JPH0377710A - Control device for rolling mill - Google Patents

Abstract

PURPOSE:To enable an optimum control corresponding to change quickly by controlling a rolling reduction divergence with the addition of the proportional arithmetic value of a tension detected value to the integrated arithmetic output of a plate thickness deviation and controlling a payoff reel driving motor with the addition of the integrated arithmetic value of a plate thickness deviation to the integrated arithmetic output of the tension deviation. CONSTITUTION:The material 22 to be rolled wound on a payoff reel 21 is taken up on a tension reel through a pinch roll 23 and rolling mill 24. A rolling reduction divergence control device 26 controls it in a desired plate thickness by making a drawing down force variable. A current control device 29 controls a payoff reel driving motor 30 so as to make the tension of the material 22 to be rolled at a specific value. The drawing down force is controlled by adding the tension deviation detected by a tension detector 33 to an arithmetic means 45 via an adding means 44. The plate thickness deviation is inputted to an adding means 57 from an arithmetic means 41 and the number of rotations of the payoff reel driving motor 30 is controlled.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Field of Application) The present invention relates to a control device for a rolling mill that rolls a material to be rolled to a desired thickness, and particularly relates to a control device for a rolling mill that rolls a material to be rolled to a desired thickness, and particularly relates to a control device for a rolling mill that rolls a material to be rolled to a desired thickness. The present invention relates to a control device for a rolling mill that avoids mutual interference.

(Prior art) Conventionally, for example, in a single-stand four-high rolling mill, the third
As shown in the figure, it is composed of a rolling line system, a rolling mill rear tension control system, a rolling mill outlet plate thickness control system, etc.

In the rolling line system, a material to be rolled 2 wound around a payoff reel 1 passes through pinch rolls 3 and is introduced into a four-high rolling mill 4, where it is rolled with predetermined rolling blades and formed into a desired thickness. After that, it is wound up by a tension reel 5.

Further, the rolling mill rear tension control system controls the material tension target value t BRI! between the payoff reel 1 and the rolling mill 4. The tension deviation between P and the tension detection value ta detected by the material tension detector 6 is introduced into the tension-current converter 7, where a Beriofreel drive motor current corresponding to the tension deviation is obtained, and then the motor current control device 8. This motor current control device 8 determines the torque corresponding to the current required to operate the payoff reel drive motor 9, and then applies this torque to the rolled material 2 via the payoff reel 1 to provide a predetermined torque to the rolled material 2. It provides tension. Therefore, the rolled material 2 is
During extended operation, tension is applied by the action of the payoff reel 1 and the pinch roll 3. 10 is a payoff reel drive motor rotation speed detector, and 11 is a vinyl roll circumferential speed detector.

On the other hand, in the rolling mill outlet side plate thickness $1till system, the deviation between the rolling mill outlet side plate thickness target value hRBP and the plate thickness detection value from the rolling mill outlet side plate thickness detector 13 is introduced into the proportional/integral adjustment calculation means 14. Then, perform proportional/integral adjustment calculations to obtain rolling II 4.
After obtaining the reduction opening correction amount, the reduction opening degree is corrected by the reduction opening degree control device 15 in accordance with the reduction opening correction amount.

16 is a reduction opening degree detector. In this way, the reduction opening degree modification amount acts on the material to be rolled 2, and the thickness of the material to be rolled 2 on the exit side of the rolling machine is corrected to a desired thickness.

