JPH11104725A - Rolling system - Google Patents

Abstract

(57) [Abstract] [Object] The object of the present invention is to provide effective disturbance control even when there are a plurality of disturbances such as a base material fluctuation disturbance such as a base material plate thickness fluctuation disturbance and a base material hardness nonuniformity disturbance and a roll eccentricity. To provide a rolling system including a disturbance compensation control device capable of performing the following. A constant load control device (1100) includes a rolling mill (10).
Is controlled to be the target load, and the thickness of the rolled material to be rolled is controlled to be the target thickness. The base material variation correcting device 1200 estimates the thickness of the exit side of the rolled material S to be rolled by the rolling mill 10, and obtains a corrected load value ΔPref based on the estimated thickness. Constant load control device 11
In the step 00, the target load value is corrected by the corrected load value ΔPref obtained by the base material variation correction device 1200, and the load of the rolling mill 10 is controlled so as to be the corrected target load.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rolling system for rolling a rolled material by a rolling mill, and more particularly to a rolling system provided with a disturbance control device suitable for suppressing and controlling the influence of disturbance.

[0002]

2. Description of the Related Art A rolling system for producing a product by controlling a rolled material to a desired thickness is affected by changes in an operating environment, a rolling machine, and characteristics of a material to be rolled. Such external adverse factors are called disturbances. Since this disturbance affects the product accuracy and the rolling mill control performance, the disturbance suppression control is important. Therefore, when a control system is constructed, it is designed so as to realize the suppression in consideration of the influence of disturbance. In the rolling system,
Usually, there are a plurality of types of disturbances, and the influences are often not uniform. Therefore, it is necessary to perform disturbance suppression control for suppressing the influence of each disturbance.

[0003] In the rolling process, one of the important factors in product accuracy is thickness accuracy in the longitudinal direction of rolling. AGC (Automati
c Thickness control called Gauge Control) is performed. Types of disturbance in the rolling mill control system include:
In general, a base material thickness fluctuation disturbance that is a variation in the thickness in the rolling longitudinal direction of the material to be rolled, a material hardness irregularity that is a variation in the hardness in the rolling longitudinal direction of the material to be rolled, Eccentricity of a rolling roll to be rolled is exemplified.

[0004] Conventional methods for controlling the thickness of disturbance suppression for these disturbances include, for example, system / control / information,
Vol. 35, No. 12 (1991), pp. 729 to 738, "Application of Control Theory to Rolling Process". For example,
A method called a gauge meter AGC is used for disturbances in the base material plate thickness and material hardness unevenness. The gauge meter AGC is a method of controlling a roll gap by estimating a thickness deviation immediately below a roll from a rolling load applied to the roll. According to this method, if there is a disturbance in the base material plate thickness variation, the load is increased, and an operation is performed to narrow the roll gap assuming that a thickness deviation has occurred. Therefore, the disturbance suppression control is automatically performed for the base material disturbance. Similarly,
Regarding the unevenness of the material hardness, when the hard material arrives, the load increases and the operation is performed in the direction to close the roll gap, so that the disturbance suppression control is operated so as to have a desired thickness.

[0005] Regarding roll eccentricity, rolling load constant control is generally used. In this method, a substantial roll gap change that is caused by roll eccentricity is corrected by keeping the rolling load constant, and the effect of the roll eccentricity does not occur on the thickness of the rolled material as a product.

As described above, a method of suppressing each disturbance has conventionally been adopted, and it is general to construct a control system in advance with the aim of suppressing the disturbance that is considered to have the greatest effect on the target. It has been done.

[0007]

Conventionally, a gauge meter AGC is used for disturbances in base material thickness and unevenness in hardness, and a constant rolling load control is used for roll eccentricity. For each of the disturbances, a method of controlling the disturbance suppression plate thickness is used. However, at the same time,
When there is a base material plate thickness disturbance (or uneven hardness disturbance) and a roll eccentricity disturbance, for example, if a gauge meter AGC system is used, the control of the base material plate thickness disturbance can be performed, but the roll eccentricity disturbance cannot be controlled. There was a problem. That is, if the gauge meter AGC method is used for the roll eccentric disturbance, the load may increase / decrease due to the roll eccentricity, and even if the rolling state is the same, the roll gap is operated, and the disturbance becomes redundant.

Further, when there is a base material thickness disturbance (or hardness unevenness disturbance) and a roll eccentricity disturbance, for example, by using a constant load control method, the roll eccentricity disturbance can be controlled. There is a problem that cannot be controlled. That is, if the constant load control is used for the base material fluctuation disturbance and the hardness unevenness disturbance, the influence of the base material fluctuation and the hardness unevenness cannot be sufficiently removed.

That is, the conventional method has a problem that it can be applied only in accordance with each disturbance, and that sufficient disturbance suppression control cannot be achieved when various disturbances exist. In other words, if the roll eccentricity is suppressed by the conventional constant load control, other base material fluctuation disturbances cannot be dealt with.
When the disturbance of the base material fluctuation is suppressed by C, there is a problem that the roll eccentricity cannot be coped with.

