JPS611407A - Rolling control method of hot rolling mill - Google Patents
Rolling control method of hot rolling millInfo
- Publication number
- JPS611407A JPS611407A JP59120714A JP12071484A JPS611407A JP S611407 A JPS611407 A JP S611407A JP 59120714 A JP59120714 A JP 59120714A JP 12071484 A JP12071484 A JP 12071484A JP S611407 A JPS611407 A JP S611407A
- Authority
- JP
- Japan
- Prior art keywords
- control system
- control
- plate thickness
- looper angle
- side plate
- 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
- B21B37/16—Control of thickness, width, diameter or other transverse dimensions
- B21B37/165—Control of thickness, width, diameter or other transverse dimensions responsive mainly to the measured thickness of the product
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B1/00—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations
- B21B1/22—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling plates, strips, bands or sheets of indefinite length
- B21B1/24—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling plates, strips, bands or sheets of indefinite length in a continuous or semi-continuous process
- B21B1/26—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling plates, strips, bands or sheets of indefinite length in a continuous or semi-continuous process by hot-rolling, e.g. Steckel hot mill
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2261/00—Product parameters
- B21B2261/02—Transverse dimensions
- B21B2261/04—Thickness, gauge
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2261/00—Product parameters
- B21B2261/02—Transverse dimensions
- B21B2261/06—Width
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B41/00—Guiding, conveying, or accumulating easily-flexible work, e.g. wire, sheet metal bands, in loops or curves; Loop lifters
- B21B41/08—Guiding, conveying, or accumulating easily-flexible work, e.g. wire, sheet metal bands, in loops or curves; Loop lifters without overall change in the general direction of movement of the work
- B21B41/10—Loop deflectors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Metal Rolling (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は非干渉化を考慮した熱間連続圧延機の制御方法
に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method of controlling a continuous hot rolling mill in consideration of non-interference.
第１図は熱間連続仕上圧延機の任意隣接する２スタンド
の構成を示したものである。同図において、Ａは上流ス
タンド、Ｂは下流スタンドである。１０．１２はワーク
ロール、１１．１３はバックアップロール、１４は圧延
材（ストツク７″）、１５はルーパ、１６はルーツ母駆
動モータ、１７は圧延機駆動モータ、１８はルーパ角度
検出器、１９は圧延機駆動モータ制御装置、２０は荷重
検出器、２１は板厚制御装置、２２は板幅検出器、２３
はルー・ぞ駆動トルク制御装置、２４はロール間隙検出
器である。FIG. 1 shows the configuration of two arbitrarily adjacent stands of a continuous hot finishing mill. In the figure, A is an upstream stand and B is a downstream stand. 10.12 is a work roll, 11.13 is a backup roll, 14 is a rolled material (stock 7''), 15 is a looper, 16 is a roots mother drive motor, 17 is a rolling mill drive motor, 18 is a looper angle detector, 19 2 is a rolling mill drive motor control device, 20 is a load detector, 21 is a plate thickness control device, 22 is a plate width detector, 23
24 is a roll gap detector.
この構成においては、ストリップ１４の板厚が制御系に
与えられている板厚目標値から外れると、その板厚変動
は荷重検出器２０の検出出力とロール間隙検出器２４の
検出出力とを受ける板厚制御装置２１によシロール間隙
Ｓを修正してフィードバック制御されろうまた、ルーパ
角変動はルーツ４角度検出器１８が検出し圧延機駆動モ
ータ制御装置１７により上流スタンドＡのワークロール
速度を修正してフィードバック制御される。更に、板幅
も制御系に与えられている板幅目標値から外れると、そ
の板幅変動は板幅検出器２２の出力を受けるルーツや駆
動モータ制御装置２３によりルーツや駆動トルクを修正
してフィードバック制御される。In this configuration, when the thickness of the strip 14 deviates from the target thickness value given to the control system, the thickness variation is affected by the detection output of the load detector 20 and the detection output of the roll gap detector 24. The sheet thickness control device 21 corrects the roll gap S and performs feedback control.Furthermore, the looper angle variation is detected by the Roots 4 angle detector 18, and the rolling mill drive motor control device 17 corrects the work roll speed of the upstream stand A. controlled by feedback. Furthermore, when the strip width deviates from the strip width target value given to the control system, the strip width fluctuation is corrected by correcting the roots and drive torque by the roots receiving the output of the strip width detector 22 and the drive motor control device 23. Feedback controlled.
