JPS60121976A - Method of controlling speed of rolling mill - Google Patents
Method of controlling speed of rolling millInfo
- Publication number
- JPS60121976A JPS60121976A JP58227666A JP22766683A JPS60121976A JP S60121976 A JPS60121976 A JP S60121976A JP 58227666 A JP58227666 A JP 58227666A JP 22766683 A JP22766683 A JP 22766683A JP S60121976 A JPS60121976 A JP S60121976A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- period
- pulses
- pulse
- counting
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/46—Roll speed or drive motor control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/16—Controlling the angular speed of one shaft
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Control Of Velocity Or Acceleration (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Metal Rolling (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明はディジタルＡＳＲを用いた圧延機の低速領域に
おける速度制御方法に関する。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a speed control method in the low speed region of a rolling mill using digital ASR.
従来技術の問題点
圧延機の速度制御を行なうために従来はアナログ方式に
よる速度制御袋＠ （ＡＳＲ）が一般に用いられていた
が近年、制御精度向上やメインテナンスの容易化を目的
としてディジタル演算器を用いたディジタルＡＳＲが多
く用いられてきている。Problems with the conventional technology In the past, an analog speed control bag @ (ASR) was generally used to control the speed of a rolling mill, but in recent years, digital computing units have been used to improve control accuracy and ease maintenance. Digital ASR has been widely used.
このディジタルＡＳＲを圧延機に用いた場合、加減速時
の制御精度等は従来のアナログ方式に比べて大幅に改善
され、かつメインテナンスも容易に行なえる様になって
い“るが、低速圧延時における速度制御精度については
以下に述べる理由により悪化するのを避けることができ
なかつ１こ。When this digital ASR is used in a rolling mill, control accuracy during acceleration and deceleration is greatly improved compared to conventional analog methods, and maintenance is also easier. Regarding speed control accuracy, deterioration cannot be avoided due to the reasons described below.
一般に圧延機の速度制御を行なう場合、モーター軸に回
転速度を検出するためのパルス発信器（以下、ＰＬＧと
称す）が取りイ」けられており、このＰＬＧからのパル
ス数をカウントして回転速度をめ請求めた回転速度をフ
ィードバックして目標回転速度となる様にＡＳＲにて速
度制御を行なう。Generally, when controlling the speed of a rolling mill, a pulse generator (hereinafter referred to as PLG) is installed on the motor shaft to detect the rotation speed, and the number of pulses from this PLG is counted to rotate the motor. The requested rotational speed is fed back and the speed is controlled by ASR so that the rotational speed reaches the target rotational speed.
しかし、このＰＬＯが光学式の場合のパルス発信数は最
大２．４００ パルス／回転程度である。However, when this PLO is of optical type, the maximum number of pulses transmitted is about 2.400 pulses/rotation.
このため低速領域では単位時間内に発生するパルス数は
非常に小さくなり、このパルス数よりまる回転速度の検
出精度が悪化する。例えば、制御周期が２０ｍ５ｅｃの
ディジタルＡＳＲに２ｅ４０Ｑノ（ルス／回転のＰＬＧ
を用い１こ場合において、モーター回転速度が４００
ｒｌ）ｍと４ ｒｐＩｌｌの場合のＡＳＲ１周期毎のＰ
ＬＧ のパルス発信数はそれぞれ３２０パルスと３．２
パルスとなり、この場合の速度検出精度はそれぞれ０．
３１２５％と３１．２５％になる。この様に低速領域で
の速度検出精度は大幅に悪化するために、その結果とし
て速度制御精度も同様に悪化することになる。この様な
問題点を解決する手段として、例えば特開昭５４−７３
８５号公報においては単位時間内でのパルス数の小数点
以下の部分の値をめるためにＰＬＧの発信周波数を迎倍
して計測する速度計数方式が提案されている。Therefore, in the low speed region, the number of pulses generated within a unit time becomes very small, and the accuracy of detecting the rotational speed deteriorates as a result of this number of pulses. For example, a digital ASR with a control period of 20m5ec and a PLG with a control period of 2e40Q (lux/rotation)
In this case, the motor rotation speed is 400
rl) m and P per ASR 1 period for m and 4 rpIll
The number of pulses for LG is 320 pulses and 3.2 pulses, respectively.
The speed detection accuracy in this case is 0.
They become 3125% and 31.25%. As described above, since the speed detection accuracy in the low speed region deteriorates significantly, the speed control accuracy also deteriorates as a result. As a means to solve such problems, for example, Japanese Patent Application Laid-Open No. 54-73
No. 85 proposes a speed counting method in which the oscillation frequency of the PLG is multiplied and measured in order to calculate the value of the part below the decimal point of the number of pulses within a unit time.