SUMMARY OF THE INVENTION An object of the present invention is to provide a disturbance compensation control device capable of effective disturbance control even when there are a plurality of disturbances such as a base material fluctuation disturbance such as a base material plate thickness fluctuation disturbance and a non-uniform base material hardness disturbance and a roll eccentricity. The present invention provides a rolling system including:

[0011]

[Means to solve the problem]

(1) In order to achieve the above object, the present invention relates to a rolling mill for rolling a rolled material, and controlling the load of the rolling mill to a target load so as to reduce the thickness of the rolled material to be rolled. In a rolling system having a constant load control means for controlling the thickness of the rolled material, the thickness of the exit side of the rolled material to be rolled by the rolling mill is estimated, and a corrected load value is calculated based on the estimated thickness. The base material variation correction means to be obtained is provided, and the load constant control means corrects the target load value by the corrected load value obtained by the base material variation correction means, and then the load of the rolling mill is corrected. The control is performed such that the load becomes the target load. With this configuration, effective disturbance control can be performed even when there are a plurality of disturbances such as a base material fluctuation disturbance such as a base material plate thickness fluctuation disturbance and a non-uniform base material hardness, and roll eccentricity.

(2) In the above (1), preferably,
The base material variation correction means estimates the thickness of the exit side of the rolled material rolled by the rolling mill, and estimates the error with the target thickness. Load error calculating means for calculating a load error based on the estimated thickness error, and correction load calculating means for obtaining a corrected load value based on the load error calculated by the load error calculating means. It was made.

(3) In the above (1), preferably,
The parameters used in the base material variation correction means are set based on the results obtained by the setup calculation by the setup computer. With such a configuration, the result obtained by the setup calculation can be used as it is, so that the parameter can be easily set.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A rolling system according to an embodiment of the present invention will be described below with reference to FIGS. First, an overall configuration of a rolling system according to an embodiment of the present invention will be described with reference to FIG. FIG. 1 is a block diagram showing the overall configuration of a rolling system according to one embodiment of the present invention.

Generally, a rolling mill may be composed of one rolling stand or a plurality of rolling stands. In this embodiment, even if there are a plurality of rolling stands, only one rolling stand is provided. Can be realized similarly. FIG. 1 illustrates a case where a plurality of stands having a more complicated structure are used.

The rolled material S is further rolled by the rolling mill 10 after being rolled by the rolling mill 10A. Here, the rolling mill 10 is a controlled rolling mill that suppresses the influence of disturbance in the present embodiment. The roll gap control device 12 of the rolling mill 10 controls the roll gap of the rolling roll 14 for rolling the rolled material S, and the flow of the rolled material is controlled by a roll driving device.

The rolling mill 10 is provided with various measuring devices for measuring a rolling phenomenon. For example, the load measuring device 22 measures a rolling load. Roll speed measuring devices 24, 24A are provided with rolling rolls 14, 14A.
Measure the rotation speed of. In addition, the roll speed measuring device 2
4, 24A measure the rotation speed of the electric motor that drives the rolling rolls 14, 14A, and from the results,
The rotation speed may be converted to a rotation speed of 14A. The thickness gauge 26 measures the thickness of the rolled material S on the entry side or the exit side.

The disturbance compensation controller 1000 includes a load measuring device 22, a roll speed measuring device 24, 24A and a thickness gauge 26.
The roll gap is controlled by the roll gap control device 12 based on the rolling phenomenon detected by the roll gap control.

The detailed configuration and operation of the disturbance compensation control device 1000 will be described with reference to FIG. 2 and subsequent figures. The disturbance compensation control device 1000 is configured to store the rolling load of the rolling mill 10 in the target load storage device 1190 in the target load storage device 1190. A constant load control device 1100 that controls the load to be a load, and a thickness of the exit side of the rolling mill 10 is estimated. Based on the estimated thickness, a disturbance in a base material variation such as a variation in a base material thickness and a variation in material hardness. And a base material variation correction device 1200 that calculates the correction value and gives the correction value to the constant load control device 1100.

The constant load control device 1100 stores the load detected by the load measuring device 22 in the target load storage device 1.
A control signal is output to the roll gap control device 12 so as to be equal to the target rolling load during rolling of the rolling mill 10 stored in 190, and the rolling load of the rolling mill 10 is controlled to be constant.

The base material variation correcting device 1200 includes a mass flow thickness error estimating device 1210 and a load error calculating device 122.
0, a correction load calculating device 1230, and a target thickness storage device 1240.

The mass flow thickness error estimating device 1210
From the measured values of the sheet thickness gauge 26 and the roll speed measuring devices 24 and 24A, the sheet thickness immediately below the roll of the rolling machine 10 is estimated and calculated using a mass flow relational expression, and the rolling mill 10 stored in the target sheet thickness storage device 1240 is calculated. Is to estimate an error from the target thickness value of the rolled material S generated in step (1).