一般に、荷重変動ΔＦはロール間隙変動Δｓ１人側板厚
変動ΔＨ１１前方張力変動Δｉｆ、後方張力変動Δｔｂ
、材料の変形抵抗変動Δｋに起因して発生し、出側板厚
変動ΔＨＯが下式で示すように変動する。Generally, the load fluctuation ΔF is the roll gap fluctuation Δs, the plate thickness fluctuation on the person's side ΔH1, the front tension fluctuation Δif, and the rear tension fluctuation Δtb.
, occurs due to the deformation resistance variation Δk of the material, and the outlet side plate thickness variation ΔHO varies as shown in the following equation.
ΔＨｏ＝ΔＳ＋ΔＦ／Ｍ・・・・・・・・・・・・（１
）ΔＦ＝ＰｈΔＨｉ十ｐｓΔＳ＋ＰｔｆΔ１ｆ−１−ｐ
ｔｂｌｔｂ＋ｐｋΔｋ（２）但し、Ｍ：ミル定数、
Ｐｈ：圧延荷重に対する入側板厚の影響係数ＰＳニーＭ
−Ｑ／ （Ｍ＋Ｑ ）
ｐｔｒ ：圧延荷重に対する前方張力の影響係数ｐｔｂ
：圧延荷重に対する後方張力の影響係数Ｐｋ：圧延荷
重に対する変形抵抗の影響係数Ｑ：塑性係数
また、板厚変動ΔＨｉ１ ΔＨＯによシ先進率、後進率
が変動し、スタンド間ストリッグ速度Ｖが下式で示す如
く変動する。ΔHo=ΔS+ΔF/M・・・・・・・・・・・・(1
)ΔF=PhΔHi0psΔS+PtfΔ1f−1−p
tbltb+pkΔk (2) where, M: Mill constant, Ph: Influence coefficient of entrance plate thickness on rolling load PS knee M
-Q/ (M+Q) ptr: Influence coefficient of forward tension on rolling load ptb
: Influence coefficient of rear tension on rolling load Pk: Influence coefficient of deformation resistance on rolling load Q: Plasticity coefficient In addition, the advance rate and backward rate change depending on plate thickness variation ΔHi1 ΔHO, and the inter-stand string speed V is calculated by the following formula. It fluctuates as shown in .
Δｖ＝ｃｉ・ΔＨｉ＋ＣＯ・ΔＨＯ・・・・・・・・・
（３）但し、ｃｉ：入側板厚変動のスタンド間ストリッ
プ速度に及ぼす影響係数、
ＣＯ：出側板厚変動のスタンド間ストリップ速度に及ば
ず影響係数、
また、入側板厚変動ΔＨｉ１出側板出側動ΔＨＯ１入側
板幅変動ΔＷ１、前方張力変動ΔＴｆ、後方張力変動Δ
Ｔｂ、材料の変形抵抗の変動Δｋによシ、出側板幅ＷＯ
が下式で示すように変動する。Δv=ci・ΔHi+CO・ΔHO・・・・・・・・・
(3) However, ci: Influence coefficient of inlet plate thickness variation on inter-stand stripping speed, CO: Influence coefficient of outlet plate thickness variation on inter-stand stripping speed, In addition, inlet plate thickness variation ΔHi1 Outlet plate exit movement ΔHO1 Inlet plate width variation ΔW1, front tension variation ΔTf, rear tension variation Δ
Tb, variation Δk in material deformation resistance, exit plate width WO
changes as shown in the formula below.
ΔＷＯ＝ Ａ、ΔＷｉ十Ａ、ΔＨＯ＋Ａ、ΔＨｉ＋Ａ４
Δｔｂ十Ａ、Δｔ ｆ ＋ＡｓΔｋ ・・・・・・・・
・・・・（４）但し、
Ａ、：出側板幅に対する入側板幅の影響係数Ａ、：出側
板幅に対する出側板厚の影響係数Ａ３：出側板幅に対す
る入側板厚の影響係数また、張力変動は、
Δ７ｔ）＝Δｔ・Ｅ／ｌ ・・・・・・・・・・・・
（５）但し、ｌ：基準スタンド間のストリング長さ、Ｅ
：ヤング率、
Δｔ：スタンド間ス） ｌ）ツブ長さの基準長ｔからの
変化量
と表わされる。ΔWO=A, ΔWi+A, ΔHO+A, ΔHi+A4
Δtb10A, Δt f + AsΔk ・・・・・・・・・
...(4) However, A,: Influence coefficient of inlet side plate width on outlet side plate width A,: Influence coefficient of outlet side plate thickness on outlet side plate width A3: Influence coefficient of inlet side plate thickness on outlet side plate width Also, tension The fluctuation is Δ7t)=Δt・E/l ・・・・・・・・・・・・
(5) However, l: string length between reference stands, E
: Young's modulus, Δt: distance between stands) l) It is expressed as the amount of change in the tube length from the reference length t.
