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EP0222231A2 - Device for controlling the lifting and pressing movements of the pressure rollers of hot strip coilers - Google Patents

Device for controlling the lifting and pressing movements of the pressure rollers of hot strip coilers Download PDF

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Publication number
EP0222231A2
EP0222231A2 EP86114743A EP86114743A EP0222231A2 EP 0222231 A2 EP0222231 A2 EP 0222231A2 EP 86114743 A EP86114743 A EP 86114743A EP 86114743 A EP86114743 A EP 86114743A EP 0222231 A2 EP0222231 A2 EP 0222231A2
Authority
EP
European Patent Office
Prior art keywords
lifting
pressure
control
force
pressure rollers
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
Application number
EP86114743A
Other languages
German (de)
French (fr)
Other versions
EP0222231A3 (en
EP0222231B1 (en
Inventor
Jürgen Dr. Klöckner
Dieter Rosenthal
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SMS Siemag AG
Original Assignee
SMS Schloemann Siemag AG
Schloemann Siemag AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SMS Schloemann Siemag AG, Schloemann Siemag AG filed Critical SMS Schloemann Siemag AG
Priority to AT86114743T priority Critical patent/ATE102092T1/en
Publication of EP0222231A2 publication Critical patent/EP0222231A2/en
Publication of EP0222231A3 publication Critical patent/EP0222231A3/en
Application granted granted Critical
Publication of EP0222231B1 publication Critical patent/EP0222231B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
    • B21C47/02—Winding-up or coiling
    • B21C47/04—Winding-up or coiling on or in reels or drums, without using a moving guide
    • B21C47/06—Winding-up or coiling on or in reels or drums, without using a moving guide with loaded rollers, bolts, or equivalent means holding the material on the reel or drum
    • B21C47/063—Winding-up or coiling on or in reels or drums, without using a moving guide with loaded rollers, bolts, or equivalent means holding the material on the reel or drum with pressure rollers only