Further, the load error calculating device 1220 in this embodiment is a mass flow plate thickness error estimating device 1210.
The rolling load error in the rolling mill 10 is calculated from the thickness error with respect to the target value of the thickness just under the rolling roll 14 of the rolling mill 10 estimated in the above. The correction load calculating device 1230 calculates a correction value of a target rolling load necessary for the rolling mill 10 to generate the rolled material S having a target thickness from the result of the load error calculating device 1220, and calculates the obtained correction value. Constant load control device 1100
Output to

The constant load control device 1100 stores the load detected by the load measuring device 22 in the target load storage device 1.
A control signal is output to the roll gap control device 12 based on the target rolling load during rolling of the rolling mill 10 stored in 190 and the correction value of the target rolling load obtained by the correction load calculating device 1230, The rolling load of the rolling mill 10 is controlled to be constant.

That is, the constant load control device 1100 according to the present embodiment performs the constant load control for suppressing the roll eccentric disturbance, and the thickness gauge 26 indicating the influence amount of the base material plate thickness disturbance and the material hardness unevenness disturbance. And roll speed measuring device 24,
The target rolling load that suppresses the influence of the base material plate thickness disturbance and the material hardness non-uniformity disturbance obtained by the mass flow thickness error estimating device 1210, the load error calculating device 1220, and the corrected load calculating device 1230 based on the measured value of 24A. The constant load control is also performed by using the correction value of (1). With this configuration, not only the roll eccentric disturbance but also the influence of the base material plate thickness disturbance and the material hardness irregularity disturbance are suppressed and controlled.

A constant load control device 1100, a mass flow thickness error estimating device 1210, a load error calculating device 1220, a corrected load calculating device 1230, and a target load storage device 1190 which constitute the disturbance compensation control device 1000.
The parameters used by the target thickness storage device 1240 can be externally rewritten by the input device 200.

Next, the configuration and operation of the mass flow thickness error estimating apparatus 1210 according to the present embodiment will be described with reference to FIG. FIG. 2 is a block diagram showing a schematic configuration of the mass flow thickness error estimating apparatus used in the rolling system according to one embodiment of the present invention.

The mass flow thickness error estimating device 1210
The apparatus includes a thickness tracking device 1211, a mass flow thickness calculation device 1212, a thickness error calculation device 1213, and a parameter storage device 1214.

The sheet thickness tracking device 1211 converts the measured value H (n) of the sheet thickness measured by the sheet thickness gauge 26 provided on the entry side of the rolling mill 10 into the rolling speed measured by the roll speed measuring device 24A. , The sheet thickness history until the rolled material S reaches the rolling mill 10 is stored by changing the storage location.

The mass flow thickness calculating device 1212 is provided with the rolling mill 10 sent from the thickness tracking device 1211.
And the roll speeds Vrn, V measured by the roll speed measuring devices 24, 24A.
From rn-1 and the rolling parameter f stored in the parameter storage device 1214, the sheet thickness h immediately below the rolling roll 14 is estimated using a mass flow relational expression.

Here, the mass flow thickness calculating device 1212
The calculation method for estimating the thickness of the sheet performed in the above will be described below. The mass flow relational expression utilizes the fact that the volume of the rolled material S per unit time is the same before and after being rolled by the rolling mill 10 because the density of the rolled material S is considered to be constant. That is, the thickness of the rolled material S before being rolled by the rolling mill 10 is H, the width of the rolled material is We, the flow speed of the rolled material is Ve, and the thickness of the rolled material S after being rolled by the rolling mill 10 is h, the sheet width is Wo, and the velocity of the rolled material is Vo.
Then, the following equation (1) is established. H × Ve × We = h × Vo × Wo (1) Here, in consideration of sheet rolling, since the width expansion can be ignored, We can be set to We = Wo.
It can be expressed by the following equation (2). H × Ve = h × Vo (2) Further, the speed Ve of the rolled material S before rolling and the speed V after rolling.
o can be determined from the speed of the rolling rolls using the equations (3) and (4), respectively. Ve = (1 + fn-1) .times.Vrn-1 (3) where fn-1 is the advance rate of the preceding rolling mill stand,
Vrn-1 is the roll speed of the previous mill stand. Vo = (1 + fn) × Vrn (4) where fn is the advance rate of the target rolling mill stand.
rn is the roll speed of the target mill stand.

Therefore, the expression (3) and the expression (4)
By substituting the equation, the sheet thickness h directly under the roll of the rolled material S rolled by the rolling mill 10 is estimated by the following equation (5).

H = (Ve / Vo) × H = [{(1 + fn−1) × Vrn−1} / {(1 + fn) × Vrn}] × H (5) Here, the advance rate f is, for example, , “Control system design by numerical analysis method”, p. 199, as shown in the Society of Instrument and Control Engineers, it can be calculated by the following equation (6) using Bland &Ford's equation in rolling theory.

