CN102380513A - Rolling control device, rolling control method and rolling control program - Google Patents

Abstract

The invention relates to a rolling control device, a rolling control method and a rolling control program. When changing the operating state of the rolling mill, the deviation between the actual rolling state quantities such as plate thickness and tension and the set value is reduced. The rolling control device for controlling a rolling mill that rolls a rolled piece is characterized by comprising: a control operation end change pattern storage unit (102) that stores a pre-generated time-series change pattern, the time-series change pattern The pattern is used to make the roll gap and rotational speed of the rolls of the rolling mill change according to the nonlinear change of rolling conditions; the optimal control operation end time series changes the pattern setting device (103), which recognizes the nonlinear rolling conditions In the event of a change, the time-series pattern corresponding to the identified nonlinear change of the rolling condition is acquired, and the acquired time-series change pattern is output to be used for parameter control of the rolling action.

Description

Rolling control device, rolling control method and rolling control program

technical field

The invention relates to a rolling control device, a rolling control method and a rolling control program, in particular to the control in the case of changing rolling conditions in the rolling control device.

Background technique

In the rolling mill, the rolling operation is performed by controlling the tension and the rolling load applied to the workpiece to be rolled using the interval between the upper and lower work rolls, that is, the roll gap, and the roll speeds of the equipment before and after the rolling mill. In the rolling operation, the control operation amount of the rolling machine, that is, the roll gap and the roll speed, is operated according to the pattern of the preset control operation amount of the rolling machine, and the control state amount of the rolling machine, that is, the plate thickness and tension of the rolled piece, is implemented. , Feedback control to maintain the rolling load at the set value.

Here, the method of changing the roll gap and the roll speed in response to changes in the thickness of the workpiece to be rolled, a change in the target thickness, etc., in response to a change in the rolling operation state is by combining the command values for the roll gap and the roll speed with This is realized by giving feedforward control to a time-series change pattern that changes according to the passage of time. In this case, the time-series change pattern given to the control operation terminal is realized using a pattern that can be realized by an integrator that is easily generated in the control device of the rolling mill.

In addition, as a technology related to such feedforward control, it has been proposed that in a rolling mill having a preceding process and a subsequent process, the rolling result produced by the preceding process is measured, and the control value of the subsequent process is determined based on the measurement result. method (for example, refer to Patent Document 1 or Patent Document 2). In addition, it is proposed to calculate the phase difference between the command value of the feedforward control and the actual rolling position in order to make the timing when the control value controlled by the feedforward control is applied to the rolling mill coincide with the rolling position for which the control value is the target, Thereby, there is a method of obtaining the response delay time (for example, refer to Patent Document 3).

In the case of the technologies disclosed in Patent Documents 1 and 2, when there are previous and subsequent processes, the purpose of considering the interference of the previous process is to consider the technology disclosed in Patent Document 3. The purpose is feed-forward control of plate thickness detection results. On the other hand, the present invention aims at optimal rolling control when rolling conditions vary, and the techniques described in the above-mentioned prior art documents are different from the present invention.

[Patent Document 1] Japanese Patent Application Laid-Open No. 7-75811

[Patent Document 2] Japanese Patent Application Laid-Open No. 9-122723

[Patent Document 3] Japanese Patent Application Laid-Open No. 6-234010

In order to change the operating state of the rolling mill, the control state quantity of the rolled piece, that is, the thickness and tension, is changed, and the control operation end of the rolling mill is the roll speed and the roll gap, but the thickness of the plate when the operation end is operated is controlled. , Tension and other changes are nonlinear phenomena due to the complex rolling phenomenon. On the other hand, examples of time-series change patterns that can be created by conventional integrators include a simple slope change pattern, an S-curved change pattern with a smooth start and end of change, and the like.

However, in these time-series change patterns, it is difficult to respond to the nonlinear rolling phenomenon without causing the control state quantities of the rolling mill, that is, the variation in the thickness of the delivery side, the variation of the strip speed at the delivery side, and the variation of the strip speed at the delivery side. way to operate. In addition, the variation of the plate speed leads to the change of the tension, and the change of the tension further causes the variation of the plate thickness, the change of the plate speed of the sending side, and the change of the plate speed of the sending side. Therefore, it is difficult to minimize the deviation of the plate thickness and the actual tension from the set value. While changing the operating state of the rolling mill. As a result, problems such as deterioration of the quality of the rolled material and stoppage of operation of the device occur.

In addition, the changes in the operating conditions that should be considered in the above-mentioned problems are not limited to the above-mentioned changes in plate thickness and tension, changes in the plate width of the rolled piece, and loops supporting the rolled piece between continuously arranged rolling mills. Any change that affects the rolling phenomenon, such as a change in the position of the machine, can be a target of change in the operating state.

Contents of the invention

The problem to be solved by the present invention is to reduce the deviation between the actual rolling state quantities such as plate thickness and tension and the set value when changing the operating state of the rolling mill.

One aspect of the present invention is a rolling control device that controls a rolling mill that performs rolling by sandwiching a workpiece to be rolled by at least a pair of rollers, and is characterized in that it includes: a rolling condition change identification unit, which identifies the situation that the rolling conditions that affect the rolling result of the rolled piece change non-linearly; a time-series change pattern storage unit, which stores a pre-generated time-series change pattern, and the time-series change pattern The parameters involved in the rolling operation of the rolling mill are changed according to the nonlinear change of the rolling condition; the time-series change pattern acquisition unit is used to acquire and identify the non-linear change of the rolling condition when the rolling condition is recognized A time-series pattern corresponding to the nonlinear change of the rolling condition; a time-series change pattern output unit, which outputs the obtained time-series change pattern for the control of the roll gap and the rotation speed.

In addition, another aspect of the present invention is a rolling control method for controlling a rolling mill in which a workpiece to be rolled is sandwiched between at least one pair of rollers and the rolling control method is characterized in that identifying When the rolling conditions that affect the rolling result of the workpiece change non-linearly, when the non-linear change of the rolling conditions is recognized, the rolling obtained and recognized from the storage unit that stores the pre-generated time-series change pattern A time-series pattern corresponding to the nonlinear change of conditions, the time-series change pattern is used to make the parameters involved in the rolling action of the rolling mill change according to the nonlinear change of the rolling condition, and output the obtained time-series change pattern, It is used for the control of roller gap and rotation speed.

Still another aspect of the present invention is a rolling control program that controls a rolling mill that performs rolling by clamping a workpiece to be rolled by at least a pair of rollers, characterized in that , the following steps are executed in the information processing device, the step of identifying the non-linear change of the rolling condition that affects the rolling result of the rolled piece; when the non-linear change of the rolling condition is identified, the pre-generated The storage unit of the time-series change pattern acquires a time-series pattern corresponding to the recognized nonlinear change of the rolling condition, and the time-series change pattern is used to make the parameters related to the rolling operation performed by the rolling mill according to the rolling Conditions are changed nonlinearly, and the obtained time-series change pattern is output to be used in the parameter control step.

【Invention effect】

According to the present invention, when the operating state of the rolling mill is changed, it is possible to reduce the deviation of the actual rolling state quantities such as plate thickness and tension from the set value.

Description of drawings

FIG. 1 is a diagram showing an overall configuration of a rolling apparatus according to an embodiment of the present invention.

Fig. 2 is a diagram showing a control mechanism of rolling control according to the embodiment of the present invention.

Fig. 3 is a diagram showing a control mechanism of a two-stand rolling mill according to an embodiment of the present invention.

FIG. 4 is a diagram showing an example of a time-series change pattern using an integrator.

Fig. 5 is a diagram showing a control pattern of a dynamic thickness change according to the embodiment of the present invention.