このように、板厚、張力、板幅の変動は相互に干渉し合
い、例えば、ワークロールがストツクｆ１４のスキッド
部を噛込んで板厚が変動した場合、上記第１図の板厚制
御系では、これを修正しようとしてロール圧下量が大き
くなるが、圧下量が大きくなると、所謂圧延材の横流れ
現象が発生して板幅の変動をもたらし、この圧下量の変
動は、さらに、スタンド間のストリップのループ量、ル
ーパ角間の変動を招き、スタンド間のストリップ張力に
影響を及ぼすので、板幅、板厚がさらに変動し、制御の
安定性を欠く結果となる。In this way, variations in plate thickness, tension, and plate width interfere with each other. For example, if the work roll bites the skid part of stock f14 and the plate thickness changes, the plate thickness control system shown in Fig. 1 above In an attempt to correct this, the amount of roll reduction increases, but as the amount of reduction increases, a so-called lateral flow phenomenon of the rolled material occurs, resulting in fluctuations in the strip width, and this variation in the amount of reduction further causes the difference between the stands. This causes fluctuations in the amount of loops in the strip and the looper angle, which affects the strip tension between the stands, which further fluctuates the board width and thickness, resulting in a lack of control stability.
第２図（ａ）及び０））は板厚外乱に対し従来の制御を
実施した場合の板厚制御系に対する影響を示したもので
、Ｋけ圧下位置制御ゲイン、Ｋβはルーツク角制御ゲイ
ン、ＫＷは板幅制御ゲインである。両図の比較から明ら
かなように、同じ圧下位置制御ゲインにで板厚制御を行
っても、ルーパ角制御ゲインにβの選び方で張力変＝ｂ
ｔ起こし、これが板厚制御に干渉していることが理解さ
れる１゜
従って、板厚、ルーツヤ角及び板幅を板厚制御系、ルー
パ角制御系及び板幅制御系でそれぞれ独立して制御する
従来の制御システラでは制御精度に限界があり、近年、
益々、厳しくなる寸法精度に対する要求に応えることが
できない乙いう問題があった。Figures 2(a) and 0)) show the effects on the plate thickness control system when conventional control is implemented for plate thickness disturbances, where K is the pressure reduction position control gain, Kβ is the rootstalk angle control gain, KW is board width control gain. As is clear from the comparison of both figures, even if the plate thickness is controlled with the same reduction position control gain, the tension change = b depending on how β is selected for the looper angle control gain.
It is understood that this interferes with plate thickness control. Therefore, the plate thickness, root heel angle, and plate width are controlled independently by the plate thickness control system, looper angle control system, and plate width control system. Conventional system control systems have limited control accuracy, and in recent years,
There was a problem in that it was not possible to meet the increasingly strict demands for dimensional accuracy.
本発明は上記した従来の問題点に鑑みてなされ友もので
、板厚制御系、ルーフ９角制御系及び板幅制御系の各制
御系の制御量から当該制御系の寄与分と他制御系に及ば
ず干渉分を予め演算し、−の制御系の出力変動、例えば
、板厚変動が発生した場合には板厚制御系だけでなく、
同時に、他の２つの制御系をも上記干渉分により駆動す
る構成とすることに工り、上記３制御系間を相互非干渉
化することができ、従来に比して、圧延材の寸法精度を
高めることができる熱間圧延機の制御方法を提供するこ
とを目的とする。The present invention has been made in view of the above-mentioned conventional problems, and is based on the control amount of each control system, including the plate thickness control system, roof 9-angle control system, and plate width control system, and calculates the contribution of the control system and other control systems. Calculate the amount of interference in advance, and if negative control system output fluctuations occur, for example, sheet thickness fluctuations, not only the sheet thickness control system but also the sheet thickness control system.
At the same time, the other two control systems are also configured to be driven by the interference component described above, making it possible to eliminate mutual interference between the three control systems and improving the dimensional accuracy of the rolled material compared to conventional methods. An object of the present invention is to provide a method for controlling a hot rolling mill that can increase the performance of the hot rolling mill.
以下、本発明の一実施例を図面を参照して説明する。 Hereinafter, one embodiment of the present invention will be described with reference to the drawings.
