JPS61180606A - Control device for meandering - Google Patents
Control device for meanderingInfo
- Publication number
- JPS61180606A JPS61180606A JP60020663A JP2066385A JPS61180606A JP S61180606 A JPS61180606 A JP S61180606A JP 60020663 A JP60020663 A JP 60020663A JP 2066385 A JP2066385 A JP 2066385A JP S61180606 A JPS61180606 A JP S61180606A
- Authority
- JP
- Japan
- Prior art keywords
- rolled material
- meandering
- roll
- detector
- rolling
- 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
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
- B21B37/68—Camber or steering control for strip, sheets or plates, e.g. preventing meandering
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Metal Rolling (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明はホットストリップミル、コールドストリップミ
ル、プレートミル等の圧延機に適用する蛇行制御装置に
関するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a meandering control device applied to rolling mills such as hot strip mills, cold strip mills, and plate mills.
従来の圧延材の蛇行制御の代表的なものとしては、圧延
機の作業側と駆動側に各々設置しであるロードセルの出
力信号の差により間接的に圧延材の横ずれ量、すなわち
蛇行量を検出し、その信号をもとにして作業側、駆動側
圧下系の圧下量を調整することによって蛇行を制御す、
るようにしたものがあつ次。A typical method of conventional meandering control for rolled material is to indirectly detect the amount of lateral deviation of the rolled material, that is, the amount of meandering, based on the difference in the output signals of load cells installed on the work side and drive side of the rolling mill. Then, based on the signal, the meandering is controlled by adjusting the reduction amount of the work side and drive side reduction systems.
The next one is the one that made it look like this.
しかし、この従来の方式では、圧延材の蛇行により前記
両ロードセルに作用する荷重の変化が非常に小さいこと
（圧延機によっても異なるが１トン以下の左右差を問題
としなければならない）、蛇行制御に圧延による外乱が
介在すること、等により理論的には実現可能であっても
実用化は極めて困難であった。However, with this conventional method, the change in the load acting on both load cells due to the meandering of the rolled material is very small (although it varies depending on the rolling mill, a difference of 1 ton or less between the left and right sides must be considered), and meandering control is difficult. Although it is theoretically possible, it has been extremely difficult to put it into practical use due to the presence of disturbances due to rolling.
詳述するに、先ず、圧延材の蛇行のメカニズムについて
みると、圧延機で圧延材を圧延する場合、材料の幅方向
の硬度差、幅方向のテーパ等、圧延材自体に求められる
要因、又、圧延材の中心がロール中心とずれて進入する
（オフセンター）等の操業上の要因により、圧延機の作
業側、駆動側にかかる圧延荷重に不釣合いが生じ、その
結果、作業側と駆動側のロールギャップに差が生じる。To explain in detail, first, we will look at the meandering mechanism of rolled material. When rolling a rolled material in a rolling mill, factors required for the rolled material itself, such as hardness difference in the width direction of the material, taper in the width direction, etc. , due to operational factors such as the center of the rolled material shifting from the center of the roll (off-center), an imbalance occurs in the rolling loads applied to the working side and drive side of the rolling mill, resulting in There will be a difference in the side roll gap.
このため、圧延機入側における材料の引き込み速度はギ
ャップの拡大した側の方が速くなる。その結果、圧延材
は入側で第６図に示す如く進行方向（矢印方向）に対し
てギャップの広い側へ尻を振るような格好で傾くことに
なり、傾いた圧延材αは圧延ロールｂの軸に直角に進む
ため、圧延材αは図中点線で示すようにロールギャップ
の拡大している方向に横ずれを起こし、ますますギャッ
プは拡大して行く。このときのギャップの状態は第７図
に示す如くである０このように、圧延材が一度蛇行を起
こすと、安定な状態に回復することができなくなる。Therefore, the drawing speed of the material on the entry side of the rolling mill is faster on the side where the gap is enlarged. As a result, the rolled material α is tilted toward the wide gap side with respect to the advancing direction (direction of the arrow) as shown in Fig. 6 on the entry side, and the rolled material α is tilted to the rolling roll b. As the rolled material α moves at right angles to the axis of the rolled material α, as shown by the dotted line in the figure, it causes a lateral shift in the direction in which the roll gap is widening, and the gap continues to widen. The state of the gap at this time is as shown in FIG. 7. In this way, once the rolled material has meandered, it cannot recover to a stable state.
以上のように圧延機の作業側と駆動側（以下、左右とい
う）とでロールギャップに差が生じると、圧延材はギャ
ップの広い方へ蛇行し始めるので、蛇行を防止するため
には、圧延材の寄った側のロールギャップを挾めるよう
な制御を行えばよいことがわかる。As described above, when a difference occurs in the roll gap between the work side and the drive side (hereinafter referred to as left and right) of the rolling mill, the rolled material begins to meander toward the side with the wider gap. It can be seen that it is sufficient to control the roll gap on the side where the material is close to each other.
この考え方から圧延材の蛇行を防止するようにした一方
法として第８図に一例を示すものが既に知られている。An example of a method shown in FIG. 8 is already known as a method for preventing meandering of rolled material based on this concept.