(Problem to be Solved by the Invention) However, the control device for a rolling mill as described above is a system in which the so-called control object is a single-manpower, single-output system, such as the tapped plate thickness and rolling opening, or tension and payoff reel current control. Since it is composed of , there were the following problems. That is,
As shown in Fig. 2(b), the tension target value tB is reached at time 0 seconds.
RRP changes by 1 kg/■2 steps, and the same figure (a
), the rolling mill exit plate thickness target value h REF is set after 10 seconds.
When changes by 0.1■, even though the drive current of the payoff reel drive motor 9 is constant as shown in the same figure (C),
As shown in (d) of the same figure, the amount of correction of the reduction opening changes greatly, and the tension is 1. increases from time 0 seconds toward the target value tBREF, exceeds the target value, and changes while performing damped oscillation.
At this time, the plate thickness at the exit side of the rolling machine also vibrates, and a large mutual interference occurs between tension control and plate thickness control. Also, the target value h R1 of the tapped plate thickness after 10 seconds! In response to a change in P, the reduction opening correction amount changes greatly, and the tension tB changes to the tension target value tBR.
The change greatly exceeds the BP, and this appears as a change in plate thickness. Therefore, in this case as well, the plate thickness and tension are oscillatory, and similar to the above, there is significant mutual interference between tension control and plate thickness control. As described above, since the conventional apparatus is manufactured with the assumption that it is a single-manpower, single-output system, it is difficult to suppress mutual interference, and highly accurate plate thickness control cannot be realized.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a control device for a rolling mill that can reliably suppress mutual interference between manipulated variables and controlled variables, eliminate vibrations, and improve control response. do.

[Configuration of the Invention (Means for Solving the Problems) First, in order to solve the above problems, the rolling mill control device according to the present invention corresponding to claim 1 has a rolling opening for controlling the rolling opening of the rolling stand. In a rolling line system having a degree control device and a payoff reel drive motor that drives a payoff reel, the thickness deviation between the target thickness at the exit side of the rolling machine and the detected thickness at the exit side of the rolling machine is integrally calculated. Rolling opening control that adds a proportional calculation value of a signal related to at least a detected tension value of the material to be rolled to the output, and controls the rolling opening of the rolling stand with the rolling opening control device in response to the obtained added signal. means, integrally calculates the tension deviation between the tension target value and the detected tension value of the rolled material, adds at least the integral calculation value of the recorded plate thickness deviation to this integral calculation output, and uses the obtained addition signal to calculate the The payoff reel drive control means controls a payoff reel drive motor to drive the payoff reel.

The invention corresponding to claim 2 is an invention corresponding to a subordinate concept that is more specific to the invention corresponding to claim 1, and includes a rolling mill exit side plate thickness control system that controls a rolling machine exit side plate thickness target value and a rolling machine exit side plate thickness control system. A first integral calculating means for calculating integrally the plate thickness deviation from the output side plate thickness detection value, and a tension detection value of the rolled material between the payoff reel and the rolling mill and the difference between the payoff reel and the rolling machine at the start of control. a first proportional calculation means for proportionally calculating the tension deviation between the tension detection value of the rolled material and the rolling opening deviation between the rolling mill's rolling opening detection value and the rolling opening detection value at the start of the control; a second proportional calculation means for proportional calculation, these first integral calculation means and the first. and means for controlling the rolling opening of the rolling stand by combining the respective outputs of the second proportional calculation means and applying it to the rolling opening control device as a rolling opening target value correction amount, and controlling the rolling mill rear tension. As a system, a second integral calculation means performs an integral calculation based on the tension deviation between the tension target value and the tension detection value of the rolled material, and a third integral calculation means performs an integral calculation based on the plate thickness deviation. and a proportional calculation is performed based on the tension deviation between the detected tension value of the rolled material between the payoff reel and the rolling mill and the detected tension value of the rolled material between the payoff reel and the rolling mill at the start of the control. a fourth proportional calculation means for performing a proportional calculation based on a rotational speed deviation between a rotational speed detection value of the payoff reel drive motor and a rotational speed detection value at the time of starting control; The respective outputs of the second integral calculation means, the third integral calculation means, the third proportional calculation means, and the fourth proportional calculation means are combined and applied to the payoff reel drive motor current control device as a current target value correction amount. and means for controlling the payoff reel drive motor.

(Function) Therefore, by taking the above-mentioned measures, the present invention, for example, when the rolling mill exit side plate thickness target value changes in the increasing direction, the thickness deviation from the rolling machine exit side plate thickness detection value is reduced. After the integral calculation is performed by the first integral calculation means, this integral calculation value is added to the tension detection element by the first proportional calculation means and the reduction opening detection element by the second proportional calculation means to correct the reduction opening target value. At this time, the plate thickness deviation is integrated by the third integral calculation means and added to the second integral calculation means which is a tension control system, and is then added to the payoff reel. Since the drive motor current target value correction amount is temporarily lowered, the payoff reel drive motor current control device controls the payoff reel via the payoff reel drive motor in response to the correction amount, so the tension of the rolled material is temporarily lowered. down to. As a result, the thickness of the rolled material on the exit side of the rolling mill is set to the target thickness value with characteristics similar to a temporary delay response that gradually increases.