第３図において、３０は非干渉化制御装置であって、第
１図の制御システム内に付設され、板幅検出器２２、荷
重検出器２０及びルーツ４角検出器１８からそれぞれ出
側板幅変動量ΔＷＯ１出側板厚変動喰ΔＨＯ及びルーパ
角変動量Δβを入力として取込み、出側板幅目標値修正
値Δｗｒ、出側板厚目標値修正値ΔＨｒ、ルーツ９角目
標値修正値ΔβｒＸをルーツ４駆動トルク制御装置２３
、板厚制御装置２１及び圧延機駆動モータ制御装置１９
に修正目標値としてそれぞれ出力する。即ち、本実施例
では、上記第１図の制御システムを、操作員が、出側板
厚目標値修正値ΔＨｒ、ルー／４’角目標値修正値Δβ
ｒ、出側板幅目標値修正値Δｗｒの３操作量、制御量が
出側板厚変動ΔＨ１１ルーパ角変勅Δβ、出側板幅変動
ΔＷＯの３制御量である下記（６）式で記述される３入
力３出力の制御系と規定して非干渉化制御装置ＪＯＶこ
より板厚制御系、板幅制御系、ルー・？角制御系の３制
御系間の相互干渉を排除するものである。In FIG. 3, reference numeral 30 denotes a non-interference control device, which is attached to the control system shown in FIG. The quantity ΔWO1 takes in the output side plate thickness variation ΔHO and the looper angle variation amount Δβ as input, and outputs the output side plate width target value correction value Δwr, the output side plate thickness target value correction value ΔHr, and the Roots 9 angle target value correction value ΔβrX as Roots 4 drive torque. Control device 23
, plate thickness control device 21 and rolling mill drive motor control device 19
output each as a revised target value. That is, in this embodiment, the operator controls the control system shown in FIG.
r, the output side plate width target value correction value Δwr, and the controlled variables are the output side plate thickness variation ΔH11, the looper angle variation Δβ, and the output side plate width variation ΔWO. It is defined as a control system with 3 inputs and outputs, and the non-interference control device JOV is used for the plate thickness control system, plate width control system, and Lou? This eliminates mutual interference among the three control systems of the angle control system.
但し、Ｇｌ）（Ｓ）は第１図の制御システム内の入出力
伝達関数行列（３Ｘ３）であって、その各要素ｇｉｊ（
ｉ＝］、２．３」−１１２，３）Ｖｉ上記制御ンヌテム
内の変動パンメータを係数とするラゾラス演算子Ｓの有
理関数である。However, Gl)(S) is the input/output transfer function matrix (3X3) in the control system of FIG. 1, and each element gij(
i= ], 2.3''-112, 3) Vi is a rational function of the Lasolus operator S whose coefficient is the variable pan meter in the control unit.
４０は主制御器であって、Ｐ■制御の板厚制御量指令器
４１、ルーパ角制呻量指令器４２、板幅制御量指令器４
３からなり、下記（７）式の伝達関数で記述される。板
厚制御量指令器４１はフィードバックされる出側板厚変
動量ΔＨＯと出側板厚変動目標値Ｈ８との偏差εｈから
板厚制御量を出力す勺。ルーパ角制御ＩＩＭ指令器４２
はルーツ４角検出器１８からフィードバックされるルー
／ぐ角変勅−？Δβとルー・２角変動目標値βＳとの偏
差εθからルーパ角制御系
板幅制御量指令：４汁４３は板幅検出器２２全通してフ
ィードバックされる出側板幅変動傭ΔＷＯと出側板幅変
（ｊ目標イ１＾ＷＳとの偏差εＷから板厚制御量全出力
する。40 is a main controller, which includes a board thickness control amount commander 41 for P■ control, a looper angle suppression amount commander 42, and a board width control amount commander 4.
3, and is described by the transfer function of equation (7) below. The plate thickness control amount command unit 41 outputs the plate thickness control amount from the deviation εh between the fed-back outlet side plate thickness variation amount ΔHO and the output side plate thickness variation target value H8. Looper angle control IIM command unit 42
Is the root/gangular curve fed back from the roots square detector 18? The looper angle control system sheet width control amount command is determined from the deviation εθ between Δβ and the loop/two-angle fluctuation target value βS: 4. The output side sheet width variation ΔWO and the output side sheet width are fed back through the sheet width detector 22. Variation (j) Outputs the full plate thickness control amount from the deviation εW from the target A1^WS.