Fig. 6 is a diagram showing a control pattern of a dynamic thickness change according to the embodiment of the present invention.

Fig. 7 is a diagram showing an example of calculation of set values at the time of dynamic thickness change.

Fig. 8 is a diagram showing an example of a time-series change pattern of the delivery side thickness, roll gap, forward slip ratio, and roll speed.

Fig. 9 is a diagram showing a configuration example of a rolling mill simulator according to the embodiment of the present invention.

FIG. 10 is a diagram illustrating a method of determining an optimal time-series change pattern according to an embodiment of the present invention.

FIG. 11 is a diagram illustrating a method of determining an optimal time-series change pattern according to an embodiment of the present invention.

Fig. 12 is a diagram showing a pattern of determining a control output amount in a control cycle of the control computer according to the embodiment of the present invention.

Fig. 13 is a diagram showing an example of an optimal control operator time-series change pattern according to the embodiment of the present invention.

FIG. 14 is a diagram showing a generation pattern of simulation generation of an optimal control operator time-series change pattern according to the embodiment of the present invention.

15 is a diagram showing a selection pattern of an optimal time-series change pattern of an actual state quantity according to the embodiment of the present invention.

Fig. 16 is a diagram showing a selection pattern of an optimal pattern from a plurality of time-series patterns according to another embodiment of the present invention.

Fig. 17 is a diagram showing an overall configuration of a rolling device according to another embodiment of the present invention.

Fig. 18 is a view showing biting operation of a rolled material in a rolling apparatus according to another embodiment of the present invention.

Fig. 19 is a diagram showing an example of the relationship between the change in the position of the looper roll and the tension between stands.

FIG. 20 is a diagram showing an example of a time-series change pattern according to another embodiment of the present invention.

FIG. 21 is a diagram showing a generation pattern of simulation generation of an optimal control operator time-series change pattern according to another embodiment of the present invention.

Fig. 22 is a diagram showing an overall configuration of a rolling device according to another embodiment of the present invention.

Fig. 23 is a diagram showing an example of changes in transition positions of intermediate rolls in a rolling apparatus according to another embodiment of the present invention.

【Symbol Description】

1 Feed side tension roller

2 #1 stand rolling mill

3 #2 stand rolling mill

4 Delivery side tension roller

101 Control operation terminal change pattern generation device

102 Control operation terminal change pattern storage unit

103 Optimum control operation terminal time series change pattern setting device

104 instruction value generating device

200 looper

201 Looper roller

202 Looper Arm

203 looper fulcrum

204 hydraulic cylinder

301 work roll

302 intermediate roller

303 backup roller

304 bending machine

Detailed ways

Implementation mode 1.

In this embodiment, a case where the present invention is applied to a dynamic thickness change (flying gauge change) of a two-stand continuous rolling mill will be described below. As shown in FIG. 1 , in a two-stand continuous rolling mill, a dynamic thickness change in which the thickness setting of a workpiece to be rolled is changed is implemented without stopping the rolling mill.

The so-called dynamic plate thickness change processing refers to changing the control target values in rolling control, namely, the roll gap and roll speed, to correspond to the product specifications without stopping the rolling machine in order to produce rolled workpieces of different specifications. value processing. In addition to changing the target plate thickness, it is also possible to change the initial plate thickness of the rolled material supplied to the rolling mill.

This dynamic plate thickness change is a process for solving problems in product quality and reduction in production efficiency caused by rolling. Problems in product quality are caused when the rolling machine is stopped with the rolled piece caught between the work rolls of the rolling mill, and the thickness of the rolled piece called the stop mark does not meet the product specification. The problem with the unqualified part. In addition, the problem of reduction in production efficiency refers to the problem of the time required for restarting the rolling operation due to the stop of the rolling mill.

When the initial thickness of the rolled workpiece supplied to the rolling mill changes, the rolled workpieces of different specifications are welded and combined on the feed side of the rolling mill, corresponding to the time when the welded point passes through the rolling mill Make the control operation end, that is, roll gap or roll speed change. In addition, when only the target thickness is changed, the roll gap or the roll speed is changed in order to change only the rolling mill delivery side thickness on the same rolled material. In the following description, the latter case will be described, but the former case will be handled in the same way.

In the operation of the rolling control device according to the present embodiment shown in FIG. 1 , the command value generator 104 outputs a command value corresponding to the product specification of the rolled material when the thickness of the plate is dynamically changed. When the command value output by the command value generator 104 changes, the control operation terminal change pattern generator 101 converts the change of the command value into a time-series change pattern and operates the control terminal, that is, the roll gap or the roll speed.

As shown in FIG. 1 , in the rolling mill of this embodiment, roll speed control devices 11 , 21 , 31 , 41 for controlling the speed of the rolls, and hydraulic pressure controls for controlling the position of the roll gap by changing the hydraulic pressure of the hydraulic cylinders are further included. Lower control means 22,32. The control operation side change pattern generator 101 operates the above-mentioned roll gap or roll speed by inputting the change pattern to these control means.

A change in rolling conditions in a dynamic plate thickness change that occurs in a normal rolling mill is based on a preset production plan. That is, the change pattern of the rolling conditions in the dynamic plate thickness change is set in advance, and a preferable time-series change pattern for this can be obtained in advance. In other words, the said time-series change pattern is information which specifies the control parameter of the rolling operation in a rolling control apparatus in time series. The gist of this embodiment is that the control operation end change pattern storage unit 102 stores the time-series change pattern corresponding to the change pattern of rolling conditions, that is, the information of the control operation end change pattern, and optimally controls the operation end time-series change pattern setting. The device 103 inputs the control operation terminal change pattern read from the control operation terminal change pattern storage unit 102 into the control operation terminal change pattern generation device 101 .

Fig. 2 shows the outline of a rolling mill control system. The rolling mill control system calculates the set value of the control state quantity according to the product specification and the instruction value generating device 104 for the control operation end operation amount used to realize the set value, and takes the change pattern of the control operation end operation amount according to time series as the direction The control operation end change pattern generation device 101 controlling the command output of the control operation end changes the command value to the control operation end. As a result, the rolling state changes in the rolling mill + rolling phenomenon 901, and the control state quantity changes . In such a manner that the deviation between the actual control state quantity and the control state quantity target value is zero, the feedback control device 901 is made to output a control command to the control operation terminal.

Rolling is a nonlinear phenomenon. Therefore, when changing the control state quantity, that is, the plate thickness or tension setting, it is necessary to change the control action point, but the change is realized by the command value generation device 104 and the control operation end change pattern generation device 101 . When the rolling state is different from the set state, and the command value output to the control operation terminal is excessive or insufficient, the feedback control device 901 corrects it. Ideally, as long as the time-series change pattern to the control operation end generated by the command value generation device 104 and the control operation end change pattern generation device 101 can realize the control state quantity for realizing the product specification, no feedback control is required. Device 901 operates.

Realistically, the control state quantity of rolling varies differently from the set value due to the control disturbance quantity, that is, the thickness or tension of the rolling mill input side, the tension of the delivery side, etc., so the function of correcting it, that is, feedback Control device 901. The dynamic plate thickness change in the prior art is implemented by setting the set value of the control operation end before and after the change by the command value generation device 104, and changing the actual control operation end of the pattern operation by the change pattern generation device 101 in time series, that is, the roll gap and the roll speed. . That is, in the present embodiment, the parameters of the rolling operation that are changed according to the time-series change pattern are the roll gap and the roll speed.