On the other hand, when the tension target value changes, for example, in an increasing direction, the tension deviation is integrally calculated by the second integral calculation means to increase the current target value correction amount, and the payoff reel drive motor current control device The material to be rolled is raised by increasing the torque to the payoff reel via the reel drive motor, but at this time, the tension detection element of the material to be rolled by the first proportional calculation means is added to the rolling opening control system to control the rolling opening. Since the target value correction amount is gradually increased, the tension of the rolled material gradually changes with a characteristic approximating a first-order lag, but the thickness at the exit side of the rolling machine can be controlled without changing at all.

(Example) Before giving a detailed explanation of the present invention, two controlled objects will be described below.
Considering it as a human-powered two-output system, let's consider the configuration of the control system from the inverse problem of linear optimal control.

Note that the inverse problem of linear optimal control refers to finding the optimal state feedback in the sense of minimizing the evaluation function.

Therefore, a mathematical model of the rolling equipment, that is, the controlled object, including the reduction opening degree control device and the payoff reel drive motor current control device can be expressed by equations (1) to (14). Specifically, the state equation of the controlled object is: dX/dt A◆X+B◆U ... (1) y-
c−x ... can be expressed as (2). In the above equation, X is a state variable vector, A, B,
C is a coefficient matrix, U is an input vector, and Y is an output vector. However, X-[△So Np ts] T
-(6)U-[ΔS O, RIP ΔI p, *
gp]” -(7)Y-[h t,]
” ... (8)Fr --
((RP 'g"H-B) / (G2 ・ JP))
... (9) F2 − (E
/L) ・VMo-KBM(M/ (M10))
...-(10)F3-(E-Rp
) / (L - Gg) ... (11>F 4
- (E -K p7・KBH-VMO)/
(LM) ... (12
〉F, -M/ (M + Q)
...(13>F6 =Kpt/M
...(14) However, in the above equations (3) to (14), T) IPc: time constant of the reduction opening control device, F1 to F6: coefficient, φ: torque coefficient of the perio reel drive motor, Jp: Moment of inertia of payoff reel, ΔSo: detection value of roll-down opening, NP
:Detected rotational speed value of Beriofreel drive motor, tB:
Detected tension of the material to be rolled between the belliofreel and the rolling mill, [ ] T: Width value matrix, ΔS O, RIP: Adjustment amount of the rolling opening target value of the rolling opening controller, ΔIP, R1! P
: Amount of current target value correction of the periodic reel drive motor current control device, h: Detected value of plate thickness on the exit side of the rolling mill, R1: Payoff reel coil diameter, g: Gravitational acceleration, H: Plate thickness of the material to be rolled on the input side of the rolling machine, B : Width of the material to be rolled, C8: Gear ratio of the payoff reel, E: Young's modulus of the material, L: Distance from the payoff reel to the rolling mill, V MO: Set value of material speed at the entrance of the rolling mill, KB, : A coefficient of change in the backward movement rate of the rolling mill due to a change in plate thickness on the exit side of the rolling mill, M: Mill constant of the rolling mill, Q: Plasticity coefficient of the material to be rolled, K PT : A coefficient of change in load due to a change in tension at the rear of the rolling mill.

By the way, in general, linear optimal control performs state feedback to minimize the evaluation function, but as is well known, it is difficult to put it into practical use because the relationship between the evaluation function and control performance is not clear. Inverse control problems involve finding the optimal state feedback in the sense of minimizing the evaluation function.

Therefore, det (CIIB), det (C3・A-
B)≠0Sdet (C2eA aB)-0, dat
Control constant K, paying attention to the condition that (CzA2・B)≠0.