すなわち、左右の油圧シリンダＣｓに’のピストン位置
を検出するシリンダ位置検出器ｄＳｄ’によシロール圧
下用のシリンダｃ、ｃ’内のピストン位置を検出し、そ
の値を加算増幅器ｇ、ｇ’へそれぞれフィードバックし
、加算増幅器８１ｅ′の出力によりサーボ弁ｆ、ｆ’を
駆動して左右のロール位置を制御するようにしてあり、
更に、これだけでは、圧延材αが左右のいずれかの、方
向へ寄ったことから生ずる左右のロールの曲りや変形の
差に起因するロールギャップの左右の差を補正すること
ができず、圧延材αの横ずれ、すなわち、蛇行を防止で
きないことから、左右に設置しであるロードセル 、
、／で得られる荷重検出信号の左右の差を加算器りで
求め、係数器ｉによりフィードバック量を調整して荷重
の増した側のロールギャップを挾めるように前記血算増
幅器ｇｚｅ’へ信号を与えるようにし、係数器ｉを適正
に調節することによシ、圧延材αの幅方向の位＠をロー
ル中央方向へ戻すようにロールギャップを制御できるよ
うにしである。That is, the cylinder position detector dSd', which detects the piston position ' in the left and right hydraulic cylinders Cs, detects the piston position in the cylinders c, c' for lowering the cylinder roll, and the values are sent to the summing amplifiers g, g'. The output of the summing amplifier 81e' drives the servo valves f and f' to control the left and right roll positions.
Furthermore, this alone cannot correct the difference in the roll gap between the left and right sides, which is caused by the difference in bending or deformation between the left and right rolls caused by the rolling material α shifting to either the left or right direction. Since it is impossible to prevent lateral deviation of α, that is, meandering, load cells are installed on the left and right sides,
The difference between the left and right load detection signals obtained by , / is determined by an adder, and the feedback amount is adjusted by a coefficient i and sent to the blood count amplifier gze' so as to sandwich the roll gap on the side where the load has increased. By giving a signal and appropriately adjusting the coefficient i, the roll gap can be controlled so that the widthwise position of the rolled material α is returned toward the center of the roll.
ｊは上下のバックアップロールである。j is the upper and lower backup rolls.
ところが、上記第８図の方式は実現可能なように考えら
れるが、前記した如き圧延材の蛇行によシ生ずる左右荷
重の変化が非常に小さいこと、蛇行制御に圧延による外
乱が介在すること、という問題があるほか、原理的にも
以下に述べるような難点があり、実用化されなかった０
その難点を第９図により説明する。第９図Ａは圧延材が
蛇行し荷重ＰＬ、ＰＦＬが発生した様子を示している。However, although the method shown in FIG. 8 above is considered to be feasible, there are problems such as the fact that the change in the lateral load caused by the meandering of the rolled material as described above is very small, and the disturbance caused by rolling intervenes in the meandering control. In addition to the problem of
The difficulty will be explained with reference to FIG. FIG. 9A shows how the rolled material meandered and loads PL and PFL were generated.
ここで荷重の増し念後の圧下刃ＰＬヲさらに増し、ＰＬ
をさらに減らすように圧下制御を行えば、ＰＲ側のロー
ルギャップは挟まり、蛇行は修正できることになる。し
かし、こ ゛のときに荷重差の増大量が不足すると
、第９図Ｂに示すようにロールギャップの幅方向の差は
少なくなり、蛇行の進行を弱めはするが、蛇行を防止す
るのに十分なギャップ差をつくることができない。逆に
、若し、荷重差を過大につけてしまうと、第９図Ｃに示
すように圧延材αの位庫をロール中央へ戻すようにロー
ルギャップ差はつけられるが、このため圧延材ａは急激
にＰＬ側へ近付くため、制御装置が十分に早く応答でき
ないと、そのままロール中央部からＰＬ側へ行き過ぎて
しまい、又次には、逆にＰＦＬ側へ行き過ぎてしまうと
いうように振動的に蛇行してしまう。したがって、この
場合には、あまり急激に圧延材αの蛇行を修正しないよ
うに適当なロールギャップの左右差を与えなければなら
ない。After increasing the load, the rolling blade PL is further increased, and the PL
If the roll-down control is performed to further reduce the roll gap, the roll gap on the PR side will be pinched, and the meandering can be corrected. However, if the amount of increase in the load difference is insufficient at this time, the difference in the width direction of the roll gap will decrease as shown in Figure 9B, and although it will weaken the progress of meandering, it will not be enough to prevent meandering. It is not possible to create a sufficient gap difference. On the other hand, if the load difference is too large, the roll gap difference will be set so that the rolled material α returns to the center of the roll, as shown in Figure 9C. Since the controller approaches the PL side rapidly, if the control device cannot respond quickly enough, the roll will go too far from the center of the roll to the PL side, and then conversely it will go too far to the PFL side, causing a vibrational meandering. Resulting in. Therefore, in this case, an appropriate difference between the left and right roll gaps must be provided so as not to correct the meandering of the rolled material α too rapidly.