Next, the rolling phenomenon of the 2-stand continuous rolling mill will be described using FIG. 3 . As shown in Figure 1, in a 2-stand continuous rolling mill, except for #1 stand rolling mill 2, #2 stand rolling mill 3 and two rolling mills, in #1 stand rolling mill The feed-in side of #2 is provided with a feed-in side tension roller 1, and the send-out side tension roller 4 is provided on the send-out side of #2 frame. The rolled piece wound into a coil is unwound from the equipment on the feeding side, and is sent into the rolling mill through the tension roller 1 on the feeding side, and is rolled by #1 rack rolling machine 2 and #2 rack rolling machine 3. After being rolled to a predetermined thickness, it is wound into a coil shape by the sending-side tension roller 4 on the sending-side equipment.

In the rolling mill frame, according to the control interference amount, the thickness of the feeding side, the tension of the feeding side, the tension of the sending side, and the control operation amount are the roll speed and roll gap of the rolling mill frame, and the tension roller of the feeding side. The speed and the speed of the tension roller on the delivery side are determined by using the rolling machine and the rolling phenomenon to determine the control state quantity, that is, the thickness of the delivery side of the rolling mill, the speed of the delivery side, and the speed of the delivery side. Between feed-side tension roll 1 and #1 stand rolling mill 2, the time integral from the difference in feed-side speed of #1 stand rolling mill and feed-side tension roll speed yields #1 stand Rolling mill entry side tension (as entry side tension), resulting from the time integral of the difference between the entry side velocity of #2 stand rolling mill 3 and the exit side velocity of #1 stand rolling mill 1 #2 Tension on the entry side of the rolling stand (= tension on the exit side of the #1 rolling mill, hereinafter referred to as inter-stand tension).

In addition, the #2 stand delivery side tension (as delivery side tension) is generated from the time integral of the difference between the delivery side tension roll 4 speed and the delivery side speed of the #2 stand rolling mill 3 . In addition, the plate thickness of the delivery side of #1 rolling mill 2 becomes #2 rolling when the rolled workpiece moves from the delivery side of #1 rolling mill to the delivery side of #2 rolling mill. The feeding side plate thickness of the machine. According to the feed-in tension, feed-out tension, and feed-in thickness of the rolling mill, the feed-side thickness, feed-in speed, and feed-out speed of the rolling mill fluctuate. Therefore, the feed-in tension, feed-out tension, and The time-series fluctuation of the feed-in thickness appears as the time-series fluctuation of the feed-out thickness, feed-in tension, and discharge-side tension of each rolling mill stand. Therefore, in the control performed only by the command value generation device 104, the control operation end change pattern 101, and the feedback control device 902, there is a limit to the accuracy of the delivery-side thickness in the dynamic thickness change. In addition, when the target plate thickness is obtained only by feedback control, the time required for the actual value to converge to the target value becomes longer, and thus the yield of products decreases.

FIG. 4 is a diagram showing a time-series change pattern that can be generated by the calculation by the integration described above. As shown in FIG. 4 , when a constant signal is input during a predetermined period, the output signal becomes a simple ramp-like change pattern. In addition, when a signal gradually rises for a predetermined period and becomes constant, and then gradually decreases, the output signal becomes an S-curved change pattern that smoothes the start and end of the change in the ramp-like change pattern.

These time-series change patterns are used to correspond to the nonlinear rolling phenomenon generated in the dynamic thickness change, so that the control state quantity of the rolling mill, that is, the variation of the thickness of the delivery side or the variation of the speed of the delivery side, and the variation of the delivery side It is difficult to operate in a rapidly changing manner. In addition, the tension also changes due to the change of the plate speed. Since the change of the tension further causes the change of the plate thickness or the change of the plate speed of the sending side and the change of the plate speed of the sending side, it is not easy to make the deviation between the actual plate thickness and the actual tension and the set value become Minimal simultaneous changes in the operating state of the rolling mill.

In this embodiment, as a dynamic thickness change, as shown in FIG.5(a), (b), the case where a board thickness and tension|tensile_strength are changed is considered. The horizontal axis of the figure represents the position on the plate of the rolled workpiece, and the dynamic plate thickness change area changes the plate thickness setting and tension setting. The change of the set value of the control state quantity, that is, the thickness of the delivery side and the tension between the racks is carried out in the form of a ramp function (change from a certain set value to the next set value in a straight line). In addition, the marks I and II in the figure represent the control state quantity setting values before and after the dynamic plate thickness change. As for the plate thickness, before and after the dynamic plate thickness, the plate thickness of the feeding side is the same, and the plate thickness of the sending side of #1 frame is different from that of #2 frame. In addition, the tension is also set so that the tension on the delivery side is the same before and after the dynamic thickness change area, but the tension between frames and the tension on the delivery side are set to be different.

Fig. 6 shows how to change the roll gap and the roll speed, which are the control operation side of the rolling mill for implementing the dynamic plate thickness change shown in Fig. 5(a) and (b). The horizontal axis of Fig. 6 is time. In the #1 rolling mill and the #2 rolling mill, at the same point on the plate of the rolled product, the plate thickness is changed from schedule I to schedule II At the time of setting, change the control operation end, that is, the roller gap and the roller speed.

That is, in the dynamic thickness change, a point at which the target thickness is changed (hereinafter referred to as a thickness change point) is determined on the plate of the rolled product, and the point at which the thickness is changed is rolled by #1 stand. Rolling machine and #2 stand rolling machine 2, change each roll gap and roll speed. In other words, up to now, in the graph related to the plate thickness setting in FIG. During rolling by the stand rolling machine and the #2 stand rolling machine, the roll gap and the roll speed were changed in the same manner in accordance with the graph related to the roll gap and the graph related to the roll speed in FIG. 6 .

The roll gaps and roll speeds in Schedule I and Schedule II can be obtained from the rolling pattern. Calculation of the roll gap and the roll speed is carried out by the command value generator 104 using the formula shown in FIG. 7 . The roll gaps and roll speeds required for schedule I and schedule II are set by calculation in the command value generation device 104, and therefore, in the next change pattern generation device 101, the set roll gap and roll speed are transferred to the set roll gap and roll speed. Changes in roll speed. In this case, from the standpoint of stabilizing the rolling operation, it is not possible to change from schedule I to schedule II in a stepwise manner, and therefore, conventionally, it is implemented using a sloped function as shown in FIG. 6 .

The rolling phenomenon is a complex nonlinear phenomenon. Therefore, as shown in FIG. 8( a ), when the roll gap is changed obliquely, the delivery-side plate thickness does not vary obliquely but becomes complicated. That is, even if the roll gap and the roll speed are changed in a slanting manner, the plate thickness and tension do not change in a slanting manner.

In order to change the thickness of the delivery side in an inclined manner, it is necessary to change the roll gap change pattern to a time-series change pattern of the roll gap shown in FIG. 8( b ). In addition, when the front slip ratio changes in an oblique shape according to the oblique shape change of the roll gap, the delivery side thickness changes in an oblique shape. When the time series change pattern of the roll gap is shown in Figure 8(b), the front slip ratio does not Inclined changes.

The delivery-side tension of the rolling mill stand is obtained by time-integrating the difference between the delivery-side speed of the subsequent stand rolling mill and the roll speed of the rolling mill×(1+forward slip rate). When the feed-in side speed of the subsequent stand rolling mill is fixed, corresponding to the change of the forward slip rate, if the roll speed is operated as 1/(1+forward slip rate), the send-out side tension is fixed. In addition, since the time integral of a constant value is changed by giving the difference between the feed-in side plate speed of the post-stage frame and a fixed value, the tension can be changed in an inclined manner.

