These output variables, which are referred to in their entirety as model output variables AG *, are compared with the output variables AG of the same first data set 17 stored in the database 18.

Dies ist in der Figur 2 beispielhaft anhand des von dem Modell 13 berechneten Istwerts IWB gezeigt, der mit dem in der Datenbank 17 abgespeicherten gemessenen Istwert IWG des zugehörigen ersten Datensatzes 18 verglichen wird. In der Figur 2 ist dieser Vergleich als Block 19 dargestellt.This is in the FIG. 2 shown by way of example on the basis of the actual value IWB calculated by the model 13, which value coincides with the measured actual value IWG stored in the database 17 associated first record 18 is compared. In the FIG. 2 this comparison is shown as block 19.

Auf der Grundlage des Vergleichs durch den Block 19 werden nunmehr die Ausgangswerte der Parameter des Modells 13 verändert. Dies ist in der Figur 2 durch die Einflussgroßen PG kenntlich gemacht, die von dem Block 19 auf das Modell 13 einwirken, und die damit die Beeinflussung der Parameter des Modells 13 in Abhängigkeit von dem durchgeführten Vergleich deutlich machen sollen. Die Parameter des Modells 13 weisen nach dem erläuterten ersten Durchlauf des Verfahrens damit nicht mehr die Ausgangswerte, sondern erste Neuwerte auf.Based on the comparison by the block 19, the output values of the parameters of the model 13 are now changed. This is in the FIG. 2 indicated by the influence variables PG, which act on the model 13 from the block 19, and thus should make clear the influence of the parameters of the model 13 as a function of the comparison made. The parameters of the model 13, after the explained first run of the method, no longer have the initial values, but first new values.

Danach wird das vorstehend beschriebene Verfahren erneut durchlaufen, jedoch nicht mit den Ausgangswerten für die Parameter des Modells 13, sondern mit den im ersten Durchlauf des Verfahrens ermittelten ersten Neuwerten der Parameter. Bei diesem zweiten Durchlauf des Verfahrens werden erneut die Betriebsgrößen aus dem ersten Datensatz 18 der Datenbank verwendet. Auf dieser Grundlage wird ein erneuter Vergleich durch den Block 19 vorgenommen und es werden zweite Neuwerte für die Parameter des Modells 13 ermittelt.Thereafter, the method described above is run again, but not with the output values for the parameters of the model 13, but with the first new values of the parameters determined in the first pass of the method. In this second run of the method, the operating variables from the first data record 18 of the database are used again. On this basis, a new comparison is made by the block 19 and second new values for the parameters of the model 13 are determined.

Diese Wiederholung des Verfahrens kann so lange durchgeführt werden, bis sich die jeweils neu ermittelten Werte für die Parameter des Modells 13 nicht mehr wesentlich von den vorherigen Werten unterscheiden.This repetition of the method can be carried out until the respectively newly determined values for the parameters of the model 13 no longer differ significantly from the previous values.

Danach kann das gesamte Verfahren mit einem zweiten Datensatz 18 aus der Datenbank 17 fortgesetzt werden. In diesem Fall werden also von dem Modell 13 die Betriebsgrößen aus dem zweiten Datensatz 18 sowie die bisher ermittelten Werte für die Parameter verwendet, um über den Block 19 dann die Werte für die Parameter erneut zu beeinflussen. Das Verfahren kann dabei wiederum mehrfach mit dem zweiten Datensatz 18 durchlaufen werden.Thereafter, the entire process can be continued with a second data record 18 from the database 17. In this case, therefore, the operating variables from the second data set 18 as well as the previously determined values for the parameters are used by the model 13 in order then to re-influence the values for the parameters via the block 19. The method can in turn be repeated several times with the second data set 18.

Danach kann das gesamte Verfahren mit weiteren Datensätzen 18 aus der Datenbank 17 fortgesetzt werden, so dass die zuletzt ermittelten Parameter des Modells 13 immer wieder durch neue Parameter ersetzt werden. Diese Vorgehensweise kann so lange wiederholt werden, bis sich die Werte der Parameter nicht mehr wesentlich ändern.Thereafter, the entire process can be continued with further data records 18 from the database 17, so that the last determined parameters of the model 13 are always replaced by new parameters. This procedure can be repeated until the values of the parameters no longer change significantly.