Definitions

  • the invention relates to a device for controlling the lifting and pressing movements of the band pressure rollers of hot rolled reels with a rotating reel mandrel as a function of signals which indicate the respective position of the reel mandrel on the circumferential front edge of the rolled strip, by means of electrohydraulic positioning of piston cylinder units which actuate the band pressure rollers with simultaneous force control.
  • a known control device DE-AS 21 58 721
  • the pinch rollers are raised during the winding process by the amount of tape thickness, ie the amount of radial increase, which has caused the front tape edge, if this Er passes under them.
  • a pulse generator which is coupled to the reel mandrel, which influences a pulse counter which, via control logic, generates signals for the control device, on the basis of which the latter causes the actuation of the piston-cylinder units connected to the respective pressure roller, through the pressure area of which the radial one Increase in the resulting band waistband.
  • the path of the strip edge of the rolled strip running onto the reel mandrel is detected by contactless sensors during the formation of the first turn and is tracked and recorded with the aid of electronic recording devices.
  • the positioning of the pressure rollers is then controlled with the aid of the recording devices and these downstream evaluation devices.
  • the up and down movements of the adjusting elements of the piston-cylinder units which bring about the lifting and pressing movements of the band pressure rollers, are controlled in two known control devices via two independent electro-hydraulic control loops, namely a position control loop and a force control loop.
  • the lifting movement of the band pressure roller is effected and controlled in each case by specifying the corresponding position value via the position control loop, while the pressure movement and the subsequent pressing is also effected by specifying a force setpoint via the force control loop.
  • the force control three remains open during position control.
  • the invention has for its object to improve the generic control devices so that these disadvantages and difficulties are eliminated and if necessary.
  • the arrangement of special overload protection devices can be dispensed with.
  • This object is achieved in that the positioning during the lifting and the pressing movement by position control with subordinate force control with closed position and pressure control loops by specifying a position setpoint corresponding to the respective pressing or lifting position of the band pressure rollers and specifying limited force setpoints is effected for both directions of movement.
  • the limitation of the force setpoint for the increase can be the same as the maximum value that can be set for the pressure control circuit.
  • a slope limiter is arranged downstream of the force controller as the invention provides.
  • the reversal of the direction of the pressing movement into the lifting movement and vice versa is not achieved by switching between position and force control, but rather by deliberately specifying different positions Setpoints enforced.
  • the force limit value is a maximum value
  • the lifting movement can always reach its full possible speed.
  • the continuously subordinate force control improves the dynamic behavior of the elements involved in the movements. Switching shocks cannot occur because both control loops are constantly closed. If the positioning signals fail or if the signals are incorrect, the control reacts like an overload protection, because the underlying force control loop always regulates the actual force value to the set limit setpoint.
  • control system acts like an overload safety device, there is no need to equip the individual piston-cylinder units with special overload safety devices, such as pneumatic support cylinders.
  • overload safety devices such as pneumatic support cylinders.
  • the pressure roller 3 which is only reproduced on its own for the sake of clarity, is supported for the mandrel 2 of the (not shown) rolled strip heating reel in a shell carrier 1 which is articulated via the piston rod 4 to the piston cylinder unit 5 which is mounted in a fixed position.
  • the piston 5a of this piston-cylinder unit 5 can be pressurized on both sides via the hydraulic lines 6 and 7 with the aid of a control valve 18 and thus moves the pressure roller 3.
  • a displacement sensor 8 is attached to the piston rod 4, with which the actual position Sist of the pressure roller 3 is measured.
  • the output side 9 of the position sensor leads via line 10 and its branches 10a, 10b to a computer system 11 and to a position controller 12, which is also connected to the computer system via line 13.
  • the computer 11 sets the external position control loop setpoints S set.
  • the position controller 12 is followed by a force setpoint limiter 14 that is adjustable for both directions of movement.
  • the output side of the force setpoint limiter 14 supplies the force setpoints Fset for the inner force control loop.
  • the actual force value Fist is determined by means of the pressure sensors 19 and 20.
  • the force controller 16, which is followed by a steepness limiter 17, receives as input the difference between the actual force value Fist and the desired force value Fset and controls the control valve 18.
  • the actual force value Fist is always regulated to the force setpoint Fsetpoint specified by the outer position control loop. Both control loops are constantly closed.
  • Fig. 2 it follows that both movements, the lifting movement for the rapid retraction of the pressure roller 3 by the amount of radial increase in the growing band band before it reaches the area of the pressure roller 3 and that then pressing band B shortly after the radial elevation has passed through the area in position control with subordinate force control.
  • the position control loop is given the setpoint 1, which is dependent on the strip thickness and the kinematics of the pressure roller system. After passing the front belt edge at time t 1, the position setpoint is changed so that the direction of movement is reversed.
  • the pressure roller 3 lies on the belt B. Since the position setpoint 13 has been set so high that a constant value is constantly present as the force setpoint 15, the inner force control loop regulates the actual force value 21 to this constant value.
  • the band B is thus pressed in the direction of the mandrel 2 with a defined force, the size of which can be determined as a function of the respective dimensions and the deformation resistance of the band B.
  • the position setpoint is then changed with reference to the added belt effect and the next lifting movement is initiated. To do this, it is necessary to track the current actual position value during the pressing movement, since the change in position is derived from the current actual position.
  • the computer 11 carries out the calculation and specification of these changing position setpoints. The other settings at times t3, t4 and t5 are made accordingly.
  • the travels further necessary for the winding process such as the swiveling of the pressure rollers 3 after the first turns have been applied to the mandrel 2 into the end position and the swiveling of the pressure rollers 3 into a pre-position in accordance with the expected finished diameter of the federal government before the entry of the The end of the strip also takes place in position control with subordinate force control via the control valve 18.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Winding, Rewinding, Material Storage Devices (AREA)
  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
  • Replacement Of Web Rolls (AREA)
  • Winding Of Webs (AREA)
  • Registering, Tensioning, Guiding Webs, And Rollers Therefor (AREA)

Abstract

The device serves to control the desired lifting and pressure-containing movements of strip pressure rolls for the reels which serve to store hot rolled strip. These reels have a rotating mandrel. The pressure rolls are actuated by piston and cylinder units for positioning the rolls electro-hydraulically in conformity with signals which indicate the relative position of the leading strip edge which rotates with the mandrel. The positioning of the roll, by the lifting and pressure-contacting movements, is effectd by position control with subordinated pressure control in a closed-circuit position control loop and a closed-circuit pressure control loop, by input of a setpoint position value which corresponds to the respectively prevailing pressure-contacting and lifting position of the pressure rolls, and by establishment of limited setpoint pressure values for both functions or directions of movement.

