JPH04305306A - Tension controller - Google Patents
Tension controllerInfo
- Publication number
- JPH04305306A JPH04305306A JP3098110A JP9811091A JPH04305306A JP H04305306 A JPH04305306 A JP H04305306A JP 3098110 A JP3098110 A JP 3098110A JP 9811091 A JP9811091 A JP 9811091A JP H04305306 A JPH04305306 A JP H04305306A
- Authority
- JP
- Japan
- Prior art keywords
- tension
- frequency component
- looper
- rolled
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005096 rolling process Methods 0.000 claims abstract description 47
- 238000010586 diagram Methods 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000004043 responsiveness Effects 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Landscapes
- Control Of Metal Rolling (AREA)
Abstract
Description
【0001】0001
【産業上の利用分野】本発明は主としてタンデム式連続
圧延機におけるスタンド間における被圧延材の張力を制
御する装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates primarily to a device for controlling the tension of a rolled material between stands in a tandem continuous rolling mill.
【0002】0002
【従来の技術】熱間タンデム式連続圧延機の圧延スタン
ド間における被圧延材の張力は被圧延材の寸法精度に与
える影響が大きく、張力が不安定な場合には被圧延材の
厚さ,幅にばらつきが生じ、更に通板性も悪化する。こ
のため被圧延材の張力制御には従来より圧延スタンドの
圧延ロール速度を調節する装置、或いはルーパを調節す
る装置、或いはこれらを組み合わせた装置等種々提案さ
れている。例えば、■ 被圧延材の張力をルーパにて
制御し、ルーパ角度を圧延機の圧延ロール速度によって
制御し、同時に被圧延材の圧延速度の外乱を予測しルー
パ角度の制御ゲインを調整する装置(特開昭55−30
387号公報) 、■ 圧延機の圧延ロール速度で被
圧延材の張力を、またルーパ駆動制御装置でルーパ角度
を制御する装置 (特開昭55−133814 号公報
) 、■ 圧延機の圧延ロール速度でルーパ角度を、
また被圧延材の張力をルーパにて夫々制御する際、相互
干渉を考慮し、相互干渉が打ち消されるよう圧延ロール
速度, ルーパ角度をクロスコントローラにより非干渉
制御を行う装置 (特開昭58−181417 号公報
) 。[Prior Art] The tension of the rolled material between the rolling stands of a hot tandem continuous rolling mill has a large effect on the dimensional accuracy of the rolled material, and when the tension is unstable, the thickness of the rolled material, There will be variations in the width, and the threading performance will also deteriorate. For this reason, various devices have been proposed to control the tension of the material to be rolled, such as devices that adjust the speed of rolling rolls in a rolling stand, devices that adjust loopers, and devices that combine these. For example, ■ A device that controls the tension of the material to be rolled with a looper, controls the looper angle by the speed of the rolling rolls of the rolling mill, and at the same time predicts disturbances in the rolling speed of the material to be rolled and adjusts the control gain of the looper angle ( Japanese Patent Publication No. 55-30
(Japanese Patent Application Laid-open No. 133814/1987), ■ A device that controls the tension of a material to be rolled by the speed of the rolling rolls of a rolling mill, and the looper angle by a looper drive control device (Japanese Patent Application Laid-open No. 133814/1983), ■ The speed of rolling rolls of a rolling mill The looper angle is
Furthermore, when the tension of the rolled material is controlled by the loopers, mutual interference is taken into account, and the rolling roll speed and looper angle are non-interferentially controlled by a cross controller so that the mutual interference is canceled out. Publication No.).
【0003】0003
【発明が解決しようとする課題】ところで被圧延材の幅
方向, 厚さ方向, 長手方向夫々の温度, 厚さは刻
々変化し、また板厚制御によるロールギャップの変化,
ロールの偏心,更には圧延状態の変化等は被圧延材の張
力制御, ルーパの角度制御を行う上での外乱となり、
その周波数成分も一定ではない。[Problem to be solved by the invention] However, the temperature and thickness of the rolled material in the width direction, thickness direction, and longitudinal direction change every moment, and changes in the roll gap due to sheet thickness control,
Eccentricity of the rolls and changes in the rolling condition can cause disturbances in controlling the tension of the rolled material and the angle of the looper.
Its frequency components are also not constant.