板厚制御指令器４１：
Ｋｈ （ｓ） ＝ Ｋｈ ｉ ＋Ｋｈ ｏ ／ ｓルー
・２角制御量指令器４２二
にβ（Ｓ） ＝ Ｋβｉ＋にβｏ ／ ｓ ・・・
（７）板幅制御量指令器４３＝
Ｋ” （Ｓ）−Ｋ Ｗ Ｉ 十Ｋ Ｗ Ｏ／ ｓ５０は
前置補償器であって、補償公演算器５１１、り１２．５
１３〜５３１．５３２．５３３を有している。この補償
公演算器５１１、５１２、５１３〜５３１、５３２、５
３３１−ｔ、伝達関数行列Ｇｐ（ｓ）の（ｓ＝ｏ、ｊ）
における下記（８）式の逆行列Ｇ ｃ （ｓ） ＝ Ｇ
ｐ−’（Ｓ）の要素０ｌ−Ｃ３３ｔ−演算内容とするも
ので、グループ（５１１，５２１，５３１）には板厚制
御量、グルーｆ（５１２，５２２，５３２）にはルーパ
角制御量、グループ（５１３，５２３，５３３）には板
幅制御量がそれぞれ導かれる。Plate thickness control command device 41: Kh (s) = Kh i +Kho / s Rou-bilateral control amount command device 42 Secondly, β (S) = Kβi + βo / s...
(7) Plate width control amount command unit 43 = K'' (S) - K W I 10 K W O/ s50 is a pre-compensator, and compensation compensator 511, 12.5
13 to 531.532.533. These compensation common operators 511, 512, 513 to 531, 532, 5
331-t, transfer function matrix Gp(s) (s=o, j)
Inverse matrix G c (s) = G of the following equation (8) in
p-'(S) element 0l-C33t-calculation contents, the group (511, 521, 531) is the plate thickness control amount, the group f (512, 522, 532) is the looper angle control amount, The board width control amount is respectively guided to the groups (513, 523, 533).
Ｃｌ２＝ Ｏ
Ａ、（Ｍ＋Ｐ８）
Ｃ２２＝ １
ｆ
Ｃ２３ニー□・□
ｓ−にβ Ａ４
Ｃ３１＝ −一一−−−−−−−−−−−ＴＯ・ＫＷ
−Ａ４
Ｃ３２＝ □
Ｔｏ −ＫＷ
ａ：単位換算係数
ｂ：ルーノ？負荷トルクに対するストリツノダ張力の影
響係数
Ｃニル−・や負荷トルクに対するルーパ角度の影響係数
ｆ：ストリッグ速度に対するストリッジ張力の影響係数
ＣＯニストリップ速度に対する出側板厚の影響係数
ＴＯ二単位換算係数
要素Ｃ１ｌ、Ｃ１２及びＣ１３は、板厚制御系の変動ノ
４ラメータを含む独立要素外、ルーΔ角制御系の板厚制
御系に対する影響係数を含む他制御系干渉要素分及び板
幅制御系の板厚制御系に対する影響係数を含む他制御系
干渉要素分であって、それぞれ補償公演算器５１１．５
１２．５１３で演算される。これら補償公演算器５１１
．５１２．５１３は板厚制御量を受けて該板厚制御量の
板厚制御系寄与分とルーツヤ角制御系干渉分、板幅制御
系干渉分を出力するっ
また、Ｃ２１、Ｃ２２、Ｃ２３は、ルーツヤ角制御系の
板厚制御系に対する影響係数を含む他制御系干渉要素、
ルーパ角制御系の変動・母うメータを含む独立要素外、
ルーツヤ角制御系の板幅制御系に対する影響係数を含む
他制御系干渉要素であって、それぞれ補償公演算器５２
１．５２２．５２３で演算される。これら補償公演算器
５２１．５２２．５２３はルーツ臂角制御量を受けて核
板厚制御系干渉分、ルーパ角制御系寄与分、板幅制御系
干渉分を出力する。また、 □Ｃ３１、Ｃ３２、Ｃ３
３は板幅制御系の板厚制御系に対゛する影響係ａを含む
他制御系干渉要素、板幅制御系のルーパ角制御系に対す
る影響係数及び板幅制御系の変動ノｊラメータを含む独
立要素であって、それぞれ補償公演算器５３１．５３２
．５３３で演算される。Cl2= O A, (M+P8) C22= 1 f C23 knee □・□ β to s- A4 C31= −11−−−−−−−−−−−TO・KW
-A4 C32= □ To -KW a: Unit conversion coefficient b: Runo? Influence coefficient of string tension on load torque C: Influence coefficient of looper angle on load torque f: Influence coefficient of string tension on string speed CO Influence coefficient of outlet plate thickness on strip speed TO Two unit conversion coefficient element C1l, C12 and C13 are independent elements including the fluctuation parameters of the plate thickness control system, interference elements of other control systems including the coefficient of influence of the Lu Δ angle control system on the plate thickness control system, and plate thickness control of the plate width control system. Compensation common operator 511.5 for other control system interference elements including influence coefficients on the system.