この方式によると単位時間内でのパルスの最終パルスの
小数点以下の部分についてもめることができ、従来に比
べ大幅に精度を向Ｊ−できるが、やはり高速領域に比べ
て低速領域での速度検出精度が悪化する傾向は避けられ
ない。According to this method, the part below the decimal point of the final pulse within a unit time can be determined, and the accuracy can be significantly improved compared to the conventional method, but the speed detection accuracy in the low speed region is still lower than that in the high speed region. The tendency for things to get worse is inevitable.
発明の目的
本発明は前述の問題点を解決するｔコめのものであり、
低速領域においてもすぐれた速度制御精度を有するディ
ジタルＡＳＲを提供するための速度制御方法である。OBJECTS OF THE INVENTION The present invention is directed to solving the above-mentioned problems.
This is a speed control method for providing digital ASR with excellent speed control accuracy even in a low speed region.
発明の構成
本発明は前記目的を達成するためにディジタルＡＳＲを
用いた圧延機の速度制御方法において、高速領域ではデ
ィジタルＡＳＲの１周期毎に速度検出用パルス数を計数
して回転速度をめ、所定速度以下の低速領域ではディジ
タルＡＳＲの複数周期毎に速度検出用パルス数を計数し
て回転速度をめ、その結果と目標速度との差を小さくす
る様に圧延機モーγ悦速度制御を行なうことを特徴とす
る圧延機の速度制御方法である。SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a method for controlling the speed of a rolling mill using digital ASR, in which the rotation speed is determined by counting the number of speed detection pulses for each cycle of digital ASR in the high-speed region; In the low speed region below a predetermined speed, the rotation speed is determined by counting the number of speed detection pulses every multiple cycles of the digital ASR, and the rolling mill motor gamma speed control is performed to reduce the difference between the result and the target speed. This is a rolling mill speed control method characterized by the following.
発明の具体例
以下、本発明の詳細を添付図面に基づいて説明する。第
１図は本発明を実施するための圧延機の速度制御系の一
実施例を示すブロック図である。Specific Examples of the Invention The details of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a block diagram showing an embodiment of a speed control system of a rolling mill for implementing the present invention.
図中、＋１１は圧延機、（２）は圧延機（１）を駆動す
る直流モーター（以下、ＤＣＭと略す）、（３）はＤＣ
Ｍ（２１の回転軸上に設けた回転速度検出用のＰＬＧ、
＋４１はパルスカウンター、（５１）、 （５２１，ｊ
ｌ’ｒＬ（財）ハパルスカウンター（４）で計数された
パルス数を記憶するアキュームレーター（以下、ＡＣＣ
と略す）、ｌ６１）、國、（６：う）、（６蔚はゲート
、（７）は計測パルス数演算器、（８）は回転速度演算
器、（９）は計数周期演算器、（１０）はゲート釦）〜
（６４１の開閉をコントロールするゲートコントローラ
ー、（１１）はディジタルＡＳＲである。In the figure, +11 is a rolling mill, (2) is a DC motor (hereinafter abbreviated as DCM) that drives the rolling mill (1), and (3) is a DC motor.
M (PLG for rotational speed detection provided on the rotating shaft of 21,
+41 is a pulse counter, (51), (521,j
Accumulator (hereinafter referred to as ACC) that stores the number of pulses counted by l'rL Hapulus Counter (4)
), l61), country, (6:U), (6 is the gate, (7) is the measurement pulse number calculator, (8) is the rotation speed calculator, (9) is the counting cycle calculator, ( 10) is the gate button)~
(The gate controller that controls the opening and closing of 641, (11) is a digital ASR.