[0034]

(Equation 6)

Here, H is the thickness of the entrance side, h is the thickness of the exit side, R 'is the flat roll radius, τf is the front tension, τb is the rear tension, and μ is the friction coefficient. Sf is the two-dimensional yield stress of the incoming rolled material, and Sb is the two-dimensional yield stress of the outgoing rolled material.

The thickness error calculating device 1213 calculates a thickness error estimation value Δh from the result of the target thickness href of the target thickness storage device 1240 and the thickness h calculated by the mass flow thickness calculating device 1212.

Next, the mass flow thickness error estimating device 121
The operation of 0 will be described. Before the start of rolling, the advanced ratio f is calculated based on the equation (6). For example, in rolling mill control, the advance rate f is normally calculated when a rolling state prediction calculation called a setup calculation is performed before rolling, and this result is used. And the calculated advance rate f
Is stored in the parameter storage device 1214 of the mass flow thickness error estimating device 1210 from the input device 200 before the start of rolling. Further, the value of the advance rate f stored in the parameter storage device 1214 can be freely changed and set from the input device 200.

Next, when the rolling mill is controlled after the start of rolling, the incoming side thickness measured by the thickness gauge 26 is input to the thickness tracking device 1211. Sheet thickness tracking device 1
Reference numeral 211 denotes a memory configuration such as a ring buffer corresponding between rolling mill stands, and sequentially stores the thickness data measured by the thickness gauge 26. At this time, the rolling speed data Vrn- from the roll speed measuring device 24A of the previous stand was used.
1 is also inputted, the past data measured by the thickness gauge 26 according to the rolling speed data is calculated to correspond to which position between the rolling mill stands, and the thickness data is sequentially rewritten to the corresponding location. Go. In this way, the current thickness data on the entry side of the rolling mill 10 is stored at the head of the buffer for storing the thickness data of the thickness tracking device 1211, When the thickness data is input, the head thickness data is output to the mass flow thickness calculating device 1212.

The mass flow thickness calculating device 1212 includes a thickness data H output from the thickness tracking device 1211, current roll speeds Vrn and Vrn−1 measured by the roll speed measuring devices 24 and 24 A, and a parameter storage device 1.
The advanced rate f stored in 214 is read, and (5)
The thickness h is calculated based on the equation. The estimated thickness h calculated by the mass flow thickness calculating device 1212 is output to the thickness error calculating device 1213.

When the thickness error calculating device 1213 receives the estimated thickness h from the mass flow thickness calculating device 1212,
The target thickness value href of the rolling mill 10 is read from the target thickness storage device 1240, and the current thickness error Δh at the exit side of the rolling mill 10 is calculated. The thickness error Δh calculated by the thickness error calculator 1213 is output to the load error calculator 1220. Here, since the target thickness data of the rolling mill 10 stored in the target thickness storage device 1240 is determined at the time of the above-described setup calculation, the value is input before the rolling mill control.

Next, the configuration and operation of the load error calculator 1220 according to the present embodiment will be described with reference to FIG. FIG. 3 is a block diagram showing a schematic configuration of a load error calculation device used in the rolling system according to one embodiment of the present invention.

The load error calculating device 1220 includes a conversion gain storage device 1221 and a multiplying device 1222. The conversion gain storage device 1221 stores a conversion gain α (= rolling load P) for converting a thickness error into a load error.
(The reciprocal of the value obtained by partially differentiating with respect to the plate thickness h). The conversion gain α can be freely set from the input device 200. Further, since the conversion gain α can be usually obtained based on the rolling load model at the same time as the setup calculation described above, the value is input before the control. At this time, the conversion gain α can be calculated by, for example, using a rolling load model formula to obtain an influence coefficient indicating how much the rolling load changes when the outlet plate thickness changes.

The multiplying device 1222 calculates the thickness error estimation value Δ obtained by the mass flow thickness error estimating device 1210.
h is multiplied by the conversion gain α stored in the conversion gain storage device 1221 to determine the load error ΔP.

Next, the operation of the load error calculating device 1220 will be described. Mass flow thickness error estimating device 1210
The thickness error estimate Δh output and calculated by
It is input to the multiplier 1222 of the load error calculator 1220. The multiplication device 1222 includes a conversion gain storage device 122
The conversion gain α is read from 1 and the input thickness estimation error Δh is multiplied by the read conversion gain α to calculate the load error ΔP. The load error ΔP calculated by the multiplier 1222 is output to the corrected load calculator 1230. The calculation by the multiplier 1222 is represented by the following equation (7): ΔP = α × Δh (7)

Next, the configuration and operation of the modified load calculating device 1230 according to this embodiment will be described with reference to FIG. FIG. 4 is a block diagram showing a schematic configuration of a modified load calculating device used in the rolling system according to one embodiment of the present invention.

The correction load calculating device 1230 calculates a correction value ΔPref of the target rolling load required for the rolling mill 10 to generate the rolled material S having the target plate thickness from the load error ΔP obtained by the load error calculating device 1220. Then, the obtained correction value is output to the constant load control device 1100. The proportional integral operation device 1231 and the proportional integral operation device 1231
Input device 1232 for performing initialization of the multiplication device 1
233 and a correction gain storage device 1234.