It is calculated by 12.513. These compensation common operators 511
．． 512 and 513 receive the plate thickness control amount and output the plate thickness control system contribution, root tow angle control system interference, and plate width control system interference of the plate thickness control quantity.C21, C22, and C23 are as follows: Interference factors with other control systems, including the influence coefficient of the roots toy angle control system on the plate thickness control system,
Fluctuations in the looper angle control system, outside the independent elements including the main meter,
Interfering elements of other control systems including influence coefficients of the root tow angle control system on the plate width control system, each of which has a compensation common operator 52.
It is calculated as 1.522.523. These compensating public operators 521, 522, and 523 receive the Roots arm angle control amount and output the core plate thickness control system interference component, the looper angle control system contribution component, and the board width control system interference component. Also, □C31, C32, C3
3 includes other control system interference factors including the influence coefficient a of the strip width control system on the strip thickness control system, the influence coefficient of the strip width control system on the looper angle control system, and the variation parameter j of the strip width control system. Independent elements, each compensating common operator 531 and 532
．． 533.
これら補償公演算器５３１．５３２．５３３分演算器５
１１、り２１及び５３１の出力は加算器５０Ｈで合成さ
れて出側板厚目標値修正値ΔＨｒとして板厚制御装置２
１に与えられる。These compensation common operators 531, 532, 533 components 5
The outputs of 11, 21 and 531 are combined by an adder 50H and sent to the plate thickness control device 2 as an exit side plate thickness target value correction value ΔHr.
1 is given.
補償公演算器５１２．５２２及び５３２の出力は加算器
５ｏβで合成され、ルーパ角目標値修正値Δβとして圧
延機駆動モータ制御装置１９に与えられる。補償公演算
器５１３．５２３、及び５３３の出力は加算器５０Ｗで
加算されて出側板厚目標値修正値Δｗｒとしてルーパ駆
動モータトルク制御装置２３に供給される。The outputs of the compensation arithmetic units 512, 522 and 532 are combined by an adder 5oβ and provided to the rolling mill drive motor control device 19 as a looper angle target value correction value Δβ. The outputs of the compensation arithmetic units 513, 523, and 533 are added by an adder 50W and supplied to the looper drive motor torque control device 23 as an output side plate thickness target value correction value Δwr.
この構成においては、例えば、ストリップ１４の出側板
厚が変動すると、板厚制御量指令器４１が出力する板厚
制御＠１景の板厚制御系寄与分が補償公演算器５１１で
演算され、この板厚制御系寄与分がＤｏｓ器５０Ｈを通
して板厚制御装置２ｍ＋Ｃ出側板出側作量修正値として
入力されるので、ロール圧下量の変更によるロール間隙
Ｓの修正が行われ、出側板厚は出側板厚目標値に制御さ
れる。しかし、従来の場合と異なり、同時に、補償公演
算器５２１が、上記板厚制御量による板厚制御系の制御
動作時にストリッツ１４が受ける張力変動に見合う干渉
外（ルーΔ角目標値修正値Δ−１３ｒとなる）を演算し
て出力し、補償外演算器５３１が上記板厚制御量による
板厚制御系動作時にストリ、ツゾ１４が受ける出側板幅
変動に見合う干渉外（出側幅操作量修正値Δｗｒとなる
）を出力するので、ルーツ４角制御系及び板幅制御系が
作動し、上記ロール圧下量の変更に起因して起こるルー
パ角及び出側板幅の副次的変動が防止されるう
第４図は上記実施例において入側板厚が変動した場合の
ストリッツの出側板厚と張力に及ぼす影−＃を示したも
の、第５図は前置補償器５０を使用しない場合を示した
もので、両図の比較から、実施例の場合には、板厚制御
系とルーツ母角制御系との相互干渉が大幅に低減されて
いることが理解される。In this configuration, for example, when the thickness of the outlet side of the strip 14 changes, the thickness control system contribution of the thickness control @1 view output from the thickness control amount command unit 41 is calculated by the compensation public calculator 511, This plate thickness control system contribution is input through the DoS device 50H as the plate thickness control device 2m+C output side plate output side production amount correction value, so the roll gap S is corrected by changing the roll reduction amount, and the output side plate thickness is The exit side plate thickness is controlled to the target value. However, unlike the conventional case, at the same time, the compensation public operator 521 generates an interference (rue Δ angle target value correction value Δ -13r) is calculated and output, and the non-compensated computing unit 531 calculates and outputs the interference outside (outside width operation Since the root angle control system and strip width control system are activated, secondary fluctuations in the looper angle and outlet strip width caused by changes in the roll reduction amount are prevented. Figure 4 shows the effect on the outlet side plate thickness and tension of the strips when the input side plate thickness changes in the above embodiment, and Figure 5 shows the case where the precompensator 50 is not used. From a comparison of both figures, it can be seen that in the case of the example, the mutual interference between the plate thickness control system and the roots generating angle control system is significantly reduced.