【0004】このため前述した如き従来装置にあっては
、■の装置では被圧延材の速度外乱の予測が難しく、実
現が難しい。また■の装置ではルーパ角度の大きな変化
は抑制されるが、反面外乱が被圧延材の張力変動となっ
て現れ、また圧延スタンドの圧延ロール速度制御は慣性
が大きいため急激な張力変動に対する応答が出来ないと
いう問題があった。更に■の装置では定常状態での相互
干渉は除去できる反面、急激な外乱発生時における過渡
状態での相互干渉を打ち消すことが出来ず、制御精度が
安定しないという問題があった。For this reason, in the conventional apparatus as described above, it is difficult to predict the speed disturbance of the rolled material in the apparatus (2), and it is difficult to realize the prediction. In addition, although large changes in the looper angle are suppressed in the device (■), on the other hand, disturbances appear as tension fluctuations in the material to be rolled, and the rolling stand's rolling roll speed control has a large inertia, making it difficult to respond to sudden tension fluctuations. The problem was that it couldn't be done. Furthermore, although the device (2) can eliminate mutual interference in a steady state, it cannot cancel out mutual interference in a transient state when a sudden disturbance occurs, resulting in unstable control accuracy.
【0005】本発明はかかる事情に鑑みなされたもので
あって、その目的とするところは、被圧延材の張力,ル
ーパ角度を安定に維持し、製品の寸法精度が高く、しか
も安定した通板性を得られるようにした張力制御装置を
提供するにある。The present invention was developed in view of the above circumstances, and its purpose is to stably maintain the tension and looper angle of the material to be rolled, to achieve high dimensional accuracy of the product, and to achieve stable sheet threading. The purpose of the present invention is to provide a tension control device that allows the user to obtain the desired characteristics.
【0006】[0006]
【課題を解決するための手段】本発明に係る張力制御装
置は、圧延スタンドと、圧延スタンド間に配設されたル
ーパと、前記圧延スタンド間における被圧延材の張力を
検出する張力検出器及びルーパ角度を検出する検出器と
、前記張力検出器にて検出された張力を予め定めた設定
値に一致させるべく制御する制御装置と、ルーパ角度を
予め定めた設定値に一致させるべく制御する制御装置と
を備えた張力制御装置において、前記張力検出器にて検
出した被圧延材の検出張力値に基づき張力変動を高周波
成分と低周波成分とに分離する手段と、分離された前記
高周波成分はこれを解消すべくルーパの角度制御装置へ
入力する手段と、また前記低周波成分は圧延スタンド駆
動制御装置へ入力する手段と具備することを特徴とする
。[Means for Solving the Problems] A tension control device according to the present invention includes a rolling stand, a looper disposed between the rolling stands, a tension detector for detecting the tension of a material to be rolled between the rolling stands, and a detector that detects a looper angle; a control device that controls the tension detected by the tension detector to match a predetermined set value; and a control that controls the looper angle to match the predetermined set value. means for separating tension fluctuation into a high frequency component and a low frequency component based on the detected tension value of the rolled material detected by the tension detector, and a means for separating the tension fluctuation into a high frequency component and a low frequency component, In order to solve this problem, the present invention is characterized by comprising means for inputting the low frequency component to the angle control device of the looper, and means for inputting the low frequency component to the rolling stand drive control device.
【0007】[0007]
【作用】本発明にあってはこれによって、張力変動の高
周波成分は慣性が小さく応答性に優れたルーパにより制
御され、また張力変動の低周波成分は追従可能な圧延ス
タンドの圧延ロール回転数で制御することにより被圧延
材の張力,ルーパ角度が共に安定する。[Operation] According to the present invention, the high frequency component of the tension fluctuation is controlled by the looper with small inertia and excellent responsiveness, and the low frequency component of the tension fluctuation is controlled by the rolling rotation speed of the rolling stand that can be tracked. Through this control, both the tension of the rolled material and the looper angle are stabilized.