Mit den nunmehr auf dem beispielhaft vorgesehenen Notebook vorliegenden Werten der Parameter kann danach die im Zusammenhang mit der Figur 1 erläuterte Vorrichtung zur Steuerung und/oder Regelung der Walzanlage, also insbesondere das bei der tatsächlichen Walzanlage vorhandene digitale Rechengerät geladen werden. Dies ist gleichbedeutend damit, dass das Modell 13 der Figur 1 anhand der ermittelten Werte für die Parameter eingestellt wird. Danach kann der anhand der Figur 1 erläuterte Prozessbeobachter von dem bei der tatsächlichen Walzanlage vorhandenen Rechengerät mit dem nunmehr parametrierten Modell 13 durchgeführt werden.With the now present on the exemplary provided notebook values of the parameters can then in connection with the FIG. 1 explained device for controlling and / or regulating the rolling mill, so in particular the existing in the actual rolling mill digital computing device are loaded. This is synonymous with the fact that the model 13 of the FIG. 1 based on the determined values for the parameters. After that, the basis of the FIG. 1 explained process observers are performed by the present in the actual rolling mill computing device with the now parameterized model 13.

Claims (4)

  1. A method for determining the parameters of a model (13) with which at least a section of a rolling mill is computationally modelable, wherein the model (13) is stored as a program independently of the rolling mill on a computing device such that the parameterization of the model is performed "off-line", independently of the rolling mill, wherein a database (17) is present having a plurality of data sets (18) of rolling passes of the rolling mill stored thereon, wherein a rolling pass is understood to mean the complete passing of the rolled material through the rolling mill, and wherein the method comprises the following steps:
    initial values for the parameters to be determined are defined for the model (13),
    input variables (EG) determined by measurement within the rolling mill and stored in a first data set (18) on the database (17) are provided to the model (13),
    at least one model output variable (AG*) is calculated from the model (13) as a function of the input variables (EG) and the initial values of the parameters,
    the model output variable (AG*) is compared with a corresponding output variable (AG) determined by measurement within the rolling mill and stored in the first data set (18) on the database (17),
    based on the comparison, first new values for the parameters of the model (13) are determined,
    the input variables (EG) stored in the first data set (18) on the data base (17) are provided again to the model (13),
    at least one model output variable (AG*) is calculated from the model (13) as a function of the input variables (EG) and the first new values of the parameters,
    the model output variable (AG*) is compared with the corresponding output variable (AG) stored in the first data set (18) on the database (17),
    based on the comparison, second new values for the parameters of the model (13) are determined.
  2. The method according to claim 1, wherein the input variables (EG) and the output variables (AG) form the first data set (18) and are assigned to a specific rolling pass.
  3. A method for operating a rolling mill using a model parameterized in accordance with the method of anyone of the preceding claims, wherein a measured actual value (IWG) of the rolling mill is compared (11) with a corresponding set value (SW) and, based thereon, a correcting variable (SG) is determined, wherein a calculated actual value (IWB) is determined from the model (13) as a function of the set value (SW) and as a function of further operating variables of the rolling mill, and wherein the measured actual value (IWB) is compared (15) with the calculated actual value (IWB) and the comparison result is used as an error signal (FS).
  4. Computing device for performing the method of claim 1, in particular a notebook, having the model (13) programmed thereon, having the initial values for the parameters stored thereon, and having the input variables (EG) and the output variables (AG) stored thereon.
EP11163141.2A 2010-05-03 2011-04-20 Method for determining the parameters of a model for a roller assembly Active EP2384830B1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4105321A1 (en) * 1991-02-20 1992-08-27 Siemens Ag CONTROL OF A HOT AND / OR COLD ROLLING PROCESS
DE4338608B4 (en) * 1993-11-11 2005-10-06 Siemens Ag Method and device for managing a process in a controlled system
DE4338615B4 (en) * 1993-11-11 2005-10-13 Siemens Ag Method and device for managing a process in a controlled system
DE19731980A1 (en) * 1997-07-24 1999-01-28 Siemens Ag Method for controlling and presetting a rolling stand or a rolling train for rolling a rolled strip
IT1296879B1 (en) * 1997-12-17 1999-08-02 Abb Sistemi Ind Spa ROLLING PLANT SUPERVISION PROCEDURE, PARTICULARLY FOR THE IN-LINE CONTROL OF ROLLING IN
DE102006025026A1 (en) 2006-05-26 2007-11-29 Converteam Gmbh Operation of rolling mill having rolling mill stand and/or measuring device for the operation variable of the rolling mill, comprises determining error signal by comparison of measured actual variable with calculated actual variable

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