このように、上述の従来装置では荷重差からロールギャ
ップの左右差を演算し、ギャップの左右差を補正すると
いう制御を行なうので、補正量が不足すると効果がなく
、過大になると制御が不安定になるため、成る限られた
適切な量を補正しなければならない。ところが、この適
切な量は、板幅、厚さ、材質、圧延速度等の条件で変化
してしまい、しかもこれらの影響を直接にとらえる方法
がないため、すべての条件に対して適切となるような補
正量を設定することは実用上非常に困難である。In this way, the above-mentioned conventional device calculates the left-right roll gap difference from the load difference and performs control to correct the left-right gap difference, so if the correction amount is insufficient, there is no effect, and if it is too large, the control becomes unstable. Therefore, a limited and appropriate amount of correction must be made. However, this appropriate amount changes depending on conditions such as sheet width, thickness, material, and rolling speed, and there is no way to directly capture these effects, so it is difficult to determine the appropriate amount for all conditions. In practice, it is extremely difficult to set a correct amount of correction.
このように上記の方法は、条件を一定に設定できる実験
圧延では効果を実証できても実用化できなかったのであ
る。In this way, the above method could not be put to practical use even though its effectiveness could be demonstrated in experimental rolling where conditions could be set constant.
本発明は、圧延材の蛇行を防止して圧延停止、圧延材エ
ツジ部の損傷、更には板破断等の不具合を除去し、圧延
の安定化を実現し、生産の高能率化、製品の歩留りの向
上を図ることを目的としてなしたものである。The present invention prevents meandering of the rolled material and eliminates problems such as rolling stoppage, damage to the edges of the rolled material, and even plate breakage, thereby realizing stable rolling, increasing production efficiency, and improving product yield. This was done with the aim of improving the
本発明においては、圧延機の入側或いは出側の何れか一
方若しくは両側に設けられた圧延材の板幅端位置を光学
的に検出する検出器と、該検出器の検出値に基づいて圧
延材の蛇行量を求める演算装置と、圧延材幅方向位置の
目標値を与える設定器と、前記演算装置の出力信号と設
定器で設定された目標値と全比較演算する装置と、該比
較演算装置で得られた信号を処理してワークロールの作
業側と駆動側のロールペンディング圧力修正信号として
出力する装置を備えている。In the present invention, there is provided a detector that optically detects the width end position of the rolled material, which is provided on either the entry side or the exit side of the rolling mill, or both sides, and the rolling process is performed based on the detection value of the detector. a calculation device that calculates the meandering amount of the material; a setting device that provides a target value for the position in the width direction of the rolled material; a device that performs a total comparison calculation between the output signal of the calculation device and the target value set by the setting device; and the comparison calculation. It is equipped with a device that processes the signals obtained by the device and outputs them as roll pending pressure correction signals on the work side and the drive side of the work roll.
従って、本発明では、ワークロールに作用するベンディ
ング圧力が作業側と駆動側で相互に逆方向に変更され、
これによって圧延材の蛇行が修正される。Therefore, in the present invention, the bending pressure acting on the work roll is changed in opposite directions on the work side and the drive side,
This corrects the meandering of the rolled material.
以下、本発明の実施例を添付図面を参照しつつ説明する
。Embodiments of the present invention will be described below with reference to the accompanying drawings.
第１図は本発明の装置の一実施例を示すもので、上下一
対のワークロール（１） （２）、ワークロール（１）
（２）の両輪端を支持しているワークロールチョック
（３） （４）、（３） （６）、ワークロールチョッ
ク＋３） （３）、（４）（６）間にロールペンディン
グ圧力を作用させるＭ 圧シリｙ タ（７） （８１、
（９１（１０１、’７−クロー ル（１）（２） 全支
持する上下一対のバックアップロールａυα２の両軸端
を支持しているバックアップロールチヨｙ りＱ３１（
１４１（１５１（１６）、ワークロール（１）（２）及
ヒバツクアップロールαυ（１２１１’ｌｌＪにロール
ベンゾインク圧力ヲ作用させる油圧シリンダ（１７）
（１８（１９（イ）・下バツクアツプロールチョック（
１５１αｅに圧下力を作用させる油圧シリンダＣυを備
え、圧延材（社）を圧延するようにした油圧圧下式圧延
機（ハ）に於いて、圧延材器の板端部位置を光学的に検
出する板幅端位置検出器（２４Ｊを圧延機（ハ）の入側
若しくは出側に配設し、板幅端位置検出器（２）で検出
した板幅端信号を蛇行量演算器Ｃ）９に送シ得るように
し、蛇行量演算器（至）で演算した蛇行信号を比較演算
器（イ）に送って該比較演算器（ハ）で蛇行量と設定器
（３）からの目標信号とを比較演算し得るようにし、該
比較演算器（ハ）で演算した蛇行量偏差信号ΔＸを蛇行
調節器（至）で処理してベンディング制御器Ｃ３１）ｃ
３ａへロールペンディング圧力修正信号±Δｐとして加
え、ベンディング制御器ＧυＧ２からサーボ弁ｎｏｎへ
指令を与え、該サーボ弁ｌ３３１Ｃ３４１によって、左
右の油圧シリｙ ｌ−（７） （９）α７）（１１，（
８１αＱ（１８（２Ｉへ流入、流出する圧油の量を制御
し得るようにし、前記サーボ弁（至）（財）から油圧シ
リンダ（７） （９）、αη俣１、（８）α〔、αυ翰
へ圧油を送る管路に圧力検出器（至）（至）Ｃη（至）
を設けて油圧シリンダ（７） （９）、（１７）（１’
Ｊ、 （８）鵠、α■紳の圧油の圧力を検出し得るよう
にし、該圧力検出器＋３Ｊ Ｃ３６１Ｃ３７１（至）で
検出された圧力信号を差圧演算器Ｃ３１（４Ｇへ送り得
るようにし、差圧演算器Ｃ３１（４ｔ）で得られた偏差
信号を前記ベンディング制御器Ｃυ０２１へフィードバ
ックし得るようにする。なお、図中（至）（至）は油圧
源、（４υ（４３はタンク、（４３は圧延機作業側、（
４４は圧延機駆動側である。FIG. 1 shows an embodiment of the apparatus of the present invention, in which a pair of upper and lower work rolls (1) (2), a work roll (1),
M that applies roll pending pressure between the work roll chocks (3) (4), (3) (6), work roll chocks +3) (3), (4) and (6) that support both wheel ends of (2). Pressure cylinder (7) (81,
(91 (101, '7-crawl (1) (2) The backup roll Q31 (