Description

Die Erfindung bezieht sich auf eine Vorrichtung zur Steuerung der Anhebe- und Andruckbewegungen der Bandandruckrollen von Walzbandwarmhaspeln mit umlaufendem Haspeldorn in Abhängigkeit von Signalen, die jeweilige Position der mit dem Haspeldorn auf umlaufenden vorderen Kante des Walzbandes angeben, durch elek­trohydraulische Positionierung von, die Bandandruckrollen be­tätigenden Kolbenzylinderaggregaten unter gleichzeitiger Kraft­regelung.The invention relates to a device for controlling the lifting and pressing movements of the band pressure rollers of hot rolled reels with a rotating reel mandrel as a function of signals which indicate the respective position of the reel mandrel on the circumferential front edge of the rolled strip, by means of electrohydraulic positioning of piston cylinder units which actuate the band pressure rollers with simultaneous force control.

Mit Steuervorrichtungen dieser Art sollen die Nachteile be­seitigt werden, die sich beim Anwickeln der ersten Band­windungen auf den Haspeldorn dadurch ergeben, daß die vordere Kante des Walzbandes in den anschließend auf sie aufgelegten Folgewindungen eine abgesetzte radiale Erhöhung hervorruft, die in Folge des hohen Drucks, den die Bandandruckrollen auf die Bandwindungen ausüben, zu starken Stoßbeanspruchungen des Haspels und zu Schlagbeanspruchungen der Erhöhungen führt und weiter dazu, daß in den ersten Windungen des angewickelten Bandanfangs Markierungen der Oberfläche entstehen, die den Wert dieses Teils des Bandes bis auf den Schrottwert herabmindern.With control devices of this type, the disadvantages which arise when the first strip windings are wound onto the coiler mandrel are to be eliminated in that the leading edge of the rolled strip produces a stepped radial increase in the subsequent windings which are subsequently placed on it, which as a result of the high pressure causes the exert the band pressure rollers on the band windings, lead to strong impact stresses on the reel and impact stresses on the elevations, and furthermore that in the first windings of the wound band beginning markings on the surface appear which reduce the value of this part of the band down to the scrap value.

Bei einer bekannten Steuervorrichtung (DE-AS 21 58 721) werden die Andruckrollen während des Anwickelvorgangs um den Betrag der Banddicke d. h. die Größe der radialen Erhöhung, die die vordere Bandkante verursacht hat, angehoben, wenn diese Er­ höhung unter ihnen durchläuft. Dies wird mit Hilfe eines Impulsgebers, der mit dem Haspeldorn gekoppelt ist, erreicht, der einen Impulszähler beeinflußt, der über eine Steuerlogik Signale für die Steuervorrichtung erzeugt, aufgrund derer diese die Betätigung der mit der jeweiligen Andruckrolle ver­bundenen Kolbenzylinderaggregate veranlaßt, durch deren An­druckbereich die radiale Erhöhung des entstehenden Bandbundes durchläuft.In a known control device (DE-AS 21 58 721) the pinch rollers are raised during the winding process by the amount of tape thickness, ie the amount of radial increase, which has caused the front tape edge, if this Er passes under them. This is achieved with the aid of a pulse generator, which is coupled to the reel mandrel, which influences a pulse counter which, via control logic, generates signals for the control device, on the basis of which the latter causes the actuation of the piston-cylinder units connected to the respective pressure roller, through the pressure area of which the radial one Increase in the resulting band waistband.