ＤＣＭ＋２１の回転速度検出用のパルス信号はＰＬＧ（
３）よりパルスカウンター（４）へ送られ、ＡＳＲ１周
期毎に発生するパルス数をカウントし、ｒこだちにＡＣ
Ｃｒｌｌｌへ送られる。次にＡＣＣｔ（５υに記憶され
ｒコパルス数はＡＳＲ１周期完了毎に順次、Ａ ＣＣ＋
Ｆ＋ １１ようＡＣＣ２國へ移送され、同作にＡＣＣｉ
關よりＡＣＣｋ伸４）へ移送される。すなわら、ＡＣＣ
ｋに記憶されたパルス数はＡＳＲｏ）ｋ周期前の過去の
データである。こうしてＡＣＣ，〜ＡＣＣｋに記憶され
たパルス数は以下の処理を行なって旧測パルス数演算器
（７）へ送られる。まず、各々のＡ ＣＣ，〜ＡＣＣｋ
に記憶されｔこパルス数は各ＡＣＣ，−ＡＣＣｋに対応
したゲートＩＩ）〜帖・０を通過して前記計測パルス数
演算盟（７）へ移送される。このときのゲート帽）〜＠
４）の開閉はその時点の回転速度と、第２図に示すグラ
フの関係より計数周期演算器（９）にて計数周期ｉを決
定し、決定された８１数周期ｉをゲートコントローラー
（１０）に伝える。ゲートコントローラー＋１０１は決
定されたｉに応じてＡＣＣ，〜ＡＣＣｉに対応したゲー
トを開く。４測パルス演算器（７）はＡＳＲ１周期毎に
前期ＡＣＣ，〜ＡＣＣｉに記・直されたパルス数を用い
て以下に示す＋１ｊ式により計測パルス数Ｐをめる。The pulse signal for detecting the rotation speed of DCM+21 is PLG (
3) is sent to the pulse counter (4), which counts the number of pulses generated per ASR cycle, and then sends the AC to the rkodachi.
Sent to Crll. Next, the number of r copulses stored in ACCt(5υ) is sequentially stored in ACCt(5υ), ACC+
F+11 was transferred to ACC2 countries, and ACCi was added to the same work.
The data is then transferred to the ACCk extension 4). In other words, ACC
The number of pulses stored in k is past data from ASRo)k cycles ago. The pulse numbers thus stored in ACC, -ACCk undergo the following processing and are sent to the old pulse number calculator (7). First, each ACC, ~ACCk
The number of pulses stored in t passes through gates II) to 0 corresponding to each ACC and -ACCk, and is transferred to the measurement pulse number calculation unit (7). Gate cap at this time) ~ @
4), the counting period i is determined by the counting period calculator (9) based on the relationship between the rotational speed at that point and the graph shown in FIG. tell to. The gate controller +101 opens the gates corresponding to ACC, to ACCi according to the determined i. The 4-measured pulse calculation unit (7) calculates the number of measured pulses P by using the +1j formula shown below using the number of pulses written and rewritten in the previous period ACC, -ACCi for each ASR period.
数
ΔＰｉ ： ＡＣＣ８〜ＡＣＣｉに記憶されたＡＳＲＩ
周期毎のパルス数
次に、上記（１ｊ式によりめたＰと、計数周期ｉを用い
て下記（２）式によりその時点での回転速度■がまる。Number ΔPi: ASRI stored in ACC8 to ACCi
Number of pulses per period Next, using P determined by the above equation (1j) and the counting period i, the rotational speed at that point is determined by the following equation (2).
Δ”ｌ−ＸｉＸｐＣ
但し、ΔＴ ： ＡＳＲＩ周期に要する時間（秒）ＰＣ
： ＤＣＭ１回転毎のＰＬＧからのパルス発信数（パル
ス／回転）
第３図に、計数周期ｉとΔＰｉの関係を図示した状態を
示す。なお、本発明方法において回転速度より計数周期
ｉを決定する方法は第２図の関係に限定されず、低速領
域においてＪＩ数同周期長くなりさえすれば、他の関係
を用いてもよい。こうしてめた回転速度Ｖは前記計数周
期演算器（９）とＡＳＲ（１１へ送られ、計数周期演算
器（９）では前述の如く回転速度Ｖに対応しｊコ引数周
期ｊを決定し、ＡＳＲ（川はめた回転速度Ｖと目標速度
を比較してＤＣＭ（２１へ速度制御指令を出力する。ま
たＡ Ｓ Ｒ（Ｉ＋）は制御周期完了毎にＡＳＲＩ周期
完了信号をパルスカウンター（４）と、アキュームレー
ター（５１）〜（５４）へ出力する。このようにＰ Ｌ
Ｇ（３１からのパルス信号旧敵周期をＤ ＣＭ＋２１
の回転速度に応じて可変とし、低速領域における回転速
度検出精度を晶めて速度制御を行なうことにより速度制
御精度がすぐれた圧延機の制御が実現できる。Δ”l−XiXpC However, ΔT: Time required for ASRI cycle (seconds) PC
: Number of pulses sent from the PLG per one rotation of the DCM (pulses/rotation) FIG. 3 shows a diagram illustrating the relationship between the counting period i and ΔPi. In addition, in the method of the present invention, the method of determining the counting period i from the rotational speed is not limited to the relationship shown in FIG. 2, but other relationships may be used as long as the period becomes longer by the same number of JIs in the low speed region. The rotational speed V thus calculated is sent to the counting period calculator (9) and the ASR (11), and the counting period calculator (9) determines the argument period j corresponding to the rotational speed V as described above, (Compares the rotation speed V and the target speed and outputs a speed control command to the DCM (21).ASR (I+) also sends an ASRI cycle completion signal to the pulse counter (4) every time the control cycle is completed. Output to accumulators (51) to (54).In this way, P L
G (D pulse signal old enemy period from 31 CM+21
The rolling mill can be controlled with excellent speed control accuracy by making the rotation speed variable depending on the rotation speed of the rolling mill and controlling the speed by focusing on the rotation speed detection accuracy in the low speed region.