Here, the operation of the correction load calculating device 1230 will be described. The rolling load error ΔP calculated and output by the load error calculating device 1220 is input to the proportional integral calculating device 1231 of the correction load calculating device 1230. The proportional-plus-integral calculator 1231 includes a load error calculator 1220.
The correction load ΔPm is calculated by the following equation (8) using the load error ΔP output from the. ΔPm (k + 1) = Σ Ki × ΔP (k) + Kp × ΔP (k) (8) where k is a sampling time, Ki is an integral gain, and Kp is a proportional gain. The initial value ΔPm (0) of the corrected load value ΔPm in the equation (8) and the proportional gain Kp
And the integral gain Ki are set from the input device 200 via the initialization input device 1232. For example, the initial value ΔPm (0) of the corrected load value ΔPm is automatically reset to 0 by the initialization input device 1232 before control, and the proportional / integral gain Ki / Kp is stored in the initialization input device 1232. Default value is set. The proportional / integral gain Ki / Kp can be freely modified and set from the input device 200. The corrected load value ΔPm calculated by the proportional-plus-integral calculation device 1231 is output to the multiplication device 1233.

The multiplication device 1233 reads the correction gain stored in the correction gain storage device 1234, multiplies the correction load value ΔPm from the proportional-plus-integral calculation device 1231 by the correction gain, and obtains the final load correction value ΔPref. In search of
Output to constant load control device 1100.

Next, the configuration and operation of the constant load control device 1100 according to this embodiment will be described with reference to FIG. FIG. 5 is a block diagram showing a schematic configuration of a constant load control device used in the rolling system according to one embodiment of the present invention.

The constant load control device 1100 uses the load P detected by the load measuring device 22 to store the target rolling load Pref during rolling of the rolling mill 10 stored in the target load storage device 1190 and the corrected load calculating device 1230. A control signal is output to the roll gap control device 121 based on the correction value ΔPref of the target rolling load obtained by the above to control the rolling load of the rolling mill 10 to be constant, and an adding device 1110 and a subtracting device 1120, a proportional arithmetic unit 1130, an integral arithmetic unit 1140, and an adder 11190.

Next, the operation of the constant load control device 1100 will be described. The adding device 1110 reads the target rolling load value Pref of the rolling mill 10 stored in the target load storage device 1190, and adds the target rolling load value Pref and the target load correction value ΔPref output from the correction load calculating device 1230. Then, the final target rolling load (Pref + ΔPref) of the rolling mill 10 is calculated. Here, the target rolling load value P stored in the target rolling load storage device 1190
For ref, the target load is calculated by the above-described setup calculation, and the value is set from the input device 200. Further, the rolling load target value can be freely changed and set from the input device 200. Final target rolling load value (Pref + ΔPref) corresponding to rolling mill 10 calculated by adder 1110
Is output to the subtraction device 1120.

The subtraction device 1120 calculates the target rolling load value Pre.
A rolling load deviation ΔPe, which is a deviation between f and the actual rolling load value P measured by the load measuring device 22 of the rolling mill 10, is calculated. The rolling load deviation calculated by the subtraction device 1120 is
The signals are output to the proportional calculation device 1130 and the integration calculation device 1140.

The proportional operation unit 113 obtains the roll gap change command ΔSp1 from the rolling load deviation ΔPe using the following equation (9). ΔSp1 (k + 1) = Kpp × ΔPe (k) (9) where k is a sampling time and Kpp is a proportional gain.

Further, the integral operation unit 1140 obtains the roll gap change command ΔSp2 from the rolling load deviation ΔPe using the following equation (10). ΔSp2 (k + 1) = ΔSp2 (k) + Kpi × ΔPe (k) (10) where k is a sampling time and Kpi is an integral gain.

Proportional operation device 1130 and integral operation device 11
40 outputs to the adder 1150 the roll gap change commands ΔSp1 and ΔSp2 obtained based on the expression (9) or (10). Note that each of the arithmetic units 1130, 1
The gains Kpp and Kpi used in 140 are stored in advance in the computing devices 1130 and 1140, and each gain can be freely changed and set from the input device 200.

The addition device 1150 is provided by the proportional operation device 113
0 and the roll gap change command values ΔSp1 and ΔSp2 output by the integration operation device 1140 are represented by (ΔSp1 + ΔSp
The addition operation is performed as 2), and the result is output to the roll gap control device 12 of the rolling mill 10.

Next, the overall control operation of the disturbance compensation controller 1000 of the rolling system according to the present embodiment will be described with reference to FIG. FIG. 6 is a flowchart showing the overall control operation of the disturbance compensation control device of the rolling system according to one embodiment of the present invention.

In the disturbance compensation control method according to the present embodiment, there are two control periods, that is, a period of the logic for correcting the target load and a period of the logic for controlling the rolling load to the target value.
However, normally, the control cycle of the constant load control logic is shorter.