なお為本実施例では、伝達関数行列Ｇｐ（ｓ）において
、ｓ ＝Ｑとした時の逆行列ＧＣを用い九が、ある特定
の周波数におけるＧｐ（ｓ）の逆行列から導かれる前置
補償器を使用しても同様な効果を得ることができる。Therefore, in this embodiment, in the transfer function matrix Gp(s), an inverse matrix GC is used when s = Q, and 9 is a precompensator derived from the inverse matrix of Gp(s) at a specific frequency. A similar effect can be obtained using .
また、出側の板幅検出器の出力を図示しない下流スタン
ドの板幅制御にフィードフォワードとして行う時も本発
明を実施して同様の効果を得ることができる。Further, the present invention can be practiced and the same effect can be obtained when the output of the board width detector on the outlet side is used as feedforward to control the board width of a downstream stand (not shown).
更に、板厚側ａｔ指令器、ルーツ４角制御量指令器、板
幅制御量指令器として比例・積分動作のものｔ−Ｗ用し
たが、さらに微分動作を行うようにしてもよいっ
〔発明の効果〕
本発明は以上説明した通り、板厚制御系、ルー・ヤ角制
御系及び板幅制御系の−の制御系の制御動作が他の制御
系の制御対象に与える副次的変動分に見合う目標値修正
値を上記−の制御系に与えられる制御量から演算する前
置補償器を付設したことによシ、上記−の制御系の制御
動作と同時に他の制御系も動作して上記副次的変動を制
御するので、上記３制御系間の相互干渉を無くすことが
でき、上記３つの制御系を独立して駆動する従来の場合
に比して、制御の安定性を高め、ストリップの寸法精度
を著しく高精度にすることができる。Furthermore, although proportional/integral operation units t-W were used as the plate thickness side AT command, Roots 4 angle control quantity command unit, and plate width control quantity command unit, they may also perform differential operation. [Effect] As explained above, the present invention reduces the amount of secondary fluctuations that the control operations of the - control systems of the plate thickness control system, rou-ya angle control system, and plate width control system affect the controlled objects of other control systems. By installing a precompensator that calculates a corrected target value corresponding to the control amount from the control amount given to the control system mentioned above, other control systems operate simultaneously with the control operation of the control system mentioned above. Since the above-mentioned secondary fluctuations are controlled, mutual interference between the above-mentioned three control systems can be eliminated, and control stability is improved compared to the conventional case where the above-mentioned three control systems are driven independently. The dimensional accuracy of the strip can be significantly increased.
ける入側板厚外乱に対する応答特性図、第３図は本発明
の実施例を示す図、第４図は上記実施例における入側板
厚外乱に対する応答特性図、第５図は上記実施例におい
て前置補償器を除去した場合における入側板厚外乱に対
する応答特性図であろう
１０．１２１ワークロール、１１．１３はパックアラグ
ロール、１５Ｆｉルーパ、１６けルーパ駆動モータ、１
７Ｆｉ圧延機駆動モータ、１８はルーパ角度検出器、１
９は圧延器駆動モータ制御装置、２０ｔま荷重検出器、
２ｊＦｉ板厚制御装、ｆｌ、２２は板幅検出器、２３は
ルーパ駆動トルク制御装置、２４Ｆｉロ一ル間隙検出器
、４１は板厚制御量指令器、４２１′ｉルーΔ角制＃量
指令器、４３は板幅制御量指令器、５ｏは前置補償器、
５１１．５１２け補償・分演尊器、５０ Ｈ。
５０β、５０Ｗは加算器。FIG. 3 is a diagram showing an example of the present invention, FIG. 4 is a response characteristic diagram for entrance side plate thickness disturbance in the above embodiment, and FIG. 10.121 work roll, 11.13 is pack-a-rag roll, 15Fi looper, 16-key looper drive motor, 1
7Fi rolling mill drive motor, 18 is a looper angle detector, 1
9 is a rolling mill drive motor control device, a 20t load detector,
2jFi plate thickness control device, fl, 22 is plate width detector, 23 is looper drive torque control device, 24Fi roll gap detector, 41 is plate thickness control amount command, 421'i Rou Δ angle control # amount command 43 is a plate width control amount command device, 5o is a precompensator,
511.512 compensation/bunensonki, 50H. 50β and 50W are adders.