The relational expression related to d U/ d t = Kn −Xo
...(15), and this control constant KD is expressed by an appropriate regular matrix V and a fixed diagonal matrix Σ-old ag
(σ1.σ2) and an appropriate matrix F, D −V−1−Σ−V−[F 1] −r−′ −(
1B). However, the above expanded state vector XD
is, Xo = [dX"/dt (Y-R)"
] ”...(17) In equation (17), R represents a reference.

Therefore, when the above theory is applied to the controlled object expressed by the state equations of equations (1) and (2), the control constant KD can be expressed as follows. However, K,,"-T,,C...(20> K 13- ((M"Q) ・Kpr-THpc)
/M2- (21)K 14-1(M”Q)/M)
"WAac" T HPC-(22)K2□--
(Jp/φ) ... (23) K 23
-- (WAtc ・Jp ・h ・L)/(Rp 4
・φ)...(24) K 24- (WAcc 'Jp "Glt・Kan
4uo)/(Rp・φ)...(25) K 25- (VAtc ” Jp・GE
4)/(4・Rp・E□1) (26). Here, W AGC is the target cross angle frequency for plate thickness control, and WATc is the target cross angle frequency for tension control.

Among the coefficients of these equations (20) to (26), THPC+
Since M* GE + Er L+ g is a constant, it is necessary to store it in the memory of the control device in advance.

In addition, Q, Kpt, KBH, VMO, H, and B are coefficients that change for each rolled material, so they should be set by the host computer or operator, or the above coefficients for each rolled material should be stored in memory in advance. . In addition, the torque coefficient φ of the payoff reel drive motor, the payoff reel coil radius RP, and the moment of inertia of the payoff reel (Jp) are coefficients that constantly change during rolling of the material to be rolled, so they are determined by calculation.

The torque coefficient φ of the payoff reel drive motor is determined from the rotational speed, rated capacity, rated current, etc., and the payoff reel coil radius R, is the circumferential speed of the pinch roll provided on the exit side of the payoff reel, and the payoff reel drive motor It is determined using the rotational speed of , the gear ratio of the payoff reel, the circumference, etc. Furthermore, the moment of inertia Jp of the payoff reel is determined by the gear ratio of the payoff reel, pi, the density of the material to be rolled, the width of the material to be rolled, the payoff reel coil radius, the mandrel radius of the payoff reel, and the mechanical inertia of the payoff reel. Determined from moment etc.

Next, an embodiment of the apparatus of the present invention will be described with reference to FIG. 1, which is realized using control constants etc. obtained while making use of the theory of the inverse problem of linear optimal control for a controlled object.

First, in a rolling line system to which the control device according to the present invention is applied, a material to be rolled 22 wound around a payoff reel 21 is passed through a pinch roll 23 and a four-high rolling mill 24, as in the conventional case, and then passed through a tension reel (not shown). It is designed so that it can be wound up.

On the rolling mill 24 side, the rolling opening target value correction amount ΔS O
,RF! In response to P, the rolling opening degree control device 26 changes the rolling blade to control the thickness of the plate at the exit side of the rolling machine to a desired thickness. 27 is a reduction opening degree detector, and 28 is a rolling machine outlet side plate thickness detector.

On the other hand, on the payoff reel 21 side, the payoff reel drive motor current control device 29 applies a necessary drive current to the payoff reel drive motor 30 based on the current target value correction amount ΔIP, RIIF, and thereby the payoff reel drive motor Torque is generated from 30 and applied to the rolled material 22 via the payoff reel 21 to control tension. 31 is a payoff reel drive motor rotational speed detector, 32 is a pinch roll circumferential speed detector, and 33 is a tension detector for the rolled material 22.