Bei einer weiteren bekannt gewordenen Steuervorrichtung die­ser Art wird der Weg der Bandkante des auf den Haspeldorn auflaufenden Walzbandes während der Bildung der ersten Windung durch be­rührunglos arbeitende Sensoren erfaßt und mit Hilfe elektronischer Aufzeichnungseinrichtungen verfolgt und festgehalten. Mit Hilfe der Aufzeichnungseinrichtungen und diesen nachgeschalte­ten Auswerteinrichtungen wird dann die Positionierung der An­druckrollen gesteuert.In a further known control device of this type, the path of the strip edge of the rolled strip running onto the reel mandrel is detected by contactless sensors during the formation of the first turn and is tracked and recorded with the aid of electronic recording devices. The positioning of the pressure rollers is then controlled with the aid of the recording devices and these downstream evaluation devices.

Die Auf- und Abbewegungen der Stellelemente der Kolbenzylinder­aggregate, die die Anhebe- und Andruckbewegungen der Bandan­druckrollen bewirken, werden bei beiden bekannten Steuervor­richtungen über zwei selbständige elektrohydraulische Regel­kreise gesteuert, nämlich einen Positionsregelungskreis und einen Kraftregelkreis. Die Abhebebewegung der Bandandruckrolle wird dabei jeweils unter Vorgabe des entsprechenden Positions­wertes über den Positionsregelkreis bewirkt und gesteuert, während die Andruckbewegung und das anschließende Andrücken, ebenfalls unter Vorgabe eines Kraftsollwertes über den Kraft­regelkreis bewirkt wird. Während der Positionsregelung bleibt dabei der Kraftregeldreis geöffnet.The up and down movements of the adjusting elements of the piston-cylinder units, which bring about the lifting and pressing movements of the band pressure rollers, are controlled in two known control devices via two independent electro-hydraulic control loops, namely a position control loop and a force control loop. The lifting movement of the band pressure roller is effected and controlled in each case by specifying the corresponding position value via the position control loop, while the pressure movement and the subsequent pressing is also effected by specifying a force setpoint via the force control loop. The force control three remains open during position control.

Neben der Notwendigkeit dauernder Umschaltung zwischen Positions- und Kraftregelung innerhalb sehr kurzer Zeitspannen bringt die­se Art der Steuerung den Nachteil mit sich, daß das schnelle Umschalten Stöße hervorruft, die das dynamische Verhalten der an dem Bewegungsablauf beteiligten Elemente beein­trächtigt. Während der Positionsregelung ergibt sich eine weitere Schwierigkeit bei diesen bekannten Steuerungen dann, wenn diese aufgrund einer Störung keine oder unrichtige Positioniersignale erhält, da in diesem Fall das Kolben­zylinderaggregat die Position in der es sich gerade befindet nicht mehr ändert und die z. B. notwendige Ausweichbewegung nicht mehr ausführt. Es müssen deshalb zusätzliche Überlast­sicherungseinrichtungen vorgesehen werden.In addition to the need for constant switching between position and force control within a very short period of time, this type of control has the disadvantage that the fast Switching causes shocks that affect the dynamic behavior of the elements involved in the movement. During position control, there is a further difficulty with these known controls if, due to a fault, it receives no or incorrect positioning signals, since in this case the piston-cylinder unit no longer changes the position in which it is currently located and the z. B. no longer performs the necessary evasive movement. Additional overload protection devices must therefore be provided.

Der Erfindung liegt die Aufgabe zugrunde, die gattungsgemäßen Steuervorrichtungen so zu verbessern, daß diese Nachteile und Schwierigkeiten beseitigt werden und ggfs. auf die Anordnung besonderer Überlastsicherungen verzichtet werden kann.The invention has for its object to improve the generic control devices so that these disadvantages and difficulties are eliminated and if necessary. The arrangement of special overload protection devices can be dispensed with.