Therefore, by optimizing the changing pattern of the roll gap and the roll speed, which are the control operation quantities during rolling, it is possible to change the plate thickness and tension, which are the control state quantities, in an oblique manner. For example, in the case of FIG. 8( b ), the roller speed can be changed in a ramped manner by setting the roller speed as a time-series pattern shown in the figure.

In this embodiment, the change pattern of the roll gap and roll speed optimized in this way is stored in the control operation end change pattern storage unit 102, in the #1 frame dynamic thickness change area and #2 machine In the frame dynamic plate thickness change area, the optimal control operation end time series change pattern setting device 103 reads the change pattern stored in the control operation end change pattern storage unit 102 and inputs it into the control operation end change pattern generation device 101 . Thereby, as shown in FIG. 8( b ), the sending-out side plate thickness changes in an oblique form from the state before the change to the state after the change. That is, the control operation end change pattern storage unit 102 functions as a time-series change pattern storage unit, and the optimal control operation end time-series change pattern setting device 103 functions as a time-series change pattern output unit.

Here, the optimal control operation terminal time-series change pattern setting device 103 at least recognizes the arrival of the above-mentioned #1 frame dynamic thickness change area in advance. That is, the optimal control operation side time-series change pattern setting device 103 functions as a rolling condition change recognition unit and a time-series change pattern acquisition unit. This identification is performed by detecting a change in the command value input from the command value generating means 104 .

In addition, as described above, the rolling operation by the rolling mill is carried out according to a production plan established in advance. In the rolling mill, according to the production plan, the position on the rolled piece whose plate thickness is to be changed is determined in advance, and the rolling control device recognizes the distance from the rolling mill by measuring the rotation amount of the roll. distance from a certain location. For example, punching holes are created in advance at positions on the rolled material where the plate thickness is to be changed, light is irradiated on the rolled material in advance, and the punched holes are detected by detecting light passing through the punched holes. By grounding the punching detector 50 on the rolling mill feeding side as shown in FIG. 1 , it is possible to detect that the point at which the strain changes the plate thickness reaches the rolling mill feeding side. Furthermore, by detecting the rotational speed of the tension roller on the delivery side, it can be detected that the point where the plate thickness should be changed has reached the #1 frame dynamic thickness change area and the #2 frame dynamic plate thickness change area. The command value generator 104 changes the command value at this point.

In addition, in the example of FIG. 6, the roll gap of #1 stand is changed also in the #2 stand dynamic plate thickness change area. This is because when the amount of primary change is large, the load applied to the rolling mill becomes high, and operation of the device becomes ineffective, or the amount of primary change is limited within the possible range. That is, the gist is to solve this problem by gradually approaching the final state of the #2 frame dynamic thickness change region.

In the present embodiment, since the optimized change pattern as described above is stored in the control operation side change pattern storage unit 102, the change pattern is generated by rolling simulation. FIG. 9 shows the configuration of a rolling simulation device (abbreviated as a rolling simulator) used to generate the change pattern stored in the control operation end change pattern storage unit 102 according to the present embodiment. The rolling simulator consists of a rolling mill simulator that simulates the state of the tension roll 1 on the feed-in side, the rolling mill 2 of the #1 rack, the rolling mill 3 of the #2 rack, and the tension roll 4 on the sending-out side, and includes a The model configuration of the rolling phenomenon simulator of the entry tension and exit tension.

The rolling machine simulator receives the roll gap command value and the roll speed command value as input, and outputs the roll gap and the roll speed to the rolling phenomenon simulator. The rolling phenomenon simulator also takes the input side plate thickness, deformation resistance and friction coefficient of the rolled piece as input, and calculates the output side plate thickness or the delivery side thickness of each stand according to the roll gap and roll speed of each stand rolling machine. The tension on the entry side, the tension between stands and the tension on the exit side are output as rolling state quantities.

Here, the deformation resistance and friction coefficient of the rolled piece are determined by the mechanical specification of the rolling mill equipment, the product specification of the rolled piece, the specification of the lubricating material used in rolling, and the like. In addition, since the entry-side tension, the inter-stand tension, and the exit-side tension, which are control state quantities of rolling, are integrals of the speed difference, they can be set by externally supplying an integral term of the tension of the rolling simulator in advance. This is because the rolling phenomenon is a nonlinear phenomenon. Therefore, the initial values of the tension, rolling load, and plate thickness are different, and the time series changes of the plate thickness and tension are different. The state corresponding to the mechanism state is simulated. Moreover, by preliminarily setting in this way, rolling simulation can be performed assuming various rolling control state quantities.

Here, the control devices on the control side such as the roll speed control devices 11 to 41, or the hydraulic pressure control devices 22 and 32 are all controlled by a computer for controlling the rolling mill shown in FIGS. 1 and 2. The control cycle is short. Computational control is implemented periodically. Therefore, in the simulator of the rolling mill, after the change pattern generation device 101 of the control operation end outputs the change pattern of the roll speed and the roll gap, the roll speed control devices 11 to 14 and the hydraulic pressure reduction control devices 22 and 32 consider changing the roll speed. The time response of speed and roll gap is simulated.

In the rolling simulator of this embodiment, the rolling mill simulator outputs simulated roll gaps and roll speeds in accordance with the operation of the control operation end change pattern generator 101 . Since the roll gap and the roll speed change together with the rolling state quantity, they are finally calculated in the calculation period in the rolling phenomenon. This is the operation cycle of the rolling simulator.

In addition, in actual operation, due to mechanical reasons such as the thickness of the incoming side of the rolled piece or deformation resistance, friction coefficient fluctuations, or thermal expansion of the rolls, there are actual rolling conditions such as the thickness or tension at the moment when the actual dynamic thickness change starts. The possibility that the state quantity of the machine is different from the set value. As described above, the rolling phenomenon is a nonlinear phenomenon, and therefore, different responses are obtained when conditions such as the control state quantity, that is, the thickness and tension of the feed-in side are different. In order to cope with this, it is preferable to assume deviations between the actual control state quantities and the set values for several rolling passes, perform simulations for these, and store change patterns obtained for the respective results in advance in the control operation end change pattern storage unit 102 .

For example, assuming that the actual feed-in side plate thickness H1 of the #1 rack rolling mill is thicker, thinner, and the same as the set value, the actual inter-stand tension Tf1 is higher, lower, and equal to the set value. Three cases with the same set value were simulated in nine cases for their combinations.

The thickness h1 of the delivery side of the #1 rolling mill and the delivery side thickness h2 of the #2 rolling mill are determined by the control state quantity and the control operation quantity of the rolling mill, that is, the roll gap and the roll speed. In addition, the tension on the sending side is maintained at the set value through the tension control on the sending side with the speed or current of the tension roller on the sending side as the operating end, and the tension on the sending side is controlled by the tension roller on the sending side using the speed or current of the tensioning roller on the sending side as the operating end. Tension control is maintained at the set value, so here it is assumed that the actual control state quantity is consistent with the set value. Since rolling is not performed on the delivery-side tension roll and the delivery-side tension roll, there is no reason for fluctuations due to the rolling state such as the forward slip rate.

In the simulation, it is necessary to judge whether the results are good or bad. Here, for the change pattern of the roll gap and roll speed of the #1 stand rolling mill, the actual thickness of the delivery side of the #1 stand and the actual tension between the stands are compared with the design. The smaller the average error of the fixed value deviation in the time axis direction of the dynamic plate thickness change area, the better. In addition, for the roll gap and roll speed pattern of the #2 stand rolling mill, it is evaluated that the deviation between the actual delivery side thickness of the #2 stand rolling mill and the actual tension between the stands and the set value is in the dynamic thickness change area The smaller the average error of the second power in the direction of the time axis, the better.