Next, the control device 40, which is the gist of the device of the present invention, will be explained. That is, this control device controls the reduction opening degree target value correction amount ΔS O,R1! to the reduction opening degree control device 26! In order to obtain F, a deviation calculation means 41 calculates a thickness deviation between the target thickness h REF at the exit side of the rolling machine and the thickness detection value from the plate thickness detector 28, and an integral calculation is performed in response to this thickness deviation. The first integral calculation means 42 performs a proportional calculation based on the deviation between the tension detection value tB obtained by the tension detector 33 and the tension detection value tBO from the tension detector 33 at the start of # control. 1st
, a proportional calculation means 43, an addition means 44 for adding the outputs of both calculation means 42 and 43, a reduction opening detection value S0 of the reduction opening degree detector 27, and a reduction opening detection value S at the time of starting control. , a second proportional calculation means 45 which performs a proportional calculation in response to the deviation from 0, and an addition means which adds the output of the proportional calculation means 45 and the output of the addition means 44 to obtain the reduction opening target value correction amount. 46, etc., and is configured to supply the reduction opening degree target value correction amount obtained here to the reduction opening degree control device 26.

Next, the current target value correction amount ΔI P, R1! to the payoff reel drive motor current control device 29 is determined. In order to obtain P,
Torque coefficient fA calculating means 51 for determining the torque coefficient φ of the payoff reel drive motor 30. In addition to the payoff reel radius calculation means 52 for calculating the payoff reel coil radius RP, the inertia moment calculation means 53 for calculating the inertia moment Jp of the payoff reel 21, and the like, the tension target value t BREP of the rolled material 22 and the tension value from the tension detector 33 are calculated. A deviation calculation means 54 for obtaining a tension deviation from the tension detection value tB, a second integral operator stage 55 for performing an integral calculation based on this tension deviation, and a third integral calculation unit 55 for performing an integral calculation based on the plate thickness deviation. Means 5
6. Adding means 57 for adding the outputs of both the integral calculation means 55 and 56, the tension detection value tB of the tension detector 33 and the tension detection value ta at the start of control.

A third proportional calculation means 58 performs a proportional calculation based on the deviation between the output of the addition means 57 and the third proportional calculation means 5.
Adding means 59 for adding the output of 8 and the rotation speed detector 3
a fourth proportional calculation means 60 that performs a proportional calculation based on the deviation between the detected rotational speed value N of 1 and the detected rotational speed N, o at the time of control start; the output of the addition means 59 and a fourth proportional calculation; The addition means 61 and the like add the output of the means 60 to obtain the current target value correction amount, and supply the current target value correction amounts ΔIP and RRP obtained here to the payoff reel drive motor current control device 29. It is.

Next, the operation of the device configured as above will be explained.

In the control device 40, prior to starting the control, a target value hREF of the strip thickness on the exit side of the rolling mill is stored in the memory (not shown) in advance.
, the detected tension value tBRBP of the rolled material 22 is stored,
In addition, when it is necessary to start control aSrA, a tension detection value t80 is sent from the rolled material tension detector 33 between the payoff reel 21 and the rolling $124, and a rolling opening detection value SO, Os is sent from the rolling opening degree detector 27. Drive motor rotation speed detector 3
The detected rotational speed value N13 and the like are fetched from 1 and stored in the memory in the same manner as described above.

After setting the necessary values as described above, the rolled material 22
During the rolling operation, the deviation calculation means 41 calculates the plate thickness target value h R
After subtracting the plate thickness detection value of the plate thickness detector 28 on the exit side of the rolling mill from EP to obtain the plate thickness deviation, the plate thickness deviation is introduced into the first integral calculation means 42, where the plate thickness deviation is calculated using the above-mentioned formula (22). Multiply the coefficient obtained by 14 to get + (M+Q) /Ml ・WAG
(”THpc ・J(hRzp −h) dt...(
27) Obtain an integral calculation value using the calculation formula and introduce it into the addition means 44. At this time, the addition means 44 receives a value obtained by subtracting the current tension detection value ta of the tension detector 33 from the tension detection value t BO of the tension detector 33 at the time of starting control from the second proportional calculation means 43. By multiplying the coefficient obtained by the above equation (21) to the tension deviation obtained by 3, -+(M+Q)・KPT・Tspc/M21・(
tB-tao)...(28) Since the proportional calculation value obtained by the calculation formula is input,
This addition means 44 adds the proportional calculation value and the output of the first integral calculation means 42 and introduces the result to the next addition means 46. Furthermore, in this addition means 46, the second proportional calculation means 45 calculates the roll-down opening detection value So of the roll-down opening degree detector 27 at the time of starting the control. Then, the coefficient of the equation (20) is 1. TRPC(△So−ΔS o, o) = (
29) Since the proportional calculation value obtained by the calculation formula is introduced, the addition means 46 adds the output of the addition means 44 to the proportional calculation value to obtain the reduction opening target value correction amount ΔS O,
REF is obtained.Receiving this correction amount ΔSO,RIIP, the rolling blade of the rolling mill 24 is controlled by the rolling opening degree control device 26.