Diese Aufgabe wird dadurch gelöst, daß die Positionierung bei der Anhebe- und der Andruckbewegung durch Positionsregelung mit unterlagerter Kraftregelung bei geschlossen bleibenden Positions- und Druckregelkreisen durch Vorgabe eines der je­weiligen Andruck- bzw. Anhebeposition der Bandandruckrollen entsprechenden Positions-Sollwertes unter Festlegung begrenzter Kraft-Sollwerte für beide Bewegungsrichtungen bewirkt wird. Wie die Erfindung weiter vorsieht, kann die Begrenzung des Kraft-Sollwertes für die Anhebung gleich dem für den Druckregel­kreis einstellbaren Maximalwert sein. Im Kraftregelkreis wird dem Kraftregler wie die Erfindung vorsieht ein Steilheitsbe­grenzer nachgeordnet.This object is achieved in that the positioning during the lifting and the pressing movement by position control with subordinate force control with closed position and pressure control loops by specifying a position setpoint corresponding to the respective pressing or lifting position of the band pressure rollers and specifying limited force setpoints is effected for both directions of movement. As the invention further provides, the limitation of the force setpoint for the increase can be the same as the maximum value that can be set for the pressure control circuit. In the force control loop, a slope limiter is arranged downstream of the force controller as the invention provides.

Mit dieser Ausbildung der Steuervorrichtung wird anders als bei den bekannten Steuervorrichtungen die Richtungsumkehrung der Andruckbewegung in die Anhebebewegung und umgekehrt nicht durch jeweiliges Umschalten zwischen Positions- und Kraftregelung, sondern durch die gezielte Vorgabe unterschiedlicher Positions­ Sollwerte erzwungen. Wenn, wie weiter vorgeschlagen, der Kraftbegrenzungswert ein maximaler Wert ist, kann die Anhebebewegung immer ihre volle mögliche Geschwindigkeit erreichen. Die ständig unterlagerte Kraftregelung verbessert das dynamische Verhalten der an den Bewegungen beteiligten Elemente. Um­schaltstöße können nicht entstehen, weil beide Regelkreise ständig geschlossen sind. Bei Ausfall der Positioniersignale oder bei unrichtigen Signalen reagiert die Steuerung wie eine Überlastsicherung, denn der unterlagerte Kraftregelkreis regelt von sich aus den Kraft -Istwert stets auf den einge­stellten Begrenzungs-Sollwert. Da die Steuerung hier wie eine Überlastsicherung wirksam wird, entfällt die Notwendig­keit, die einzelnen Kolbenzylinderaggregate mit besonderen Überlastsicherungen, wie bspw. pneumatischen Stützzylindern auszustatten. Schließlich ergibt sich ein weiterer Vorteil noch dadurch, daß die bisher notwendige Lagerung der Andruck­rollen in einem gegen dem eigentlichen, die Anheb- und Andruck­bewegungen ausführenden Träger schwenkbaren und gegen diesen elastisch abgestützten Traghebel entfallen kann, da die Arbeits­weise der erfindungsgemäßen Steuerung eine solche Abfederung nicht nur unnötig macht.With this design of the control device, in contrast to the known control devices, the reversal of the direction of the pressing movement into the lifting movement and vice versa is not achieved by switching between position and force control, but rather by deliberately specifying different positions Setpoints enforced. If, as further proposed, the force limit value is a maximum value, the lifting movement can always reach its full possible speed. The continuously subordinate force control improves the dynamic behavior of the elements involved in the movements. Switching shocks cannot occur because both control loops are constantly closed. If the positioning signals fail or if the signals are incorrect, the control reacts like an overload protection, because the underlying force control loop always regulates the actual force value to the set limit setpoint. Since the control system acts like an overload safety device, there is no need to equip the individual piston-cylinder units with special overload safety devices, such as pneumatic support cylinders. Finally, there is a further advantage that the previously necessary mounting of the pressure rollers in a support pivotable against the actual carrier carrying out the lifting and pressing movements and elastically supported against this support lever can be dispensed with, since the mode of operation of the control according to the invention not only provides such a cushioning makes unnecessary.

Die Erfindung wird an­hand des in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert. In der Zeichnung zeigen

  • Fig. 1 Die Vorrichtung mit den Betätigungselementen und einem Schaltschema in schematischer Darstellung und
  • Fig. 2 ein Ablaufdiagramm der Stellbewegungen.
The invention is explained in more detail with reference to the embodiment shown in the drawing. Show in the drawing
  • Fig. 1 The device with the actuators and a circuit diagram in a schematic representation and
  • Fig. 2 is a flow chart of the actuating movements.