Hydraulic cylinder (17) that applies roll benzo ink pressure to 141 (151 (16), work rolls (1) (2) and lift-up roll αυ (1211'llJ)
(18(19(a)・Lower Backup Prowl Chock(
In a hydraulic rolling mill (c) equipped with a hydraulic cylinder Cυ that applies a rolling force to 151αe and configured to roll rolling material, the position of the plate end of the rolling material is optically detected. A strip width edge position detector (24J) is installed on the entrance or exit side of the rolling mill (c), and the strip width edge signal detected by the strip width edge position detector (2) is sent to the meandering amount calculator C) 9. The meandering signal calculated by the meandering amount calculator (to) is sent to the comparator (a), and the meandering amount is compared with the target signal from the setting device (3) by the comparator (c). The bending controller C31) c is made to be capable of comparison calculation, and the meandering amount deviation signal ΔX calculated by the comparison calculator (c) is processed by the meandering adjuster (to).
3a as a roll pending pressure correction signal ±Δp, a command is given from the bending controller GυG2 to the servo valve non, and the left and right hydraulic series y l-(7) (9) α7) (11, (
81αQ(18(2I) to control the amount of pressure oil flowing into and out of the servo valve (to) (goods) to the hydraulic cylinder (7) (9), αηmata 1, (8) α[, Pressure detector (to) (to) Cη (to) in the pipe that sends pressure oil to αυ
Hydraulic cylinders (7) (9), (17) (1'
J, (8) Enable to detect the pressure of the pressurized oil, and send the pressure signal detected by the pressure detector +3J C361C371 (to) to the differential pressure calculator C31 (4G). , the deviation signal obtained by the differential pressure calculator C31 (4t) can be fed back to the bending controller Cυ021. (43 is the rolling mill work side, (
44 is the rolling mill drive side.
次に、上記構成の蛇行制御装置の作用について圧延材＠
が作業側（４３へ蛇行している場合を例に採り説明する
。Next, we will discuss the operation of the meandering control device with the above configuration.
The explanation will be given by taking as an example the case where the line meanders towards the working side (43).
板幅端位置検出器Ｃ２４）で連続的に検出された圧延材
０２の幅端位置信号は蛇行量演算器（ハ）に送られて圧
延材（２′！Ｊの蛇行量が演算され、蛇行信号と設定器
−からの目標信号とが比較演算器（至）で比較演算され
、得られた蛇行量偏差信号Δ２は蛇行調節器（ハ）に加
えられ、該調節器（至）では、ロールペンディング圧力
修正信号Δｐが例えばΔ、＝に、、Δｚ ＋ Ｔｄ ＋
ｄｉ （Δｚ）＋６５１Ｚｄｔにより演算される。該
式中に、は比例ゲイン、Ｔｄは微分ゲイン、ＴＩは積分
ゲインである。The width end position signal of the rolled material 02 continuously detected by the plate width end position detector C24) is sent to the meandering amount calculator (c), where the meandering amount of the rolled material (2'!J) is calculated. The signal and the target signal from the setting device are compared and calculated in the comparator (to), and the obtained meandering amount deviation signal Δ2 is applied to the meandering adjuster (c). If the pending pressure correction signal Δp becomes, for example, Δ,=, Δz + Td +
Calculated by di (Δz)+651Zdt. In this equation, is a proportional gain, Td is a differential gain, and TI is an integral gain.
蛇行調節器（至）で求められたロールペンディング圧力
修正信号Δｐはベンディング制御器６００りへ加えられ
る。このとき、作業側のベンディング圧力は減少するよ
うに、逆に駆動側は同量だけ増加するように符号を付け
て加えられる。これに応じてベンディング制御器ａｌ１
３ａからは指令信号ｉい１２が作業側（４３と駆動側（
４４各々のサーボ弁（至）（ロ）へ与えられる。このた
め、サーボ弁（至）（財）からは油圧源＠（至）よりの
圧油が油圧シリンダα７）ａ９、（８）α〔へ送られ、
逆に油圧シリンダ（７）（９）、ｍｅ■内の油はサーボ
弁０３（財）を通ってタンクＧｉｎ） （４３へ戻され
るように制御される。従って、作業側（４３のロールペ
ンディング力が減少し駆動側（４４のロールペンディン
グ力が増加する結果、ロールギャップは圧延材（イ）が
蛇行した作業側（４３の方が狭くなり、逆に駆動側（４
４）が拡大するので、前述し次メカニズムで圧延材（至
）の蛇行が阻止され、圧延材ρ２は目標値まで戻される
。The roll pending pressure correction signal Δp determined by the meander regulator is applied to the bending controller 600. At this time, the bending pressure on the working side is applied with a sign so that it decreases, and conversely, the bending pressure on the driving side increases by the same amount. Accordingly, bending controller al1
From 3a, a command signal 12 is sent to the work side (43) and the drive side (
44 to each servo valve (to) (b). For this reason, the pressure oil from the hydraulic source @ (to) is sent from the servo valve (to) to the hydraulic cylinders α7)a9, (8)α[,
Conversely, the oil in the hydraulic cylinders (7), (9), and me is controlled so that it passes through the servo valve 03 and returns to the tank Gin) (43. Therefore, the roll pending force of the work side (43) decreases and the roll pending force on the drive side (44) increases.As a result, the roll gap becomes narrower on the work side (43) where the rolled material (A) meandered, and conversely, the roll gap on the drive side (44) increases.