The effect of the roll eccentricity corresponds to the equivalent change of the roll gap. For this reason, the influence of the roll eccentricity occurs on the plate thickness and the load. Here, controlling the load to a constant value suppresses an equivalently narrow (widening) roll gap due to roll eccentricity and an increase (decrease) in the load. In other words, the load increases (decreases)
In this case, the constant load control increases (narrows) the roll gap. As a result, the operation is performed so as to cancel the narrowing (widening) of the roll gap due to the roll eccentricity. From the above, it is possible to suppress the roll eccentricity by controlling the load to be constant.

Next, the correction of the load target value from the thickness deviation calculated from the mass flow thickness will be described. In consideration of the rolling phenomenon, a necessary rolling load is uniquely determined from characteristics of a material to be rolled in order to achieve a desired plate thickness. That is, the rolling load required for rolling exists from the thickness of the material before rolling, deformation resistance, coefficient of friction, the thickness achieved after rolling, and the like. Therefore, converting the thickness deviation to the target load and correcting the target load is based on plate thickness fluctuation,
The rolling load for generating a desired plate thickness corresponding to the material hardness fluctuation is calculated. As a result, by correcting the load target value of the constant load control, the average roll gap is changed, and the operation is performed so as to cancel the influence of the base material fluctuation disturbance.

Step S0 of the flowchart shown in FIG.
In, the disturbance compensation control device 1000 starts disturbance compensation control.

Then, in step S1, the disturbance compensation controller 1000 determines whether or not there is a trigger for the target load correction control cycle. If there is a trigger, step S2
If there is no trigger, the process proceeds to step S6.
The processing of steps S2 to S5 is performed by the base material variation correction device 120.
0, and the processing of steps S7 to S11
This is executed by the constant load control device 1100. As described above, the control cycle of the logic of the constant load control for controlling the rolling load to the target value is shorter than the cycle of the logic for correcting the target load. In comparison, the frequency of proceeding to step S6 is increased.

When there is a trigger of the target load correction control cycle,
In step S2, the mass flow thickness error estimating apparatus 1
Reference numeral 210 denotes a roll speed measurement device 24, which captures the current rolling speed of the rolling mill measured by the roll speed measurement devices 24, 24A, that is, a roll speed measurement value.
First, the thickness data measured by the thickness gauge 26 is tracked between stands.

Next, in step S3, the mass flow thickness calculating device 1212 outputs the rolling speed data Vrn, which is the roll speed measurement value taken in in step S2.
Using Vrn-1 and the tracking thickness data H and the advance rate set value f calculated in advance, the thickness h immediately below the roll of the rolling mill is estimated by using the relational expression of the expression (5).
The sheet thickness error calculating device 1213 estimates the sheet thickness deviation Δh from the target sheet thickness href at the exit side of the rolling mill, which is obtained in advance by the setup calculation performed in the rolling mill control.

Further, in step S4, the load error calculating device 1220 converts the thickness deviation Δh immediately below the roll obtained in step S3 into a rolling load error ΔP. That is, the multiplication device 1222 is the conversion gain storage device 1
Using the conversion gain (effect coefficient) obtained from the relationship between the change in the exit side plate thickness and the change in the rolling load stored in the storage device 221,
The rolling load deviation ΔP corresponding to the exit side sheet thickness error is calculated by the calculation shown in the equation (7).

Next, in step S5, the correction load calculating device 1230 calculates a target rolling load correction value ΔPref from the rolling load error ΔP converted in step S4. In other words, the proportional-plus-integral calculation device 1231 calculates the correction value ΔPref of the target load from the load error ΔP corresponding to the plate thickness error by a calculation method as shown in Expression (8).
Modify the target load. The above steps S2 to S5 are performed within one cycle of correcting the target load.

Further, when there is no trigger for the target load correction control cycle, in step S6, the disturbance compensation control device 1000 determines whether or not there is a trigger for the constant load control cycle. If there is a trigger, the process proceeds to step S7. If there is no trigger, step S6 is repeated until the timing of the constant load control comes, and the process waits.

When a constant load control cycle trigger occurs,
In step S7, the constant load control device 1100
The rolling load measurement value Pact sent from the load measuring device 22 of the rolling mill is taken in.

Next, in step S8, the adding device 1
110 adds the target rolling load correction value ΔPref obtained by the target rolling load value Pref stored in the target load storage device 1190 and the 1230 to obtain a corrected target load value (Pr).
ef + ΔPref).

Next, in step S9, the subtracting device 1
120 calculates a deviation ΔPe between the rolling load Pact taken in step S7 and the corrected target load value (Pref + ΔPref) obtained by the adding device 1110.

Further, in step S10, the proportional arithmetic unit 1130, the integral arithmetic unit 1140, and the adder 11
Using 50, a roll gap change command (ΔSp1 + ΔSp2) is calculated from the load deviation ΔPe. This roll gap change command can be calculated by the method shown in the equations (9) and (10).