Wie aus Fig. 1 zu ersehen, ist die, der Übersichtlichkeit halber, nur allein wiedergegebene Andruckrolle 3 für den Dorn 2 des (nicht dargestellten) Walzbandwarmhaspels in einem Schalenträger 1 gelagert, der über die Kolbenstange 4 an das ortsfest gelagerte Kolbenzylinderaggregat 5 angelenkt ist. Der Kolben 5a dieses Kolbenzylinderaggregates 5 ist über die Hydraulikleitungen 6 und 7 mit Hilfe eines Regelventils 18 doppelseitig mit Druck beaufschlagbar und bewegt so die Andruckrolle 3. An der Kolbenstange 4 ist ein Weggeber 8 angebracht, mit dem die Istposition Sist der Andruckrolle 3 ge­messen wird. Die Ausgangsseite 9 des Weggebers führt über die Leitung 10 und deren Zweige 10a, 10b zu einem Rechnersystem 11 und zu einem Positionsregler 12, der ebenfalls über eine Leitung 13 mit dem Rechnersystem verbunden ist. Mittels die­ser Leitung 13 werden vom Rechner 11 dem äußeren Positions-­Regelkreis Sollwerte S soll vorgegeben. Dem Positionsregler 12 ist ein für beide Bewegungsrichtungen einstellbarer Kraft-­Sollwertbegrenzer 14 nachgeordnet. Die Ausgangsseite des Kraft-­Sollwertbegrenzers 14 liefert die Kraft Sollwerte Fsoll für den inneren Kraftregelkreis. Der Kraftistwert Fist wird mittels der Druckgeber 19 und 20 ermittelt. Der Kraftregler 16, dem ein Steilheitbegrenzer 17 nachgeschaltet ist, erhält als Eingang die Differenz zwischen Kraftistwert Fist und Kraftsollwert Fsoll und steuert das Regelventil 18 an. Der Kraftistwert Fist wird immer auf den vom äußeren Positionsregelkreis vorgegebenen Kraftsollwert Fsoll geregelt. Beide Regelkreise sind ständig geschlossen.As can be seen from FIG. 1, the pressure roller 3, which is only reproduced on its own for the sake of clarity, is supported for the mandrel 2 of the (not shown) rolled strip heating reel in a shell carrier 1 which is articulated via the piston rod 4 to the piston cylinder unit 5 which is mounted in a fixed position. The piston 5a of this piston-cylinder unit 5 can be pressurized on both sides via the hydraulic lines 6 and 7 with the aid of a control valve 18 and thus moves the pressure roller 3. A displacement sensor 8 is attached to the piston rod 4, with which the actual position Sist of the pressure roller 3 is measured. The output side 9 of the position sensor leads via line 10 and its branches 10a, 10b to a computer system 11 and to a position controller 12, which is also connected to the computer system via line 13. By means of this line 13, the computer 11 sets the external position control loop setpoints S set. The position controller 12 is followed by a force setpoint limiter 14 that is adjustable for both directions of movement. The output side of the force setpoint limiter 14 supplies the force setpoints Fset for the inner force control loop. The actual force value Fist is determined by means of the pressure sensors 19 and 20. The force controller 16, which is followed by a steepness limiter 17, receives as input the difference between the actual force value Fist and the desired force value Fset and controls the control valve 18. The actual force value Fist is always regulated to the force setpoint Fsetpoint specified by the outer position control loop. Both control loops are constantly closed.