4) expands, the meandering of the rolled material (to) is prevented by the following mechanism described above, and the rolled material ρ2 is returned to the target value.
サーボ弁Ｃ（３Ｃ１４１から各油圧シリンダ（７） （
９）住ηα値、（８）（１１（１８） （２［）へ至る
管路中の圧油の圧力ｐｉ 、ｐｔ 、角、ｐ４は圧力検
出器ｉ （３６３Ｃ（７） ａで検出されて差圧演算器
Ｃ３９（４０へ送られ、差圧演算器Ｃ３１では差圧Δｐ
ｗ＝ｐｌ−ｐ２が、又差圧演算器（４１では差圧ΔＴＩ
ｄ＝ＴＪｓｙＰ４が、夫々演算され、求められた差圧Δ
’Ｉ）ｗｚΔｐｄはぺ／ディング制御器（１１）（３２
へ送られる。而して）ベンディング制御器Ｃ（１） Ｃ
３１セは各々ロールペンディング圧下修正信号Δｐとの
比較が行われ、常にΔｐｗ・Δｐｄの絶対値がΔｐと等
しくなるように制御される。蛇行量偏差信号Δ２が零と
なると、ベンディング制御器Ｃ３１） Ｃ３３からの指
令信号１１、ｉ２は零若しくは一定の定常値（蛇行調節
器（至）に積分要素が入っている場合）となシ、サーボ
弁（ハ）（財）は蛇行制御のための過渡的な動きを停止
する。Servo valve C (from 3C141 to each hydraulic cylinder (7) (
9) The pressure oil pressure pi, pt, angle, p4 in the pipe leading to (8) (11 (18) (2 [)) are detected by pressure detector i (363C (7) a). The differential pressure is sent to the differential pressure calculator C39 (40, and the differential pressure Δp is sent to the differential pressure calculator C31.
w=pl-p2 is also the differential pressure calculator (41 is the differential pressure ΔTI
d=TJsyP4 is calculated and the obtained differential pressure Δ
'I) wzΔpd is the pedding controller (11) (32
sent to. Bending controller C (1) C
The 31st section is compared with the roll pending pressure correction signal Δp, and is controlled so that the absolute value of Δpw and Δpd is always equal to Δp. When the meandering amount deviation signal Δ2 becomes zero, the command signals 11 and i2 from the bending controller C31) and C33 become zero or a constant steady value (if the meandering adjuster (to) has an integral element). Servo valve (c) (goods) stops transient movement for meandering control.
圧延材（２つが駆動側へ蛇行した場合には、サーボ弁Ｃ
３３Ｃ３４）の切換えにより油圧シリンダ（７１（９）
、舖噛へ圧油が供給され、油圧シリンダ（１？） （１
１、（８）αＱから油がタンク（４υ（４３へ戻され、
上述と同様にして蛇行修正が行われる。Rolled material (if the two meander toward the drive side, servo valve C
Hydraulic cylinder (71 (9)
, Pressure oil is supplied to the cylinder, and the hydraulic cylinder (1?) (1
1, (8) Oil is returned to tank (4υ (43) from αQ,
Meandering correction is performed in the same manner as described above.
上述のように、ロールペンディング力を圧延材（２３の
蛇行量に応じて作業側（４３と駆動側（４４で互いに逆
方向となるように修正することにより圧延材（イ）の蛇
行が防止される。As mentioned above, meandering of the rolled material (a) can be prevented by correcting the roll pending force so that the working side (43 and drive side 44) are in opposite directions according to the amount of meandering of the rolled material (23). Ru.
第２図は本発明の装置の他の実施例を示すもので、本実
施例では油圧圧下式圧延機（ハ）の入側又は出側の左右
に圧延材０２の発する光を基にその幅端位置を検出する
検出器（４！１９ （４１Ｅ）を設置し、該各検出器（
４！１９ （４６１からの信号の差すなわち圧延材器の
蛇行量を比較演算器（４つで求め、蛇行信号と設定器（
財）からの目標信号とを比較演算器（イ）で比較演算す
るようにしている。比較演算器（ホ）以後は第１図の実
施例と同じであるから説明は省略する。FIG. 2 shows another embodiment of the apparatus of the present invention. In this embodiment, the width is determined based on the light emitted by the rolled material 02 on the left and right sides of the entrance or exit side of the hydraulic rolling mill (c). A detector (4!19 (41E)) is installed to detect the end position, and each detector (4!19 (41E)) is installed.