【0008】[0008]
【実施例】以下本発明をその実施例を示す図面に基づき
具体的に説明する。図1は本発明に係る張力制御装置を
示すブロック図であり、図中1,2はタンデム式連続圧
延機における相隣する2つの圧延スタンド、3は両圧延
スタンド1,2間に配設されたルーパ、Sはストリップ
等の被圧延材を示している。ストリップSは矢符で示す
如く圧延スタンド1側からルーパ3を経て圧延スタンド
2側に向けて圧延されてゆくようになっている。ルーパ
3はアーム3aの先端部にロール3bを備え、アーム3
aの基端部は油圧シリンダ等で構成される駆動部3cに
連繋せしめて構成され、駆動部3cの駆動によってアー
ム3aを所定角度に設定調節するようになっている。こ
のアーム3aの角度は角度検出器3dにて逐次検出され
る。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be specifically described below with reference to drawings showing embodiments thereof. FIG. 1 is a block diagram showing a tension control device according to the present invention. In the figure, 1 and 2 are two adjacent rolling stands in a tandem continuous rolling mill, and 3 is a tension control device arranged between both rolling stands 1 and 2. The looper S indicates a material to be rolled such as a strip. The strip S is rolled from the rolling stand 1 side through the looper 3 toward the rolling stand 2 side as shown by the arrow. The looper 3 includes a roll 3b at the tip of an arm 3a, and the arm 3
The base end of the arm 3a is connected to a drive section 3c made of a hydraulic cylinder or the like, and the arm 3a is set and adjusted to a predetermined angle by driving the drive section 3c. The angle of this arm 3a is sequentially detected by an angle detector 3d.
【0009】4はルーパ角度の設定部であって、該設定
部にて設定された設定値θ0 は比較器5へ出力され、
前記角度検出器3dから入力される現在のルーパ角度θ
(フィードバック値)と比較され、その偏差に相応した
信号が角度制御部6へ入力される。角度制御部6は入力
された偏差信号を解消するに必要な駆動部3cに対する
駆動制御信号を求めてこれを加算器7へ出力し、該加算
器7にて後述する張力変動の高周波成分張力制御部13
から入力される高周波成分制御信号と加算され、その加
算された制御信号をルーパ3の駆動制御装置8へ入力す
る。駆動制御装置8は入力された制御信号に相応する信
号を駆動部3cへ出力し、ルーパアーム3aの角度θを
角度設定値θ0 と高周波成分張力制御部13の出力値
とを加算した値に一致するよう設定する。Reference numeral 4 denotes a looper angle setting section, and the setting value θ0 set by the setting section is outputted to the comparator 5.
Current looper angle θ input from the angle detector 3d
(feedback value), and a signal corresponding to the deviation is input to the angle control section 6. The angle control section 6 obtains a drive control signal for the drive section 3c necessary to eliminate the input deviation signal, and outputs this to an adder 7, which performs tension control on high frequency components of tension fluctuations, which will be described later. Part 13
The added control signal is added to the high frequency component control signal inputted from the looper 3, and the added control signal is inputted to the drive control device 8 of the looper 3. The drive control device 8 outputs a signal corresponding to the input control signal to the drive section 3c, and makes the angle θ of the looper arm 3a equal to the sum of the angle setting value θ0 and the output value of the high frequency component tension control section 13. Set it like this.
【0010】一方、張力設定部9にて設定された張力設
定値T0 は比較器11へ出力され、該比較器11にて
張力検出器10から入力される現時点の被圧延材Sの張
力T(フィードバック値)と比較され、その偏差に相応
する信号として周波数分離部12へ入力される。張力検
出器10としては、例えばルーパ駆動源としてモータを
用いているときはモータトルクから、また油圧シリンダ
を用いているときは油圧から夫々張力を求めるようにし
たものが用いられ、特にその構成を限定するものではな
い。周波数分離部12は入力された張力変動を、予め定
めた基準値t0 を越える成分を張力変動の高周波成分
として、また基準値t0 以下の成分を張力変動の低周
波成分として夫々分離し、前記高周波成分は高周波成分
張力制御部13へ、また低周波成分は低周波成分張力制
御部14へ夫々分けて出力するようになっている。On the other hand, the tension setting value T0 set by the tension setting section 9 is output to the comparator 11, and the comparator 11 calculates the current tension T( (feedback value) and input to the frequency separation section 12 as a signal corresponding to the deviation. As the tension detector 10, for example, one is used that determines the tension from the motor torque when a motor is used as the looper drive source, and from the oil pressure when a hydraulic cylinder is used. It is not limited. The frequency separator 12 separates the input tension fluctuations into components exceeding a predetermined reference value t0 as high-frequency components of tension fluctuations, and components below the reference value t0 as low-frequency components of tension fluctuations. The components are output separately to a high frequency component tension control section 13 and low frequency components to a low frequency component tension control section 14.