Therefore, this reduction opening target value correction amount ΔS O,R[
LP is 1 △SO, REF ”-THPC (ΔSo-ΔSo, o) -I (M+Q) ・Rp d・Tspc /M21
'(ta -tso)''I(M+Q)/MIWAcc
・THpc 4(hasp-h) dt...(3
0) It can be expressed by the following arithmetic expression.

On the other hand, in the tension control system using the payoff reel 21, the coefficients of each calculation means 55.56 and 58.60 are 2. ,
K2. , K2. , K22, it is necessary to calculate the parameters φ+RP+JP. That is, the torque coefficient calculation means 51 calculates the rotational speed detection value N P of the payoff reel drive motor rotational speed detector 31.
s The torque coefficient φ is determined using the rated capacity, rated current, etc. of the payoff reel motor 30, and the pinch roll circumferential speed detector 32 is determined by the payoff reel coil radius calculation means 52.
The payoff reel coil radius Rp is calculated using the detected value of the circumferential speed of the vinyl roll, the rotational speed of the payoff reel drive motor, the payoff reel gear ratio, the pi, etc., and the density of the material to be rolled is determined by the moment of inertia calculating means 53. The moment of inertia J of the payoff reel 21 is determined using the mandrel radius of the payoff reel, the mechanical moment of inertia of the payoff reel, the fill radius of the payoff reel, the gear ratio of the payoff reel, the plate width of the material to be rolled, the circumference, etc.

Once φ+RP+JP is obtained in the above manner, any parameter among these is calculated by each calculation means 55,
56, 58, and 60, and using the value stored in the memory in advance, the current target value correction amount ΔS O,RII
Find P. That is, after the tension deviation is obtained by subtracting the detected tension value ta of the tension detector 33 from the target tension value tBREF of the rolled material in the deviation calculation means 54, this tension deviation is led to the second integral calculation means 55, Here, the tension deviation is multiplied by 2S by the coefficient of the above equation (26), and ((WArc"jp・Gw・L)/(4・RhE'?)
) /(ta*gp-ts)dt (31) After performing the integral calculation to obtain the integral calculation value, it is introduced into the subsequent addition means 57. On the other hand, the third integral calculation means 56 multiplies the plate thickness deviation sent from the deviation calculation means 41 by the coefficient of the equation (25), and calculates (-(IfAccJp・Gz・KBH・VMO)/(
Rp・-)l ・/(hRi+ph)dt...(3
2) After performing the following integral calculation to obtain an integral calculation value, the addition unit 57 adds the integral calculation value together with the integral calculation value by the calculation unit 55, and introduces the addition result to the subsequent addition unit 59. At this time, the third proportional calculation means 58 adds 2. Multiply by (-(WATc ・Jp-GlL)/(Rp ・E
・+1))・(tII-tso)...(33) Since the proportional calculation value obtained by the calculation formula is manually input to the addition means 59, the addition output obtained from the addition means 57 and the The sum is added and sent to the subsequent adding means 60. At this time, the fourth proportional calculation means 60 adds the rotation speed deviation obtained by subtracting the rotation speed detection value NPO at the start of control from the output N of the rotation speed detector 31 of the payoff reel drive motor 30. Multiply the coefficient obtained by formula 23) by 22, and get (JP/φ) CNp −Npo) ・
A proportional calculation value is obtained using the calculation formula = (34) and introduced into the addition means 61. As a result, the current target value correction amount ΔIp, Rev obtained from this addition means 61 is ΔI P
, REP --(jp/φ)・(Np −Npo)”1−(VA
tc - Jp ・Gg ・L)/(Rp ・E
・+1))・ (tB −tso>+1～(νAGC
・Jp ・Gt 4ao・VMo)/(Rp ・
φ))・J(h*gp-h)dt+l(VAtc'
・Jp ・Gg ・L＞/(4・RP・E・φ
)) ・/(t8Rgp-ta)di ・・・(
35).