なお、本発明方法における計数周期の数（ｉ＝１−ｋ）
は必要とする制御精度に応じて決定すればよいが、あま
り多くするとその分だけ制御応答時間が長くなるため、
その点を考慮する必要がある。In addition, the number of counting cycles in the method of the present invention (i=1−k)
should be determined according to the required control accuracy, but if the number is too large, the control response time will increase accordingly.
That point needs to be taken into account.
発明の効采
以上述べたように本発明方法を用いたディジタルＡＳＲ
の速度制御精度は低速領域において計数周期を増してパ
ルスカウントすることにより、従来方法に比べて大幅に
制御精度を改善できる。Effects of the invention As described above, digital ASR using the method of the present invention
The speed control accuracy can be significantly improved compared to conventional methods by increasing the counting period and counting pulses in the low speed region.
第１図は本発明方法を実施するための一実施例を示すブ
ロック図、第２図は回転速度Ｖと計数周期ｉの関係を示
す図、第３図は計数周期と計測パルス数を示す図である
。FIG. 1 is a block diagram showing an embodiment for carrying out the method of the present invention, FIG. 2 is a diagram showing the relationship between the rotational speed V and the counting period i, and FIG. 3 is a diagram showing the counting period and the number of measurement pulses. It is.
Claims (1)
て、高速領域ではディジタルＡＳＲの１サイクル毎に速
度検出用パルス数を計数して回転速度をめ、所定速度以
下の低速領域ではディジタルＡＳＲの複数サイクル毎に
速度検出用パルス数を計数して回転速度をめ、その結果
と目標速度との差を小さくするように圧延機モータの速
度制御を行なうことを特徴とする圧延機の速度制御方法
。In a rolling mill speed control method using digital ASR, in the high speed range, the number of speed detection pulses is counted for each cycle of digital ASR to determine the rotation speed, and in the low speed range below a predetermined speed, the number of pulses for speed detection is counted every multiple cycles of digital ASR. A method for controlling the speed of a rolling mill, characterized in that the rotation speed is determined by counting the number of speed detection pulses, and the speed of the rolling mill motor is controlled so as to reduce the difference between the result and the target speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58227666A JPS60121976A (en) | 1983-12-01 | 1983-12-01 | Method of controlling speed of rolling mill |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58227666A JPS60121976A (en) | 1983-12-01 | 1983-12-01 | Method of controlling speed of rolling mill |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60121976A true JPS60121976A (en) | 1985-06-29 |
Family
ID=16864424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58227666A Pending JPS60121976A (en) | 1983-12-01 | 1983-12-01 | Method of controlling speed of rolling mill |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60121976A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63174109A (en) * | 1987-01-14 | 1988-07-18 | Toshiba Corp | Positioning controller |
| JPS63220788A (en) * | 1987-03-06 | 1988-09-14 | Daikin Ind Ltd | Fan controller for air-conditioning machine |
| JPS6443087A (en) * | 1987-08-10 | 1989-02-15 | Daikin Ind Ltd | Revolution control for fan motor |
| CN105022422A (en) * | 2015-08-14 | 2015-11-04 | 杜铁军 | Regulation and control method of blood component separator and blood component separator |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55472A (en) * | 1979-03-28 | 1980-01-05 | Hitachi Ltd | Speed detector |
-
1983
- 1983-12-01 JP JP58227666A patent/JPS60121976A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55472A (en) * | 1979-03-28 | 1980-01-05 | Hitachi Ltd | Speed detector |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63174109A (en) * | 1987-01-14 | 1988-07-18 | Toshiba Corp | Positioning controller |
| JPS63220788A (en) * | 1987-03-06 | 1988-09-14 | Daikin Ind Ltd | Fan controller for air-conditioning machine |
| JPS6443087A (en) * | 1987-08-10 | 1989-02-15 | Daikin Ind Ltd | Revolution control for fan motor |
| CN105022422A (en) * | 2015-08-14 | 2015-11-04 | 杜铁军 | Regulation and control method of blood component separator and blood component separator |
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