Claims (1)
ク制御する板厚制御系と出側板幅目標値を与えて出側板
幅をフィードバック制御する板幅制御系とルーパ角目標
値を与えてルーパ角をフィードバック制御するルーパ角
制御系を有する熱間圧延機の制御システムにおいて、該
制御システムを３入力３出力制御系として規定して、フ
ィードバックされる出側板厚変動量と上記出側板厚目標
値との偏差から板厚制御量を出力する板厚制御指令器、
フィートバックされるルーパ角変動量と上記ルーパ角目
標値との偏差からルーパ角制御量を出力するルーパ角制
御指令器及びフィードバックされる出側板幅変動量と上
記出側板幅目標値との偏差から出側板幅制御量を出力す
る出側板幅制御指令器からなる主制御器と、該主制御器
の上記３出力を受ける前置補償器とを付設し、該前置補
償器において、板厚制御量の板厚制御系に与える板厚制
御系寄与分と他制御系干渉分、ルーパ角制御量のルーパ
角制御系に与えるルーパ角制御系寄与分と他制御系干渉
分、板幅制御量の板幅制御系に与える板幅制御系寄与分
と他制御系干渉分を予かじめ演算させた後、板厚制御量
、ルーパ角制御量及び板幅制御量の各制御系寄与分にそ
れぞれ対応する他制御系干渉分を合成してそれぞれ出側
板厚目標値修正値、ルーパ角目標値修正値及び出側板幅
目標値修正値として対応する３入力３出力制御系の各目
標値として与えることを特徴とする熱間圧延機における
圧延制御方法。(1) A plate thickness control system that feedback-controls the outlet-side plate thickness by giving the outlet-side plate thickness target value, a plate width control system that feedback-controls the outlet-side plate width by giving the outlet-side plate width target value, and a plate width control system that provides the looper angle target value. In a control system for a hot rolling mill having a looper angle control system that performs feedback control of the looper angle, the control system is defined as a 3-input 3-output control system, and the feed-back outlet side plate thickness fluctuation amount and the above-mentioned outlet side plate thickness target are A plate thickness control command device that outputs the plate thickness control amount from the deviation from the value,
A looper angle control command device outputs a looper angle control amount based on the deviation between the feedback looper angle variation amount and the above-mentioned looper angle target value, and a looper angle control command device that outputs the looper angle control amount from the deviation between the fed-back looper angle variation amount and the above-mentioned exit side plate width target value. A main controller consisting of an output side plate width control command device that outputs an output side plate width control amount, and a precompensator that receives the above three outputs of the main controller are attached, and the precompensator controls the plate thickness. The contribution of the thickness control system to the thickness control system and the interference from other control systems, the contribution of the looper angle control system to the looper angle control system and the interference from other control systems, and the interference from other control systems to the looper angle control system. After calculating in advance the contribution of the width control system and the interference of other control systems to the width control system, each control system contribution of the thickness control amount, looper angle control amount, and strip width control amount is individually calculated. The interference components of other control systems are synthesized and given as each target value of the corresponding 3-input 3-output control system as an output-side plate thickness target value correction value, a looper angle target value correction value, and an output-side plate width target value correction value. Features of rolling control method in hot rolling mill.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59120714A JPS611407A (en) | 1984-06-14 | 1984-06-14 | Rolling control method of hot rolling mill |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59120714A JPS611407A (en) | 1984-06-14 | 1984-06-14 | Rolling control method of hot rolling mill |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS611407A true JPS611407A (en) | 1986-01-07 |
Family
ID=14793178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59120714A Pending JPS611407A (en) | 1984-06-14 | 1984-06-14 | Rolling control method of hot rolling mill |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS611407A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5479803A (en) * | 1992-06-19 | 1996-01-02 | Kabushiki Kaisha Toshiba | Control apparatus for a continuous hot rolling mill |
-
1984
- 1984-06-14 JP JP59120714A patent/JPS611407A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5479803A (en) * | 1992-06-19 | 1996-01-02 | Kabushiki Kaisha Toshiba | Control apparatus for a continuous hot rolling mill |
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