Therefore, according to the configuration of the embodiment as described above, the rolled material 2
The rolling opening to 4 and the payoff reel drive motor current are the manipulated variables, and the rolling mill outlet side plate thickness and the rolling mill rear tension are the controlled variables. By adopting a so-called two-manpower two-output system, the tension target value is set to 1 at time 0 seconds, as shown in Figure 2 (b).
kg/tbm2 steps, the tension deviation (taRap-tB) is calculated by the second integral calculating means 5.
By adding the outputs of each calculating means 56, 58, and 60 sequentially using the adding means 57, 59, and 61 while performing integral calculations using the coefficients determined using various parameters in step 5, ) such as current target value correction amount △rp, R2p
Since the torque to the payoff reel 21 is controlled by obtaining
The tension change shows a first-order delayed response, which is similar to the fourth-order delay described in the conventional example.
As shown in Figure (b), the tension stabilizes toward the target value without vibration. Moreover, the tension at this time is detected by the tension detector 33.
Since it is proportionally calculated by the first proportional calculation means 43 and added to the reduction opening control system, the reduction opening target value correction amount ΔSO,REF gradually increases as shown in FIG. 2(d). , 4th
As shown in figure (d), the plate thickness settles without vibration, so the plate thickness at the exit side of the rolling machine hardly changes, and tension control and plate thickness IJ!
Non-interference with II can be achieved.

For example, when the rolling mill exit side plate thickness target value h R[lF changes by 0.1e+m steps as shown in FIG. 2(a) after 10 seconds, the plate thickness deviation is Since the integral calculation means 56 performs integral calculations and provides them to the reduction opening control system and the tension control system,
The current target value correction amount △Ip, ttEp temporarily decreases as shown in the same figure (C) and then returns to the original value, but along with this, the tension detection value 1B also temporarily decreases as shown in the same figure (b). and return to normal. On the other hand, the reduction opening target value correction amount △S O+ RE
P is gradually increased by the first integral calculation means 42, and along with this, the thickness of the rolled material at the exit side of the rolling machine is also gradually increased and stabilized without vibration. In other words, when the rolling mill outlet side plate thickness target value changes, the tension of the rolled material 22 becomes smaller than the tension target value and helps the plate thickness change, so the rolling machine outlet side plate thickness shows a temporary delayed response. It can be stabilized without vibration and the time taken to reach the plate thickness target value can be greatly improved.

In addition, since the payoff reel 21 is controlled while taking into consideration the torque coefficient φ of the payoff reel drive motor 30, the payoff reel coil radius RP, the moment of inertia jp of the payoff reel, etc. during rolling, these φ, RpSJp
Optimum control can always be performed without depending on changes such as, etc., and the plate thickness and tension of the rolled material 22, which have a great impact on the quality of the rolled material 22 and rolling operations, can be made to rapidly follow target values. can.

Note that the present invention is not limited to the above embodiments.

For example, a plurality of adding means 44, 46 are used in the reduction opening control system, and adding means 57, 59, 61 are used in the tension control system, but each control system has one adding means with the same function. and corresponding calculation means (43, 45);
The outputs of (55, 56° 58.60) may be added together. In addition, calculation means 51 to 53 are provided to obtain the torque coefficient φ, the payoff reel coil radius RP, and the moment of inertia J of the payoff reel, but similar functions are provided in the two payoff reel drive motor current control devices. In this case, the calculation means 51 to 53 are unnecessary. In addition, the present invention can be implemented with various modifications without departing from the gist thereof.

[Effects of the Invention] As described above, according to the present invention, optimal control can be realized by quickly responding to changes in process characteristics during rolling, and the yield can be increased by improving the quality of the rolled material. Furthermore, the control constants can be determined from the rolling parameters and the parameters of the perio mill, eliminating the need for troublesome adjustment work, reducing downtime, and increasing the efficiency of rolling work.