4!19 (The difference between the signals from 461, that is, the amount of meandering of the rolled material is calculated using the comparison calculator (4), and the meandering signal and the setting device (
A comparator (a) performs a comparison operation with the target signal from the target signal (b). The components subsequent to the comparator (e) are the same as those in the embodiment shown in FIG. 1, so a description thereof will be omitted.
第３図は第２図の検出器（４５１（４ｆｊＩの詳細を示
すもので、圧延材（２２自体より発する光全取入部囮に
設けたレンズ（４９を介して導入し、その光を受光器（
至）上に結像させることにより、圧延材（２３０幅端位
置を検出するようにしている。Figure 3 shows the details of the detector (451 (4fjI) in Figure 2. The light emitted from the rolled material (22 itself) is introduced through a lens (49) installed in the decoy, and the light is introduced into the receiver. (
By forming an image on the rolled material (230), the width end position of the rolled material (230) is detected.
受光器ｃｉＩには、光電素子（フォトダイオード）を利
用したもの、テレビカメラ式撮像管を利用し友もの等が
使用できるが、圧延材の蛇行を測定するという目的から
はその形状、信頼性などを考えると光電素子を利用した
、いわゆる固体撮像素子を使う方が有利である。第４図
に示す ゛ように、光電素子（５４）は圧延材（２の
と平行に複数個−直線上に配列され、レンズＱｌｔ−通
して集光した像の受光量に比例した電気信号５５１を発
するようにしている。この電気信号ｌ５５１を所定の変
換器によ’）、例Ｌｔｄ一定レベルでスレッシュホール
ドすることにより、電気信号をオン、オフ２種類の同期
信号（至）に変換する。このようにして、圧延材（２２
からの光を受光している素子数を求めることができる。The light receiver ciI can be one that uses a photoelectric element (photodiode) or one that uses a television camera type image pickup tube, but for the purpose of measuring meandering of rolled material, its shape, reliability, etc. Considering this, it is more advantageous to use a so-called solid-state image sensor that uses a photoelectric element. As shown in FIG. 4, a plurality of photoelectric elements (54) are arranged on a straight line in parallel with the rolled material (2), and electrical signals 551 are proportional to the amount of light received from the image focused through the lens Qlt. By thresholding this electric signal 1551 at a certain level using a predetermined converter, the electric signal is converted into two types of synchronization signals (on and off). In this way, the rolled material (22
It is possible to determine the number of elements receiving light from the
今、第３図において総素子数をＮ１視野長さをＬ１圧延
材端部Ｘの長さの部分より受光した素子数をＮ′とする
と、ＸはＸ ＝ Ｎ’ Ｘ Ｎで求められる。このＸは
圧延材（２渇の幅方向の動きによって変化するので、こ
れを測ることによって板端部位置を求めることができる
。そして、作業側駆動側番々で測ったＸの値の差を取る
ことにより、圧延材（２りの蛇行量を求めることができ
る。Now, in FIG. 3, if the total number of elements is N1, the field of view length is L1, and the number of elements that receive light from the length of the rolled material end X is N', then X is determined by X = N' X N. This X changes due to the movement of the rolled material in the width direction, so by measuring this, the position of the plate end can be determined.Then, the difference in the value of X measured on the work side and the drive side is The meandering amount of the rolled material (2) can be determined by
第５図は本発明の装置の更に他の実施例を示すもので、
油圧圧下式圧延機（ハ）の入側若しくは出側の圧延材（
２つ通過面の下方に光源６１）を配設し、圧延材＠通過
面の上方左右位置に光源１５Ｄからの光を受けて圧延材
＠の幅端位置を検出する検出器５６（至）を各々配設す
る。斯かる構成とすることにより、圧延材（社）は下方
から光源５１）により投光され、検出器ｆ５Ｈ３によっ
て、圧延材四により遮閉されない部分の受光量が検出さ
れ、第３図で示した原理により、ここでは第３図におけ
るＬ−Ｘの長さが求められ、作業側、駆動側で各々検出
された検出値は比較演算器（４７）へ送られて蛇行量が
演算され、蛇行信号と設定器（３）からの目標信号とを
比較演算器（ハ）で比較演算する。比較演算器（ハ）以
後は第１図及び第２図の実施例と同じであるから説明は
省略する。FIG. 5 shows still another embodiment of the device of the present invention,
Rolled material on the entry side or exit side of the hydraulic rolling mill (c)
Two light sources 61) are disposed below the passing surface, and detectors 56 (to) are provided at left and right positions above the passing surface of the rolled material to receive light from the light source 15D and detect the width end position of the rolled material. Arrange each. With such a configuration, the rolled material is illuminated from below by the light source 51), and the detector f5H3 detects the amount of light received in the portion not blocked by the rolled material 4, as shown in Fig. 3. Based on the principle, the length of L-X in Fig. 3 is determined here, and the detected values respectively detected on the working side and the driving side are sent to the comparator (47) to calculate the meandering amount, and the meandering signal is generated. and the target signal from the setting device (3) are compared and calculated by the comparison calculation device (c). Since the components after the comparator (c) are the same as those in the embodiments shown in FIGS. 1 and 2, their explanation will be omitted.
第２図及び第５図中第１図と同一のものには同一の符号
が付しである。Components in FIGS. 2 and 5 that are the same as those in FIG. 1 are given the same reference numerals.