Fig. 10(a) shows a control computer used for rolling mill control, a control operation terminal control computer used for control of the rolling mill operation terminal, and a rolling simulation of the physical phenomenon of the control object, that is, the rolling mill and the rolling phenomenon. calculation cycle in . The control computer (rolling mill control computer) used for controlling the rolling mill such as the control operation end change pattern generator 101 and the command value generator 104 operates at a cycle of, for example, about 20 ms. Therefore, the time-series change pattern output to the operation terminal cannot be output to the control operation terminal with a resolution smaller than the control cycle.

Therefore, the control operation end control is simulated with the control cycle of the control operation end control computer with a cycle width smaller than that of the computer control cycle for rolling control, and then the rolling mill control operation end action and rolling phenomenon are implemented with a small cycle width simulation. That is, in the control cycle of the rolling mill control computer, the control operation end, that is, the roll gap and the roll speed, are output as command values, and the rolling mill control operation end control device will control the actual value of the operation end to be consistent with the command value. Change the method, and then simulate the rolling mill and rolling phenomenon based on the result, so that the control state quantities of the rolling mill in the next control cycle of the rolling control computer, that is, the delivery side thickness, tension, and rolling state can be calculated. load etc.

The control state quantity of the rolling mill in the next control cycle calculated here is changed so that the control operation terminal operation command value is closest to the target value. By sequentially performing the same calculation from the start point to the end point of the dynamic plate thickness change area for each control cycle of the computer for rolling mill control, an optimal time-series change pattern can be obtained.

Fig. 10(b) and Fig. 11(a) show the setting method of the optimal time-series change pattern of the roll gap and the roll speed in the case of dynamic thickness change. As shown in Figure 5, the time series change pattern of the control operation end of the #1 frame delivery side thickness, #2 frame delivery side thickness, input side tension, inter-frame tension, and delivery side tension is determined. Simultaneous simulation of the roll gap and roll speed during the execution of each process by the computer for machine control, creating a time-series change pattern.

In Fig. 10(b), when it is considered that the control period of the computer for rolling mill control is the kth and the control period of the computer for controlling the operation end of the rolling mill is the first, the rolling process in dynamic thickness change In the i-th control cycle of the machine control computer, the roll gap is determined so as to become the delivery-side thickness target value in the following i+1-th control cycle. Corresponding to the change of the delivery-side plate thickness target value, the change amount of the roll gap is determined according to the calculation formula shown in FIG. 7 . By changing the roll gap, the front slip ratio fluctuates, and the tension also fluctuates. In order to prevent this, it is necessary to change the roll speed.

In this case, a command is output as a roll gap change ΔS1 and as a roll speed change Δv1. Rolling simulation is carried out according to this instruction. The control computer at the control operation end receives the roll gap change command, and changes the roll gap according to the command. As shown in Figure 10(b), the actual roll gap is changed, and as shown in Figure 11(a), the actual roll speed is changed.

As a result, as shown in FIG. 10( a ), the actual delivery side plate thickness was changed, and as shown in FIG. 11( b ), the tension between stands was varied as a rolling simulation result. The following results were obtained, the delivery side plate thickness was smaller than the target by Δh, and the inter-frame tension was larger than the target by ΔT. It is necessary to determine the control operation terminal operation quantity at which the deviation between the control state quantity and the target value in the next control cycle of the computer for rolling control is the smallest, and therefore, for example, a gradient method is used.

In the gradient method, as shown in Fig. 12, the point at which the evaluation function J created based on the deviation ratio of the delivery side plate thickness and the tension between stands becomes the minimum is performed by cyclically operating the rolling simulation within the range where the control operation end can be operated. Sure. The gradient method is a recursive search method, but there are various proposals for improving search efficiency, so it is possible to use them to improve search efficiency.

As shown in FIG. 13 , by obtaining the optimal operation command output to the control operation end in the control cycle of the computer for rolling mill control over the entire area of the dynamic plate thickness change region, it is possible to obtain the optimum control operation end. The best time series change pattern.

From the above, it becomes like the outline of the operation shown in the optimal control operation terminal time-series change pattern setting device shown in FIG. 14 . In the initial condition setting device 111, various deviations are set between the actual value of the control state quantity called thickness or tension before the dynamic thickness change and the set value of the control state quantity, and the control of the rolling simulator 110 is set. The initial condition of the state quantity. In the state where the initial conditions are set, the control period management device 114 sets the state quantity target value for each control period of the computer for rolling control.

The control operation end operation amount setting device outputs the control operation end operation amount so that the set control state quantity target value is input to the rolling simulator 110 . In the rolling simulator 110, the rolling phenomenon of the computer for rolling control until the next control cycle is simulated, and the actual control state quantity in the next control cycle is output.

In the optimum determination device, the quadratic error of the deviation between the obtained actual control state quantity and the target value of the control state quantity is obtained, and the evaluation function J is obtained, which is appropriately set in advance in the gradient method, for example. By repeating the operation while changing the operation amount of the control operation side, the optimum operation amount of the control operation side is obtained. The optimal time-series change pattern for each initial setting condition can be obtained by applying the preset initial setting condition quantity of the control state quantity to it.

As described above, the optimal time-series change pattern among various initial setting conditions can be calculated and stored in the control operation terminal change pattern storage unit 102 . Therefore, in the actual rolling operation, when the dynamic plate thickness change region starts, the optimal control operation end time series change pattern setting device 103 selects the initial setting condition closest to the actual rolling state and calculates The optimal time series change pattern of , and use the optimal time series change pattern to implement dynamic plate thickness change.

This method will be described using Fig. 15(a) and (b).

As mentioned above, by setting the thickness H1 of the feeding side of the #1 rolling mill to be thicker, thinner, or the same as the set value, the inter-stand tension Tf1 is higher or lower than the set value. , or three situations that are the same as the set value, and their combinations are simulated according to nine situations, and the optimal time-series change pattern to the control operation end for each combination is determined in advance.

For example, as shown in Figure 15(b), the case where the thickness of the feeding side plate is "thick", "set value" and "thin" and the tension between racks is "high", "set value" and " Corresponding to the case of "Low", the initial setting condition No. is assigned 1 to 9, which corresponds to the time-series change pattern of the control operation terminal in the initial condition.

In addition, corresponding to the initial setting conditions, the setting value and the range of thick and thin are preset for the thickness of the feed-in side. Then, the optimal control operator time-series change pattern setting device 103 determines whether the input actual value is included in any range of "setting value", "thick" and "thin", and selects the optimal time-series change pattern. Similarly, for the inter-frame tension, the ranges of "high", "set value" and "low" are also pre-determined, and the optimal control operation end time series change pattern setting device 103 selects the optimal time according to the input actual value Sequential change pattern.

When the dynamic plate thickness change area starts, the initial setting condition No. is determined by the optimal control operation terminal time-series change pattern setting device 103 according to the actual feed-in side plate thickness and the actual inter-frame tension. In the example in Fig. 15, the feed-in side plate is thick, and the tension between stands is judged to be the set value, so the initial setting condition No. is selected as 2.

Thus, in the dynamic thickness change area, the time-series change pattern of the control operation end corresponding to the selected initial setting condition No. is changed from the control operation end time-series change pattern setting device 103 to the optimum control operation end. The storage unit 102 reads and gives the control operation end change pattern generator 101, and gives the actual control operation end, that is, the roll gap and roll speed control device, as an operation end command value in each control cycle of the rolling control computer.