In step S11, the roll gap control device 12 outputs the roll gap change command (ΔSp1 + ΔSp) obtained by the constant load control device 1100.
The roll gap is operated based on 2).

When the command output in step S11 is completed, the process returns to step S1 to determine the target load correction timing, and the control loop is repeated.

Next, with reference to FIG. 7, the simulation result of the control characteristic by the disturbance compensation control device according to the present embodiment will be described in comparison with the control characteristic by the conventional control method. FIG. 7 is a simulation result diagram showing control characteristics of the disturbance compensation control device according to one embodiment of the present invention in comparison with control characteristics of a conventional control method.

The simulation conditions in FIG. 7 are as follows. That is, it is assumed that both the thickness disturbance and the roll eccentricity are present, and the roll eccentricity is equal to the eccentricity of 0.
The size is 005 mm and the frequency is 5 rad / s. The thickness disturbance is set to a step of 0.02 mm.

FIG. 7A shows the thickness variation at the exit side of the rolling mill, FIG. 7B shows the rolling load deviation with respect to the target rolling load, and FIG. Is shown. In each of the figures, X indicates a control characteristic according to the present embodiment using a control method for correcting a target load using a correction load based on an estimated plate thickness while basically performing constant load control, and Y Indicates a control characteristic by the conventional load constant control, and Z indicates a conventional gauge meter AGC.
(Automatic Gauge Control). Further, at the time of each control, tension control by roll speed control is performed.

The conventional constant load control is an effective control method for the roll eccentricity.
Is an effective control method for base material fluctuation such as sheet thickness disturbance. However, as shown in FIG. 7, when both the thickness disturbance and the roll eccentricity are present, the characteristic is deteriorated even with the originally effective disturbance because it is affected by the other disturbance. For example, the constant load control effectively acts on the roll eccentricity, and is not effective against the base material plate thickness disturbance. That is, as shown in the control characteristic Y of the constant load control in FIG. 7A, the plate thickness deviation of the constant load control Y indicates a waving vibration characteristic at a little larger than +0.02 mm. The reason why the thickness deviation is slightly larger than +0.02 mm is that the influence of the base material thickness disturbance (0.02 mm step) cannot be removed. Further, the amplitude Δ1 of the vibration characteristic is a relatively large amplitude. If the disturbance is only roll eccentricity, this amplitude will be smaller, but because the base material thickness disturbance coexists, the amplitude will increase due to this effect, as if the roll eccentricity could not be sufficiently compensated. The characteristics are shown.

Further, the gauge meter AGC works effectively against disturbance in the base material plate thickness, and is not effective against roll eccentricity. That is, as shown in the control characteristic Z of the gauge meter AGC in FIG.
The thickness deviation of the GC shows a vibrating vibration characteristic, and the center of the amplitude has a value slightly larger than the thickness deviation of 0.00. The reason why the large vibration characteristic having the amplitude Δ2 is exhibited is that the influence of the roll eccentricity cannot be removed. Further, the center of the amplitude is a value slightly larger than the thickness deviation 0.00, and is not 0.00. When the disturbance is only the base material thickness disturbance, the thickness deviation approaches 0.00, but the roll eccentricity coexists, so the thickness deviation increases due to this effect, as if the base material thickness disturbance was present. Are not sufficiently compensated.

On the other hand, the control characteristic X according to the present embodiment in FIG. 7A is that the influence of both disturbances is effectively removed despite the base material thickness disturbance and the roll eccentricity coexist. Has been made. That is, the amplitude Δ3 of the control characteristic X
Is smaller than the amplitudes Δ1 and Δ2 obtained by other control methods, and the roll eccentricity can be effectively removed. Further, the thickness deviation is closer to 0.00 as compared with the other methods, and the influence of the base material thickness disturbance can be effectively removed.

As shown in FIG. 7 (B), the amplitude Δ4 of the load deviation in the control characteristic X according to the present embodiment is smaller than the amplitude according to the other control method shown in FIG. Further, as shown in FIG. 7C, the amplitude Δ5 of the tension deviation in the control characteristic X according to the present embodiment is smaller than the amplitude according to the other control method shown in FIG.

That is, according to the present embodiment, it is possible to suppress the influence of both the roll eccentricity and the base material fluctuation disturbance. The conventional load constant control cannot suppress the base material disturbance, and the conventional gauge meter AGC cannot suppress the roll eccentricity. However, using the disturbance compensation control device and method according to the present embodiment, By controlling the rolling mill, it is effective against different disturbances such as a base material disturbance and a roll eccentricity.

As described above, according to the present embodiment, effective disturbances even when a plurality of disturbances such as a base material fluctuation disturbance such as a base material plate thickness fluctuation disturbance and a non-uniform base material hardness disturbance and a roll eccentricity exist. Control can be performed.