以上、本発明について説明し、四重式圧延機への適用例
を示したが、本発明は蛇行が問題となる全ての形式の圧
延機へ適用できること、制御回路はハードウェアではな
くコンピュータを使ったソフトウェアでも構成できるこ
と、その他、蛇行検出用の検出器を圧延機の入側、出側
の両方に付設し、両者の信号を基に本発明の制御装置を
構成しても良いこと、光源を設ける場合には下方ではな
く上方へ設けても良いこと、その他、本発明の要旨を逸
脱しない範−内で種々変更を加え得ること、等は勿論で
ある。The present invention has been described above and an example of application to a quadruple rolling mill has been shown, but the present invention can be applied to all types of rolling mills where meandering is a problem, and the control circuit uses a computer instead of hardware. In addition, a detector for meandering detection may be attached to both the inlet side and the outlet side of the rolling mill, and the control device of the present invention may be configured based on the signals from both sides. Of course, if provided, it may be provided above rather than below, and various other changes may be made without departing from the gist of the present invention.
〔発明の効果〕
以上述べたごとく、本発明によれば、圧延機入側若しく
は出側、又は入側及び出側両方の圧 ・延材のずれ量
を直接検出し、その差が零となるまで左右の作業ロール
のロールペンディングカを相互に逆方向に同じ値だけ修
正するよう制御しているので、圧延材の蛇行を防止して
圧延の安定化を実現でき、その結果、圧延材のキャンバ
が減るので製品の歩留りが向上し、又圧延材の蛇行によ
る事故防止ができて稼動率が向上し、又板クラウンの小
さいス） ＩＪツブの圧延が可能となるので、これによ
る歩留りの向上を図ることができる。[Effects of the Invention] As described above, according to the present invention, the amount of deviation of the rolled material on the entry side or exit side of the rolling mill, or both the entry side and the exit side, is directly detected, and the difference therebetween becomes zero. Since the roll pending force of the left and right work rolls is controlled to be corrected by the same value in opposite directions, it is possible to prevent meandering of the rolled material and stabilize rolling, and as a result, the camber of the rolled material is The product yield is improved because of the reduction in the rolling material, and the operation rate is improved by preventing accidents caused by meandering of the rolled material.Also, it is possible to roll IJ tubes with small plate crowns, which improves the yield. can be achieved.
更にペンディング力を同じ値だけ相互に逆方向に修正す
るので、その和は零となり、従って、ロードセルで検出
される圧延荷重の左右の和に影響を与えず、通常板厚制
御のために行な、われるビスラＡＧＣに何ら悪影響を与
えない。更に又ここで述べたベンディング制御装置は油
圧圧下制御装置よりも安価なので、電動圧下式の圧延機
にも本蛇行制御装置を低コストで導入できるという経済
上の優れ友メリットも奏し得る。Furthermore, since the pending force is corrected by the same value in mutually opposite directions, the sum becomes zero, so it does not affect the sum of the left and right rolling loads detected by the load cell, and is usually used to control plate thickness. , has no adverse effect on Bisla AGC. Furthermore, since the bending control device described here is cheaper than the hydraulic reduction control device, it can also be economically advantageous in that the present meandering control device can be introduced at low cost to electric reduction type rolling mills.
第１図は本発明の装置の一実施例の説明図、第゛２図は
本発明の装置の他の実施例の説明図、第３図、第４図は
□第２図の装置で圧延材の幅端位置を検出する検出器の
詳細説明図、第５図は本発明の装置の更に他の実施例の
説明図、第６図は左右のロールギャップに差があるとき
の圧延材の傾きを示す平面図、第７図は第６図のロール
軸に於ける垂直断面図、第８図は従来の制御方式の一例
の説明図、第９図ＡＳＢ、Ｃは第８図の装置による圧延
材の蛇行と圧下刃の関係を示す正面図である。
図中（１） （２１はワークロール、（７） （８）
（９１α（１αη０槌（１９（涛は油圧シリンダ、（２
２１は圧延材、（２階は油圧圧下式圧延機、ｅ４Ｊは板
幅端位置検出器、２つは蛇行量演算器、（イ）は比較演
算器、Ｃηは設定器、（２８）は蛇行調節器、Ｃ３１）
Ｃ３２１はベンディング制御器、Ｃ３３Ｃ３４１はサ
ーボ弁、＜３５１（３６） Ｃ３７）（至）は圧力検出
器、Ｃ３１（４０は差圧演算器、（４３） （４６１は
検出器、（４ηは比較演算器、６υは光源、（５２（ト
）は検出器を示す。Figure 1 is an explanatory diagram of one embodiment of the apparatus of the present invention, Figure 2 is an explanatory diagram of another embodiment of the apparatus of the present invention, and Figures 3 and 4 are □ Rolling with the apparatus of Figure 2. A detailed explanatory diagram of a detector for detecting the width end position of a material, FIG. 5 is an explanatory diagram of still another embodiment of the apparatus of the present invention, and FIG. A plan view showing the inclination, FIG. 7 is a vertical sectional view of the roll axis in FIG. 6, FIG. 8 is an explanatory diagram of an example of a conventional control method, and FIG. 9 ASB and C are based on the device shown in FIG. 8. It is a front view showing the relationship between the meandering of the rolled material and the rolling blade. In the figure (1) (21 is the work roll, (7) (8)
(91α (1αη0 mallet (19 (the wave is a hydraulic cylinder, (2
21 is a rolled material, (2nd floor is a hydraulic rolling machine, e4J is a plate width end position detector, 2 are meandering amount calculators, (a) is a comparison calculator, Cη is a setting device, (28) is a meandering Regulator, C31)
C321 is a bending controller, C33C341 is a servo valve, <351 (36) C37) (to) is a pressure detector, C31 (40 is a differential pressure calculator, (43) (461 is a detector, (4η is a comparison calculator) , 6υ is a light source, and (52 (g) is a detector.