As described above, in the dynamic thickness change region, it is possible to perform a dynamic thickness change that minimizes the deviation between the actual control state quantity and the set value of the control state quantity. In this way, it is possible to set the time-series change of the control operation side of the rolling mill in such a way that the deviation between the actual control state quantities such as the plate thickness and tension of the rolled workpiece that is important for the rolling mill and the set value is minimized Patterns, therefore, can improve product quality and operational efficiency.

In addition, in the above-mentioned embodiment, the case where the simulation result of the rolling simulator shown in FIG. The change patterns generated based on the experimental values and actual measured values generated by various combinations are stored as the optimal time-series change patterns. Also in this case, the same effect as above can be obtained.

In addition, as in the above-mentioned embodiment, when there are two rolling conditions of schedule I and II, there is a dynamic thickness change from schedule I to schedule II, and a transition from schedule II to schedule I. Dynamic plate thickness change There are two types of dynamic plate thickness change. Therefore, the control operation end change pattern storage unit 102 stores at least two types of time-series change patterns in advance, and the optimal control operation end time-series change pattern setting device 103 reads the time-series change pattern from the control operation end change pattern storage unit 102. , to determine which time-series change pattern is to be read. This judgment is realized by monitoring the position on the rolled material where the plate thickness should be changed in view of whether the rolling operation is carried out according to the production plan as described above.

Implementation mode 2.

In Embodiment 1, the method of obtaining the roll gap and the roll speed by successively calculating the optimum values in the control cycle of the rolling mill control computer using a rolling simulator is shown, but a plurality of times may be assumed in advance. Sequential change patterns, using these patterns to simulate dynamic plate thickness changes, adopt time-series change patterns with the smallest evaluation function.

In this case, as shown in FIG. 16, a preset time-series pattern is sequentially selected in the time-series pattern selection device, given to the time-series operation amount changing device 120, and the actual control operation terminal operation amount is used as the time series pattern. The sequence change pattern is given to the rolling simulator 110, and from the obtained control state quantity (time-series quantity serving as a dynamic thickness change region), the optimal judging device 122 obtains the relationship between the control state quantity in the direction of the time axis and the state quantity target value. The mean sum of squares of deviations. This is implemented by changing the time-series pattern, and an optimal time-series change pattern is selected.

Implementation mode 3.

This method is not only applicable to rolling mills, but also applicable to control objects that need to change the control operation terminal in a feedforward manner according to a certain time-series pattern in order to change the control state quantity of the control object according to a certain time-series pattern.

Embodiment 4

In the hot continuous rolling mill, as shown in FIG. 17, a looper device 200 is provided between the rolling mill stands. The looper device 200 comprises: a looper arm 202 rotating around the looper fulcrum 203; a looper roller 201 mounted on the front end of the looper arm 202 for contacting with the rolled piece to lift the rolled piece; The hydraulic cylinder 204 is used to adjust the position of the looper roll in the vertical direction, that is, the height, and the force that the looper roll imparts to the rolled workpiece. That is, the looper device 200 including the looper roll 201 serves as a support portion for supporting a workpiece to be rolled.

Then, the hydraulic cylinder 204 obtains the force received by the looper roll 201 from the workpiece by measuring the reaction force received from the looper arm 202 , and further obtains the tension of the workpiece. In addition, by changing the position of the looper rolls 201, the length of the material to be rolled between the stands is changed, and thus the tension applied to the material to be rolled is changed. That is, the looper device 200 is a control mechanism and a detection mechanism for the tension between rolling mill stands.

In order to measure the tension of the rolled piece between the stands, the looper roll 201 needs to lift the rolled piece. Therefore, the position of the upper surface of the looper roll 201 needs to be on the line (via line). Even in this case, if the winding angle of the workpiece to be rolled is small with respect to the looper roll 201, the precision of tension measurement will decrease, and therefore, a certain winding angle is required.

When a to-be-rolled material is passed through the rolling mill, it is necessary to bite the front end portion of the to-be-rolled material between work rolls of the rolling mill. In this case, as shown in FIG. 18, since the front end portion of the workpiece to be rolled moves from the #1 stand rolling machine to the #2 stand rolling machine 3, it becomes a state lower than the passing line, so that Not interfered by the looper roller 201. After the front end portion of the rolled piece is bitten into the #2 stand rolling machine 3, the looper roll 201 is raised to the position shown in FIG. The state of the operating end of the tension control.

Here, FIG. 19 is a graph showing the time series of the change in the position of the looper roller 201 and the change in the inter-stand tension in the same manner. As shown in FIG. 19 , when the looper roll 201 is raised, the geometric length of the rolled material between the stands is extended, and therefore, the tension between the stands increases as shown in the figure below. If the roll speeds and roll intervals of the two rolling mill stands are constant, the inter-stand tension rises only during the period when the looper roll 201 is raised to change the length of the rolled material between the stands. When the position of the looper roll 201 is fixed and the length of the rolled piece between the stands is constant, the tension between the stands returns to the initial state.

When the inter-stand tension increases, the thickness of the rolled piece becomes thinner and the width of the strip decreases. The plate thickness can be corrected by the #2-stand rolling mill 3 which is the subsequent rolling mill stand, but the decrease in the plate width (width reduction) cannot be corrected, and therefore becomes a problem in product quality. Therefore, it is necessary to correct the roll speed and roll gap of the #1 rack rolling mill 2 during the ascent of the looper roll 201 to prevent tension fluctuations caused by the ascent of the looper roll.

In Embodiment 1, the thickness of the material to be rolled or the target value of rolling has been described as an example for detecting the non-linearly changing rolling conditions. In this embodiment, the above-mentioned position change of the looper roll 201 is treated as a change in rolling conditions, and a time-series change pattern of the roll speed and the roll gap of the #1 rolling mill stand 2 is assigned to each control operation terminal. Thereby, it is the gist of this embodiment to prevent the variation of the tension between the stands shown in FIG. 19 and to improve the product quality of the rolled material.

FIG. 20 is a diagram showing an example of the time-series change pattern of the operation end as described above with respect to the positional change of the looper roller 201 and the time-series change of the inter-stand tension obtained as a result. As described above, by raising the position of the looper rolls, the length of the rolled material between the stands becomes longer, so the tension between the stands is increased. In order to suppress this tension rise, the roll speed of the #1 stand rolling mill 2 is changed corresponding to the length change caused by the change of the looper roll position, so that the length of the workpiece to be rolled coincides with the geometric length. Specifically, the rolling of the #1 stand is accelerated in such a manner that the to-be-rolled piece is sent out from the rolling machine 2 of the #1 stand in accordance with the increase in the length of the to-be-rolled piece between the stands accompanied by the rise of the looper roll 201. Roll speed of machine 2.

In addition, when the roll speed of the #1 stand rolling mill 2 is changed, the rolling load and further the delivery-side plate thickness are changed accordingly. In order to suppress this, it is necessary to operate the roll gap of the #1 stand rolling mill 2 . Specifically, in order to reduce the rolling load accompanying the increase in the roll speed, the roll gap of the rolling mill stand 2 of #1 is reduced so as to correspond to the amount of decrease in the rolling load. In this way, by changing the roll speed and the roll gap of #1 stand rolling mill 2 according to the position change of the looper roll 201, as shown in FIG. . That is, in the present embodiment, the parameters of the rolling operation that are changed according to the time-series change pattern are the roll gap and the roll speed.

However, the geometric length of the to-be-rolled material between the stands relative to the positional change of the looper roll 201 is nonlinear when taking into account the winding of the to-be-rolled material to the rolls and the like. Therefore, even if the position of the looper roll 201 is changed in an oblique shape, the geometric length of the rolled material between stands does not become oblique. This is a geometrical problem, so the position change command of the looper roll 201 can be output so that the geometrical length of the rolled material between the stands changes in an oblique shape. In such an arrangement, by changing the roll speed of the #1 stand rolling machine 2, the rolling state is changed, and the forward slip ratio and the rolling load are changed.