Next, a rolling system according to another embodiment of the present invention will be described with reference to FIG. FIG. 8 is a block diagram showing the overall configuration of a rolling system according to another embodiment of the present invention. The same reference numerals as those in FIG. 1 indicate the same parts.

In this embodiment, in addition to the configuration of the embodiment shown in FIG.
0 and a setup computer 300. The man-machine interface 200 is connected to the input device 200, and is a proportional operation device 113 in the constant load control device 1100 which is a component of the disturbance compensation control device 1000.
0, a proportional gain used at 0,
Gain and correction load calculating device 123
It is used to set a proportional gain and an integral gain used in the proportional-integral operation device 1231 among 0, and a correction gain used in the correction-gain operation device 1234. In order to change the setting of each of these parameters such as gain from the input device 200, specialized knowledge is required. On the other hand, the man-machine interface 200 easily changes the setting of the parameter using an input unit such as a touch panel. be able to.

Further, the setup calculator 400 is connected to the input device 200, and the advanced rate f stored in the parameter storage device 1214 in the mass flow thickness error estimating device 1210 and the load factor calculating device 1220. The conversion gain and the like stored in the conversion gain storage device 1221 can be set as they are with the parameters obtained by the setup computer 400. For example, in the mass flow thickness error estimating apparatus 1210, the advanced ratio, which is a rolling parameter used for estimating the thickness, changes depending on the rolling schedule, conditions, and the like. Therefore, since the setup calculation is performed in the setup calculation device 400 before rolling, the setup calculation device 400 can automatically write the result to the internal memory of the mass flow thickness error estimation device 1210 via the input device 200. , These parameters can be easily set.

According to the present embodiment, effective disturbance control can be performed even when there are a plurality of disturbances such as a base material fluctuation disturbance such as a base material plate thickness fluctuation disturbance and a non-uniform base material hardness disturbance and a roll eccentricity. And the setting of the parameters used for the control calculation can be easily performed.

[0087]

According to the present invention, in a rolling system having a disturbance compensation control device, there are a plurality of disturbances such as a base material fluctuation disturbance such as a base material thickness fluctuation disturbance and a disturbance in the base material hardness unevenness and a roll eccentricity. Even in this case, effective disturbance control can be performed.

[Brief description of the drawings]

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

FIG. 2 is a block diagram illustrating a schematic configuration of a mass flow thickness error estimating apparatus used in a rolling system according to an embodiment of the present invention.

FIG. 3 is a block diagram illustrating a schematic configuration of a load error calculation device used in a rolling system according to an embodiment of the present invention.

FIG. 4 is a block diagram showing a schematic configuration of a correction load calculating device used in a rolling system according to an embodiment of the present invention.

FIG. 5 is a block diagram showing a schematic configuration of a constant load control device used in the rolling system according to one embodiment of the present invention.

FIG. 6 is a flowchart showing an overall control operation of the disturbance compensation control device of the rolling system according to the embodiment of the present invention.

FIG. 7 is a simulation result diagram illustrating control characteristics of a disturbance compensation control device according to an embodiment of the present invention, as compared with control characteristics of a conventional control method.

FIG. 8 is a block diagram showing an overall configuration of a rolling system according to another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Rolling machine 12 ... Roll gap control device 14 ... Roll roll 22 ... Load measuring device 24, 24A ... Roll speed measuring device 26 ... Thickness gauge 200 ... Input device 300 ... Man-machine interface 400 ... Setup computer 1000 ... Disturbance compensation control Apparatus 1100: Constant load control apparatus 1210: Mass flow thickness error estimating apparatus 1220: Load error calculating apparatus 1230: Corrected load calculating apparatus S: Rolled material

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Tetsu Hattori 5-2-1, Omika-cho, Hitachi City, Ibaraki Prefecture Inside the Omika Plant, Hitachi, Ltd. (72) Inventor Yutaka Saito 5-chome, Omika-cho, Hitachi City, Ibaraki Prefecture No. 1 Inside the Omika Plant of Hitachi, Ltd.

Claims (3)

[Claims] 1. A rolling mill for rolling a rolled material, and a constant load for controlling the load of the rolling mill to a target load and controlling the thickness of the rolled material to be rolled to the target thickness. A rolling system having control means, comprising: a base material variation correcting means for estimating a thickness of an exit side of a rolled material to be rolled by the rolling mill and obtaining a corrected load value based on the estimated thickness The load constant control means corrects the target load value by the corrected load value obtained by the base material variation correction means, and then controls the load of the rolling mill to be the corrected target load. Characterized rolling system. 2. The rolling system according to claim 1, wherein said base material variation correction means estimates a thickness of an exit side of a rolled material rolled by said rolling mill, and estimates an error from a target thickness. A thickness error estimating unit, a load error calculating unit that calculates a load error based on the thickness error estimated by the thickness error estimating unit, and a load error calculated by the load error calculating unit. A rolling load calculating means for calculating a corrected load value. 3. The rolling system according to claim 1, wherein parameters used in said base material variation correction means are set based on a result obtained by a setup calculation by a setup computer.