【0011】高周波成分張力制御部13は、入力された
高周波成分の張力変動を解消するに必要なルーパ角度制
御信号を加算器7へ出力し、前記角度制御部6からの信
号と加算されてルーパの駆動制御装置8へ出力する。一
方低周波成分張力制御部14は入力された低周波成分の
張力変動を解消するに必要な圧延スタンド1のロール速
度制御信号を求めて、これを圧延スタンド駆動制御装置
15へ出力する。圧延スタンド駆動制御装置15は入力
された圧延ロール速度制御信号に対応したロール駆動信
号をロール駆動モータ等の駆動源16へ出力し、これを
駆動して圧延スタンドのロールを駆動するようになって
いる。The high frequency component tension control section 13 outputs a looper angle control signal necessary to eliminate the tension fluctuation of the input high frequency component to the adder 7, which is added to the signal from the angle control section 6 and then output to the looper angle control signal. output to the drive control device 8. On the other hand, the low frequency component tension control section 14 obtains a roll speed control signal for the rolling stand 1 necessary to eliminate the tension fluctuation of the inputted low frequency component, and outputs this to the rolling stand drive control device 15. The rolling stand drive control device 15 outputs a roll drive signal corresponding to the inputted rolling roll speed control signal to a drive source 16 such as a roll drive motor, and drives this to drive the rolls of the rolling stand. There is.
【0012】次に本発明装置と従来装置との比較試験結
果について説明する。なお、試験においては被圧延材と
して厚さ2.0mm 、板幅1000mmのものを用い
た。また本発明装置においては周波数分離部12におい
て用いる周波数の基準値を1Hzとした。図2(a),
図2(b) は本発明装置を用いた場合におけるルーパ
角度及び被圧延材の張力の推移を示すグラフ、また図3
(a),図3(b) は被圧延材の張力をルーパにより
、またルーパ角度を圧延機の圧延ロール速度制御によっ
て制御した場合におけるルーパ角度及び被圧延材の張力
の推移を示すグラフ、図4(a),図4(b) は被圧
延材の張力を圧延機の圧延ロール速度調節によって制御
した場合におけるルーパ角度, 被圧延材の張力の推移
を示すグラフである。Next, the results of a comparative test between the device of the present invention and a conventional device will be explained. In addition, in the test, a material to be rolled having a thickness of 2.0 mm and a plate width of 1000 mm was used. Further, in the device of the present invention, the reference value of the frequency used in the frequency separation section 12 was set to 1 Hz. Figure 2(a),
FIG. 2(b) is a graph showing the transition of the looper angle and the tension of the rolled material when using the apparatus of the present invention, and FIG.
3(a) and 3(b) are graphs and diagrams showing the changes in the looper angle and the tension in the rolled material when the tension in the rolled material is controlled by the looper and the looper angle is controlled by the rolling roll speed control of the rolling mill. 4(a) and 4(b) are graphs showing changes in the looper angle and the tension in the rolled material when the tension in the rolled material is controlled by adjusting the rolling roll speed of the rolling mill.
【0013】図2,図3,図4を対比すれば明らかなよ
うに図3に示す従来装置では被圧延材の張力は比較的安
定しているのに対し、ルーパ角度が不安定であり、また
図4に示す従来装置ではルーパ角度が安定しているのに
対して被圧延材の張力が不安定となっている。これに対
して本発明装置は図2に示す如く、ルーパ角度,被圧延
材の張力のいずれについても安定状態が得られているこ
とが解る。なお、本発明装置は圧延装置の定常運転時は
勿論、通板時にも適用可能である。As is clear from comparing FIGS. 2, 3, and 4, in the conventional apparatus shown in FIG. 3, the tension of the material to be rolled is relatively stable, but the looper angle is unstable. Further, in the conventional apparatus shown in FIG. 4, although the looper angle is stable, the tension of the material to be rolled is unstable. In contrast, in the apparatus of the present invention, as shown in FIG. 2, a stable state is obtained for both the looper angle and the tension of the material to be rolled. The device of the present invention can be applied not only during steady operation of the rolling mill but also during sheet threading.