Aus Fig. 2 ergibt sich, daß beide Bewegungen, die Anhebe­bewegung zum schnellen Zurückziehen der Andruckrolle 3 um das Maß der radialen Erhöhung des wachsenden Bandbundes, bevor diese den Bereich der Andruckrolle 3 erreicht und das anschließende Andrücken des Bandes B kurz nachdem die radiale Erhöhung den Bereich durchlaufen hat in Positionsregelung mit unterlagerter Kraftregelung erzeugt werden. Dem Positionsregel­kreis wird zunächst der Sollwert 1, der abhängig ist von der Banddicke und der Kinematik des Andruckrollensystems vor­gegeben. Nach Durchgang der vorderen Bandkante zum Zeitpunkt t₁ wird der Positions-Sollwert so geändert, daß sich die Bewegungsrichtung umkehrt. Die Andruckrolle 3 legt sich auf das Band B. Da der Positions-Sollwert 13 so hoch festgelegt wurde, daß als Kraftsollwert 15 ständig ein konstanter Wert ansteht, regelt der innere Kraftregelkreis den Kraftistwert 21 auf diesen konstanten Wert. Das Band B wird also mit einer definierten Kraft, deren Größe in Abhängigkeit von den je­weiligen Abmessungen und der Formänderungsfestigkeit des Bandes B festlegbar ist, in Richtung auf den Dorn 2 gedrückt. Zum Zeitpunkt t₂ wird der Positions-Sollwert dann mit Bezug auf die hinzukommende Bandwirkung verändert und die nächste Anhebebewegung eingeleitet. Es ist dazu erforderlich, schon während der Andruckbewegung den aktuellen Positions-Ist­wert nachzuführen, da von der aktuellen Istposition die Positionsänderung abgeleitet wird. Berechnung und Vorgabe dieser sich ändernden Positions-Sollwerte führt der Rech­ner 11 durch. Die weiteren Einstellungen zu den Zeitpunkten t₃, t₄ und t₅ erfolgen sinngemäß. Die für den Wickelvor­gang weiter notwendigen Verfahrwege, wie z.B. das Abschwen­ken der Andruckrollen 3 nachdem die ersten Windungen auf den Dorn 2 aufgebracht worden sind in die Endlage und das Anschwen­ken der Andruckrollen 3 in eine Vorposition entsprechend dem zu erwartenden Fertigdu-chmesser des Bundes vor Einlauf des Bandendes erfolgen ebenfalls in Positionsregelung mit unter­lagerter Kraftregelung über das Regelventil 18.From Fig. 2 it follows that both movements, the lifting movement for the rapid retraction of the pressure roller 3 by the amount of radial increase in the growing band band before it reaches the area of the pressure roller 3 and that then pressing band B shortly after the radial elevation has passed through the area in position control with subordinate force control. First, the position control loop is given the setpoint 1, which is dependent on the strip thickness and the kinematics of the pressure roller system. After passing the front belt edge at time t 1, the position setpoint is changed so that the direction of movement is reversed. The pressure roller 3 lies on the belt B. Since the position setpoint 13 has been set so high that a constant value is constantly present as the force setpoint 15, the inner force control loop regulates the actual force value 21 to this constant value. The band B is thus pressed in the direction of the mandrel 2 with a defined force, the size of which can be determined as a function of the respective dimensions and the deformation resistance of the band B. At time t₂, the position setpoint is then changed with reference to the added belt effect and the next lifting movement is initiated. To do this, it is necessary to track the current actual position value during the pressing movement, since the change in position is derived from the current actual position. The computer 11 carries out the calculation and specification of these changing position setpoints. The other settings at times t₃, t₄ and t₅ are made accordingly. The travels further necessary for the winding process, such as the swiveling of the pressure rollers 3 after the first turns have been applied to the mandrel 2 into the end position and the swiveling of the pressure rollers 3 into a pre-position in accordance with the expected finished diameter of the federal government before the entry of the The end of the strip also takes place in position control with subordinate force control via the control valve 18.

Claims (3)