The fluctuation of the rolling load is suppressed by operating the roll gap of the #1 stand rolling mill, but the forward slip ratio fluctuates due to this reason. Therefore, the tension between the racks fluctuates, and the forward slip ratio also fluctuates for this reason. In this case, the time-series operation pattern of each control operation terminal is inappropriate, and tension fluctuation cannot be suppressed as a result.

In this embodiment, the time-series control pattern shown in FIG. 20 is obtained by using the rolling simulator shown in FIG. 21 , and is stored in the control operation end change pattern storage unit 102 . In the rolling simulator shown in FIG. 21 , the rolling mill simulator obtains the geometric length (geometric strip length) of the workpiece to be rolled between stands based on the position change command value of the looper roll 201 . Then, the rolling phenomenon simulator calculates the sheet thickness and tension on the delivery side of the rolling mill stand 2 of #1 based on the above-mentioned geometrical length, roll gap, and roll speed.

The tension between stands cannot be measured unless the position of the looper roller 201 has risen. Therefore, a plurality of initial setting conditions are set by using the actual feed-side plate thickness measured at the feed-in side of #1 stand rolling mill 2 and the rolling load in #1 stand rolling mill 2, as shown in FIG. 15 In the same manner as in the example of (b), corresponding time-series control patterns are obtained and stored in the control operation terminal change pattern storage unit 102 .

As shown in FIG. 20, the change timing of the position of the looper roll 201, that is, the time when the command value generating device 104 outputs the position change command of the looper roll 201, is bitten into the #2 stand rolling mill by the front end of the rolled piece. The moment of the time is used as a reference to form its subsequent moments. Specifically, it is the time when a predetermined period has elapsed from the time when the front end portion of the material to be rolled is bitten into the #2 stand rolling mill.

The command value generator 104 calculates the position of the front end of the rolled material from the rotation speed of the rolling mill #1 stand 2, and judges the above-mentioned timing based on the calculation result. In addition, when the rolled material bites into the #2 stand rolling machine 3, the rolling load of the #2 stand rolling machine 3 increases rapidly. The rolling load of each stand is monitored for feedback control. Therefore, the command value generating device 104 can judge that the rolled piece is bitten into the #2 stand rolling according to the monitoring result of the rolling load of the #2 stand rolling machine 3. Mechanism 3 moment.

In addition, similarly to Embodiment 1, the optimal control operation terminal time-series change pattern setting device 103 detects a change in the operating state based on a change in the command value input from the command value generation device 104, and reads the data from the control operation terminal change pattern storage unit 102. Get the best time series setting pattern set as shown in Figure 20 and give it to the control operation terminal. Thereby, it is possible to minimize tension fluctuations caused by the looper roller 201 rising.

In addition, in the present embodiment, the following case has been described as an example. The command value generation device 104 outputs the position change command of the looper roller 201 shown in the uppermost layer of FIG. The constant device 103 acquires the time-series change pattern of "#1 frame speed" and "#1 frame roller gap" shown in FIG. The input control operation terminal changes the pattern generating device 101 .

In this case, the control operation end change pattern generation device 101 needs to make the position command value of the looper roller 201 input from the command value generation device 104 and the time series input from the optimal control operation end time series change pattern setting device 103 Change pattern synchronization.

In contrast, the optimal control operation end time series change pattern setting device 103 can also obtain the calculation result of the position of the front end of the rolled piece according to the rotation speed of the rolling mill #1 stand 2 as described above, or The detection result of the rapid increase of the rolling load of #2 stand rolling machine 3 is used to detect the change of the rolling state, and obtain the looper roll 201 including the uppermost layer shown in FIG. The time-series change pattern of the time-series pattern of the position change instruction is input to the device 101 for controlling the change pattern generation of the operation terminal.

In this case, the parameters of the rolling operation that are changed according to the time-series change pattern are the position of the looper roll 201, the roll gap, and the roll speed. Thus, since the control operation end change pattern generating device 101 acquires a time-series change pattern including "looper position", "#1 stand speed", and "#1 stand roller gap" shown in FIG. It is necessary to synchronize with the command value input from the command value generator 104 to simplify the process.

Embodiment 5

Fig. 22 is a view showing a state of the rolling mill stand shown in Fig. 1 viewed from the conveyance direction of the rolled material. As shown in FIG. 22 , the rolling mill stand of this embodiment includes work rolls 301 that actually come into contact with the workpiece P for rolling, and backup rolls that pinch the rolls up and down to support the rolling load of the work rolls. 303 , the intermediate roll 302 between the work roll 301 and the back-up roll 303 is used to correct the curvature of the surface of the rolled piece P caused by the deflection of the work roll 301 . The number of rolls in this rolling mill stand is 6 in total, so it is called a 6-stage rolling mill.

FIG. 23 is a diagram showing a state in which the arrangement of the intermediate rolls 302 is changed from the state in FIG. 22 . In the 6-stage rolling mill, as shown in the figure, the transition position of the intermediate roll, that is, the direction parallel to the plate surface of the rolled product P and the direction perpendicular to the conveying direction (hereinafter referred to as the plate width direction) By adjusting the distribution of the rolling load applied to the strip width direction of the rolled piece P, the bending of the rolled piece P caused by the bending of the work roll 301 can be prevented, and a good strip profile and shape. Therefore, as shown in FIGS. 22 and 23 , the transfer position of the intermediate roll 302 is set at a certain distance from the edge of the plate corresponding to the plate width of the product P to be rolled.

In addition, in the six-stage rolling mill, a bender 304 is provided as a mechanism for adjusting the pressure between adjacent rolls. When adjusting the transfer position of the intermediate roll 302, the pressure of the bender 304 is also adjusted to correct the influence on the rolling load or tension of the rolled material P.

In a continuous rolling mill, the rolling operation is performed continuously by welding workpieces P having different plate thicknesses or different plate widths. The transition position of the intermediate roll 302 is changed (intermediate roll transition) at the moment when the changed welding point passes through the rolling mill stand. During the transfer of the intermediate roll 302, the rolling load changes with respect to the position of the workpiece P in the plate width direction, and the shape of the rolled workpiece P is greatly disturbed. Bender 304 prevents shape failure caused by intermediate roll transfer.

The relationship between the transfer position of the intermediate roll, the pressure of the bending machine and the shape of the plate includes the rolling phenomenon in the width direction of the plate, the deflection of the roll, etc., and is a complex nonlinear phenomenon. Therefore, when the transfer position of the intermediate rolls is changed to an inclined state, the pressure adjustment of the bender 304 needs to be operated in a time-series pattern that suppresses shape variation, not in an inclined state. In the present embodiment, the change in the strip width of the material to be rolled P is regarded as a change in the rolling condition, and similarly to the first embodiment, the transfer position of the intermediate roll 301 which is the control end and the pressure of the bender 304 are controlled. The time series change pattern of is assigned to each control operation terminal. Accordingly, it is the gist of the present embodiment to suppress the shape disorder of the rolled material P and improve product quality as described above. That is, in the present embodiment, the parameter of the rolling operation changed according to the time-series change pattern is the pressure of the bender 304 .

Therefore, in the same manner as in the examples of FIGS. 9 and 21 , in the rolling simulator, the post-rolling position of the workpiece P obtained from the transition position of the intermediate roll 302, the pressure of the bender 304, and the rolling load is used. The rolling phenomenon model of the shape of the plate surface is obtained, and the time-series operation pattern of the intermediate roll transfer and the bending machine is obtained in such a way that the shape variation becomes the smallest, and is stored in the control operation end change pattern storage unit 102 .