【0014】[0014]
【発明の効果】以上の如く本発明装置にあっては、張力
変動の高周波成分はルーパ角度制御によって、また低周
波成分は圧延スタンドの圧延ロール速度の制御によって
夫々張力制御を行うこととしたから、張力変動の高周波
成分を応答性に優れたルーパにて正確に制御することが
可能となり、圧延製品の寸法精度の大幅な向上を図れる
など本発明は優れた効果を奏するものである。As described above, in the apparatus of the present invention, the high frequency component of tension fluctuation is controlled by looper angle control, and the low frequency component is controlled by controlling the rolling roll speed of the rolling stand. The present invention has excellent effects, such as making it possible to accurately control high-frequency components of tension fluctuations using a looper with excellent responsiveness, and greatly improving the dimensional accuracy of rolled products.
【図1】本発明装置のブロック図である。FIG. 1 is a block diagram of the device of the present invention.
【図2】本発明装置におけるルーパ角度, 被圧延材の
張力の推移を示すグラフである。FIG. 2 is a graph showing changes in the looper angle and the tension in the rolled material in the apparatus of the present invention.
【図3】従来装置におけるルーパ角度, 被圧延材の張
力の推移を示すグラフである。FIG. 3 is a graph showing changes in the looper angle and tension in the rolled material in a conventional device.
【図4】他の従来装置におけるルーパ角度, 被圧延材
の張力の推移を示すグラフである。FIG. 4 is a graph showing changes in looper angle and tension in the rolled material in other conventional equipment.
1,2 圧延スタンド
3 ルーパ
3d 角度検出器
4 角度設定部
5 比較器
6 角度制御部
7 加算器
8 駆動制御装置
9 張力設定部
10 張力検出器
11 比較器
12 周波数分離部
13 高周波成分張力制御部14
低周波成分張力制御部15 スタンド駆動
制御装置16 駆動源
S 被圧延材1, 2 Rolling stand 3 Looper 3d Angle detector 4 Angle setting section 5 Comparator 6 Angle control section 7 Adder 8 Drive control device 9 Tension setting section 10 Tension detector 11 Comparator 12 Frequency separation section 13 High frequency component tension control section 14
Low frequency component tension control section 15 Stand drive control device 16 Drive source S Rolled material
Claims (1)
設されたルーパと、前記圧延スタンド間における被圧延
材の張力を検出する張力検出器及びルーパ角度を検出す
る検出器と、前記張力検出器にて検出された張力を予め
定めた設定値に一致させるべく制御する制御装置と、ル
ーパ角度を予め定めた設定値に一致させるべく制御する
制御装置とを備えた張力制御装置において、前記張力検
出器にて検出した被圧延材の検出張力値に基づき張力変
動を高周波成分と低周波成分とに分離する手段と、分離
された前記高周波成分はこれを解消すべくルーパの角度
制御装置へ入力する手段と、また前記低周波成分は圧延
スタンド駆動制御装置へ入力する手段と具備することを
特徴とする張力制御装置。1. A rolling stand, a looper disposed between the rolling stands, a tension detector for detecting the tension of a material to be rolled between the rolling stands, a detector for detecting the looper angle, and the tension detector. In the tension control device, the tension control device includes a control device that controls the tension detected by the tension sensor to match a predetermined set value, and a control device that controls the looper angle to match the predetermined set value. means for separating tension fluctuation into a high frequency component and a low frequency component based on the detected tension value of the rolled material detected by the device, and inputting the separated high frequency component to the angle control device of the looper in order to eliminate this. and means for inputting the low frequency component to a rolling stand drive control device.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP3098110A JP2546079B2 (en) | 1991-04-02 | 1991-04-02 | Tension control device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP3098110A JP2546079B2 (en) | 1991-04-02 | 1991-04-02 | Tension control device |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH04305306A true JPH04305306A (en) | 1992-10-28 |
JP2546079B2 JP2546079B2 (en) | 1996-10-23 |
Family
ID=14211190
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP3098110A Expired - Fee Related JP2546079B2 (en) | 1991-04-02 | 1991-04-02 | Tension control device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2546079B2 (en) |
-
1991
- 1991-04-02 JP JP3098110A patent/JP2546079B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JP2546079B2 (en) | 1996-10-23 |
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