1. Vorrichtung zur Steuerung der Anheb- und Andruckbewegungen der Bandandruckrollen von Walzbandwarmhaspeln mit umlaufen­dem Haspeldorn in Abhängigkeit von Signalen, die die jewei­lige Position der mit dem Haspeldorn umlaufenden Vorderkante des Walzbandes angeben, durch elektrohydraulische Positio­nierung von die Bandandruckrollen betätigenden Kolbenzylinder­aggregaten unter gleichzeitiger Kraftregelung,
dadurch gekennzeichnet,
daß die Positionierung bei der Anheb- und der Andruckbewe­gung durch Positionsregelung mit unterlagerter Kraftregelung bei geschlossen bleibenden Positionier- und Kraftregelkreisen durch Vorgabe eines der jeweiligen Andruck- bzw. Anhebe-­Position der Bundandruckrollen entsprechenden Position-­Sollwertes unter Festlegung begrenzter Kraft-Sollwerte für beide Bewegungsrichtungen bewirkt wird.1.Device for controlling the lifting and pressing movements of the band pressure rollers of rolled strip warmers with rotating reel mandrel depending on signals which indicate the respective position of the leading edge of the rolled strip circulating with the reel mandrel, by means of electrohydraulic positioning of piston cylinder units actuating the band pressure rollers with simultaneous force control,
characterized,
that the positioning during the lifting and the pressing movement by position control with subordinate force control with closed positioning and force control loops by specifying a position setpoint corresponding to the respective pressing or lifting position of the bundle pressure rollers, with definition of limited force setpoints for both directions of movement becomes. 2. Vorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
daß die Begrenzung des Kraft-Sollwertes für die Anhebebewe­gung gleich dem, in dem Kraftregelkreis einstellbaren, Maximalwert ist.2. Device according to claim 1,
characterized,
that the limitation of the force setpoint for the lifting movement is equal to the maximum value that can be set in the force control loop. 3. Vorrichtung nach einem oder mehreren der Ansprüche 1 und 2,
gekennzeichnet durch
einem im Druckregelkreis dem Kraftregler (16) nachgeordneten richtungsabhängigen Steilheitsbegrenzer (17).3. Device according to one or more of claims 1 and 2,
marked by
a direction-dependent steepness limiter (17) downstream of the force regulator (16) in the pressure control circuit.
EP86114743A 1985-11-11 1986-10-23 Device for controlling the lifting and pressing movements of the pressure rollers of hot strip coilers Expired - Lifetime EP0222231B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT86114743T ATE102092T1 (en) 1985-11-11 1986-10-23 DEVICE FOR CONTROLLING THE LIFTING AND PRESSING MOVEMENTS OF THE STRIP ROLLERS OF HOT COILS.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3539900 1985-11-11
DE19853539900 DE3539900A1 (en) 1985-11-11 1985-11-11 DEVICE FOR CONTROLLING THE LIFTING AND PRESSURE MOVEMENTS OF THE TAPE PRESSURE REELS OF ROLLING TAPE REELS

Publications (3)

Publication Number Publication Date
EP0222231A2 true EP0222231A2 (en) 1987-05-20
EP0222231A3 EP0222231A3 (en) 1989-03-15
EP0222231B1 EP0222231B1 (en) 1994-03-02

Family

ID=6285647

Family Applications (1)

Application Number Title Priority Date Filing Date
EP86114743A Expired - Lifetime EP0222231B1 (en) 1985-11-11 1986-10-23 Device for controlling the lifting and pressing movements of the pressure rollers of hot strip coilers

Country Status (9)

Country Link
US (1) US4736605A (en)
EP (1) EP0222231B1 (en)
JP (1) JP2898282B2 (en)
KR (1) KR930008913B1 (en)
CN (1) CN86107620A (en)
AT (1) ATE102092T1 (en)
DE (2) DE3539900A1 (en)
ES (1) ES2050099T3 (en)
SU (1) SU1558292A3 (en)

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US6588245B2 (en) * 2001-08-15 2003-07-08 General Electric Co. Roll gap control for coiler
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DE102007002218A1 (en) * 2007-01-10 2008-07-17 Sms Demag Ag Winding device for winding tapes
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CN103223420B (en) * 2012-01-29 2014-12-24 宝山钢铁股份有限公司 Method for controlling inner ring indentations of hot-rolled steel coil, and system
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EP0391135A3 (en) * 1989-04-05 1991-03-06 Sms Schloemann-Siemag Aktiengesellschaft Web winding device

Also Published As

Publication number Publication date
EP0222231A3 (en) 1989-03-15
DE3689682D1 (en) 1994-04-07
EP0222231B1 (en) 1994-03-02
ATE102092T1 (en) 1994-03-15
CN86107620A (en) 1987-05-20
ES2050099T3 (en) 1994-05-16
US4736605A (en) 1988-04-12
JP2898282B2 (en) 1999-05-31
KR870004742A (en) 1987-06-01
KR930008913B1 (en) 1993-09-17
DE3539900A1 (en) 1987-05-14
JPS62114723A (en) 1987-05-26
SU1558292A3 (en) 1990-04-15

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