The timing of changing the transition position of the intermediate roll 302, that is, the timing at which the command value generator 104 outputs the command for changing the transition position of the intermediate roll 302 is the position changed according to the strip width of the rolled piece P, that is, the rolled piece with a different strip width It is determined when the welding point of P reaches the rolling stand. The command value generation device 104 calculates the conveyance position of the rolled material P based on the rotational speed of the rolling stand, and by calculating the position of the above-mentioned welding point, the timing of reaching the rolling stand can be obtained.

In addition, similarly to Embodiment 1, the optimal control operation terminal time-series change pattern setting means 103 detects the transition of the operating state based on the change of the command value input from the command value generating means 104, and sets the optimal The time-series setting pattern is read from the control operation terminal change pattern storage unit 102 and given to the control operation terminal. Accordingly, it is possible to minimize the disorder of the strip shape caused by the change of the transition position of the intermediate roll 302 corresponding to the change of the strip width of the to-be-rolled material P.

In addition, in the above-mentioned embodiment, the time-series change pattern read according to the change of the transfer position of the intermediate roll 302 was described as an example of the time-series change pattern for the pressure of the bender 304, but it is not limited thereto. As shown in modes 1 and 4, the roll speed and the roll gap may be controlled.

In addition, in this embodiment, the following case has been described as an example. The command value generation device 104 outputs the transfer position change command of the intermediate roller 302, and the optimal control operation end time-series change pattern setting device 103 generates The command value output by the device 104 acquires the time-series change pattern of the pressure of the bending machine 302 from the control operation end change pattern storage unit 102 , and is input to the control operation end change pattern generation device 101 .

In this case, the control operation end change pattern generation device 101 needs to make the transition position of the intermediate roller 302 input from the command value generation device 104 and the time-series change pattern input from the optimal control operation end time-series change pattern setting device 103 Synchronize.

On the other hand, as described above, the time-series change pattern setting device 103 may change the pattern from the control operation end by detecting the time when the change point of the strip width of the rolled product P reaches the rolling stand. The storage unit 102 acquires a time-series change pattern including a time-series pattern of changes in the transfer position of the intermediate roller 302 , and inputs it to control the operation end change pattern generator 101 .

In this case, the parameters of the rolling operation that are changed according to the time-series change pattern are the transfer position of the intermediate roll 302 and the pressure of the bender 304 . As a result, the control operation end change pattern generation device 101 does not need to compare with the time-series change pattern input from the command value generation device 104 in order to obtain the time-series change pattern of the transition position of the intermediate roll 302 and the time-series change pattern of the pressure of the bending machine 304. Command values are synchronized to simplify processing.

Claims (16)

1. A rolling control device, which is a rolling control device that controls a rolling mill that performs rolling by clamping a workpiece to be rolled by at least one pair of rollers, characterized in that it includes: a rolling condition change recognition unit that recognizes a non-linear change in rolling conditions that affects the rolling result of the rolled product; a time-series change pattern storage unit for storing a pre-generated time-series change pattern for making parameters related to the rolling operation by the rolling mill conform to the non-linearity of the rolling conditions change by change A time-series change pattern acquisition unit that acquires the time-series pattern corresponding to the recognized nonlinear change in rolling conditions when the nonlinear change in the rolling conditions is recognized; A time-series change pattern output unit that outputs the acquired time-series change pattern for use in controlling the parameters. 2. The rolling control device according to claim 1, wherein: The rolling conditions include at least any one of the plate thickness or plate width of the rolled object, the rolling target value, and the height of the support portion supporting the rolled object, Parameters related to the rolling operation include at least one of a roll gap or rotational speed of the pair of rolls, a height of the support portion, and a position of an adjustment portion arranged according to a strip width of the rolled object. 3. The rolling control device according to claim 1, wherein: The time-series change pattern storage unit stores a plurality of time-series change patterns according to nonlinear changes in the rolling conditions, The time-series change pattern acquisition unit determines a time-series change pattern to be acquired among the plurality of time-series change patterns. 4. The rolling control device according to claim 3, wherein: The time-series change pattern acquiring unit determines the time-series change pattern to be acquired based on rolling conditions and positional information of points on the rolled material whose rolling conditions should be changed relative to the rolling mill. 5. The rolling control device according to claim 3, wherein: The time-series change pattern acquisition unit determines a time-series change pattern to be acquired based on the thickness of the rolled material supplied to the pair of rolls. 6. The rolling control device according to claim 3, wherein: The time-series change pattern storage unit stores a plurality of time-series change patterns according to a plurality of types of non-linear changes in the rolling conditions in which a change pattern of the rolling target value is different. 7. The rolling control device according to claim 1, wherein: The time-series change pattern storage unit stores a plurality of time-series change patterns in which the condition of the amount of deviation of the workpiece supplied to the pair of rolls from a set value is different, The time-series change pattern acquisition unit determines a time-series change pattern to be acquired based on the thickness of the rolled material supplied to the pair of rolls. 8. The rolling control device according to claim 1, wherein: The rolling condition change recognition unit recognizes that the rolling condition changes non-linearly based on a change in the rolling target value. 9. The rolling control device according to claim 1, wherein: The rolling condition change recognition unit recognizes that the rolling conditions change non-linearly based on the rolling conditions and the positional information of a point on the rolled material at which the rolling conditions should be changed relative to the rolling mill. 10. The rolling control device according to claim 1, wherein: The rolling condition change recognition unit recognizes that the rolling condition changes non-linearly based on the thickness of the rolled material supplied to the pair of rolls. 11. The rolling control device according to claim 1, wherein: The time-series change pattern stored in the time-series change pattern storage unit is generated by simulation by a rolling simulator. 12. The rolling control device according to claim 1, wherein: The stored time-series change pattern is a change pattern for each control cycle of the rolling control device. 13. The rolling control device according to claim 1, wherein: The time-series change pattern is also used to adjust the tension applied to the rolled material supplied to the pair of rolls and the tension applied to the rolled material sent out after being rolled by the pair of rolls. Patterns in which at least one changes. 14. The rolling control device according to claim 1, wherein: The rolling mill has a structure in which a rolled product sent out from a first roll is supplied to a second roll by including two pairs of rolls, The time-series change pattern is also a pattern for changing the tension applied to the rolled material delivered from the first roll and supplied to the second roll. 15. A rolling control method, which is a rolling control method for controlling a rolling mill that performs rolling by clamping a workpiece to be rolled by at least one pair of rollers, wherein: identifying instances of non-linear variations of rolling conditions affecting the rolling result of said rolled piece, When a non-linear change in the rolling condition is recognized, the time-series pattern corresponding to the recognized non-linear change in the rolling condition is acquired from a storage unit storing a pre-generated time-series change pattern, so The time series change pattern is used to change the parameters involved in the rolling action performed by the rolling mill according to the nonlinear change of the rolling conditions, outputting the obtained time series change patterns for controlling the parameters. 16. A rolling control program, which is a rolling control program for controlling a rolling mill that performs rolling by clamping a workpiece to be rolled by at least one pair of rollers, wherein the following is executed in an information processing device: the above steps, a step of identifying instances of non-linear variations of rolling conditions affecting the rolling result of said rolled piece; When the non-linear change in the rolling condition is recognized, acquiring the time-series pattern corresponding to the recognized non-linear change in the rolling condition from a storage unit storing a pre-generated time-series change pattern , the time series change pattern is used to change the parameters involved in the rolling action performed by the rolling mill according to the nonlinear change of the rolling conditions, outputting the acquired time-series change pattern for use in the parameter control step.

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