Claims (1)
に設けられ圧延材の板幅端位置を光学的に検出する検出
器と、該検出器の検出値に基づいて圧延材の蛇行量を求
める演算装置と、圧延材幅方向位置の目標値を与える設
定器と、前記演算装置の出力信号と設定器で設定された
目標値とを比較演算する装置と、該比較演算装置で得ら
れた信号を処理してワークロールの作業側と駆動側のロ
ールペンディング圧力修正信号として出力する装置とを
備えて成り、ロールペンディング圧力を作業側と駆動側
で相互に逆方向となるよう修正するよう構成したことを
特徴とする蛇行制御装置。 ２）圧延材の板幅端位置検出器を、圧延材の発する光を
基に圧延材の幅端位置を検出する検出器とした特許請求
の範囲第１項に記載の蛇行制御装置。 ３）圧延材の板幅端位置検出器を圧延材の通過面下方若
しくは上方に配設された光源と、それに相対して圧延材
の上方若しくは下方の圧延材幅方向に配設され光源の光
を受けて圧延材の幅端位置を検出する検出器とした特許
請求の範囲第１項に記載の蛇行制御装置。[Scope of Claims] 1) A detector that is installed on either the entrance side or the exit side of the rolling mill or on both sides and optically detects the width end position of the rolled material, and a detector that optically detects the width end position of the rolled material, and a detector that optically detects the width end position of the rolled material, and a calculation device that calculates the amount of meandering of the rolled material by using the calculation device; a setting device that provides a target value for the position in the width direction of the rolled material; a device that compares and calculates the output signal of the calculation device with the target value set by the setting device; It is equipped with a device that processes the signal obtained by the comparison calculation device and outputs it as a roll pending pressure correction signal on the working side and the driving side of the work roll, so that the roll pending pressure can be adjusted in opposite directions on the working side and the driving side. A meandering control device characterized in that it is configured to correct such that. 2) The meandering control device according to claim 1, wherein the width end position detector of the rolled material is a detector that detects the width end position of the rolled material based on light emitted by the rolled material. 3) The plate width end position detector of the rolled material is connected to a light source disposed below or above the passing surface of the rolled material, and a light source disposed opposite to it in the width direction of the rolled material above or below the rolled material. The meandering control device according to claim 1, further comprising a detector for detecting the width end position of the rolled material based on the received information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60020663A JPS61180606A (en) | 1985-02-05 | 1985-02-05 | Control device for meandering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60020663A JPS61180606A (en) | 1985-02-05 | 1985-02-05 | Control device for meandering |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61180606A true JPS61180606A (en) | 1986-08-13 |
| JPH0587334B2 JPH0587334B2 (en) | 1993-12-16 |
Family
ID=12033441
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60020663A Granted JPS61180606A (en) | 1985-02-05 | 1985-02-05 | Control device for meandering |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61180606A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999012670A1 (en) * | 1997-09-11 | 1999-03-18 | Kvaerner Technology & Research Limited | Hot flat rolling mill stand and control method and apparatus therefor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5611107A (en) * | 1979-07-11 | 1981-02-04 | Nippon Steel Corp | Preventive controlling method for meandering motion of rolled material |
| JPS59118218A (en) * | 1982-12-23 | 1984-07-07 | Ishikawajima Harima Heavy Ind Co Ltd | Detecting method of meandering |
| JPS59143508U (en) * | 1983-03-17 | 1984-09-26 | 石川島播磨重工業株式会社 | Strip width end position detection device in rolling mill |
| JPS59143518U (en) * | 1983-03-17 | 1984-09-26 | 石川島播磨重工業株式会社 | Strip meandering detection device |
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1985
- 1985-02-05 JP JP60020663A patent/JPS61180606A/en active Granted
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5611107A (en) * | 1979-07-11 | 1981-02-04 | Nippon Steel Corp | Preventive controlling method for meandering motion of rolled material |
| JPS59118218A (en) * | 1982-12-23 | 1984-07-07 | Ishikawajima Harima Heavy Ind Co Ltd | Detecting method of meandering |
| JPS59143508U (en) * | 1983-03-17 | 1984-09-26 | 石川島播磨重工業株式会社 | Strip width end position detection device in rolling mill |
| JPS59143518U (en) * | 1983-03-17 | 1984-09-26 | 石川島播磨重工業株式会社 | Strip meandering detection device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999012670A1 (en) * | 1997-09-11 | 1999-03-18 | Kvaerner Technology & Research Limited | Hot flat rolling mill stand and control method and apparatus therefor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0587334B2 (en) | 1993-12-16 |
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Legal Events
| Date | Code | Title | Description |
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| EXPY | Cancellation because of completion of term |