[Brief explanation of drawings]

Fig. 1 is a block diagram of a control device for a rolling mill according to the present invention, Fig. 2 is a diagram showing a control response state of the device of the present invention, Fig. 3 is a block diagram of a conventional device, and Fig. 4 is a control diagram of a conventional device. It is a figure which shows a response state. 21... Payoff reel, 22... Rolled material, 24
...Rolling mill (rolling stand), 25... Tension reel, 26... Rolling opening #J control device, 27... Rolling opening degree detector, 28... Melon rolling machine outlet side plate thickness detection Equipment, 2...Payoff reel drive motor current control device, 30.
...Payoff reel drive motor, 31...Payoff reel drive motor rotation speed detector, 32...Pinch roll circumferential speed detector, 33...Tension detector, 40...Control device, 41.44. ...deviation calculation means, 42...first
integral calculation means, 43...first proportional calculation means, 45
... Second proportional calculation means, 44° 46 ... Addition means, 51 ... Torque coefficient calculation means, 52 ... Payoff reel coil radius calculation means, 53 ... Inertia moment calculation means, 54. . . . deviation calculation means, 55 . . . second integral calculation means, 56 . . . third integral calculation means, 57.
59.61... Addition means, 58... Third proportional calculation means, 60... Fourth proportional calculation means.

Claims (2)

[Claims] (1) In a rolling line system that has a roll-down opening degree control device that controls the roll-down opening degree of the rolling stand and a payoff reel drive motor that drives the payoff reel, the rolling machine exit side plate thickness target value and the rolling machine exit side plate thickness detection value At the same time, a proportional calculation value of a signal related to at least the detected tension value of the material to be rolled is added to the integral calculation output, and in response to the obtained added signal, the rolling opening degree control device A roll-down opening control means for controlling the roll-down opening of the rolling stand, and integrally calculates the tension deviation between the target tension value and the detected tension value of the material to be rolled. and a payoff reel drive control means for driving the payoff reel by controlling the payoff reel drive motor using the obtained addition signal to drive the payoff reel. (2) In a rolling line system that includes a roll-down opening degree control device that controls the roll-down opening degree of the rolling stand and a payoff reel drive motor that drives the payoff reel, the rolling machine exit side plate thickness target value and the rolling machine exit side plate thickness detection value a first integral calculating means for calculating integrally the thickness deviation between the payoff reel and the rolling mill; and a tension detection value of the rolled material between the payoff reel and the rolling mill and the rolled material between the payoff reel and the rolling mill at the start of control. a first proportional calculation means that proportionally calculates a tension deviation between the detected tension value of the rolling mill and a first proportional calculation means that proportionally calculates a deviation of the rolling opening between the detected value of the rolling opening of the rolling mill and the detected value of the rolling opening at the start of the control; The outputs of the second proportional calculation means, the first integral calculation means, and the first and second proportional calculation means are combined to obtain the reduction opening target value correction amount, and this reduction opening target value correction amount is means for controlling the rolling opening of the rolling stand by applying it to the rolling opening degree control device; and a second integral calculating means for performing an integral calculation based on the tension deviation between the tension target value and the detected tension value of the material to be rolled. and a third integral calculation means that performs an integral calculation based on the plate thickness deviation, and a detected value of the tension of the material to be rolled between the payoff reel and the rolling mill and the tension between the payoff reel and the rolling mill at the time of starting the control. a third proportional calculation means for performing a proportional calculation based on a tension deviation between the tension detection value of the rolled material and the rotational speed detection value of the payoff reel drive motor and the rotational speed detection value at the time of starting the control; A fourth proportional calculation means that performs a proportional calculation based on the rotational speed deviation, and each output of the second integral calculation means, the third integral calculation means, the third proportional calculation means, and the fourth proportional calculation means. means for synthesizing to obtain a current target value correction amount, and applying this current target value correction amount to a payoff reel drive motor current control device to drive the payoff reel drive motor and control the tension of the rolled material. A rolling mill control device characterized by: