JPH0224603B2 - - Google Patents

Description

[Detailed description of the invention]

[Technical field of the invention] This invention relates to a hot strip mill, a wire rod mill,
The present invention relates to a control device for a continuous rolling mill that rolls materials such as a steel bar mill. [Technical Background of the Invention] Conventionally, in continuous rolling mills such as hot strip mills, wire rod mills, and steel bar mills, the material tension of a rolled material stretched between rolling stands is controlled by current control of a looper motor. was. In addition, the loop height between rolling stands was controlled by speed control of the roll drive motor. FIG. 1 shows a system diagram of a conventional continuous rolling mill control device. A rolled material stretched between arbitrary rolling stands 1 and 2 of a continuous rolling mill is supported by a looper roll 7, and the rotation angle of a looper shaft 8 directly connected to this looper roll 7 is measured by an angle detector 9. Was. The material tension is given based on the current reference C _REF 18, and the looper shaft drive motor 10 is controlled by the current control device 1.
It was controlled by 2. Note that the current reference 18 is corrected by feeding back the output of the looper motor current detector 11 to the adder 13. Further, since the tension applied to the material varies depending on the angle of the looper shaft 8, the output of the angle detector 9 is applied to the current control device 12 to perform angle compensation. On the other hand, the height of the looper roll 7 is given by the looper height reference θ _REF 17, corrected by the adder 14 based on the feedback signal of the looper angle detector 9, and input to the looper angle control device 15. Control was performed by applying the output of the control device 15 to the speed reference adder 19 of the roll drive motor. That is, the roll speed reference S _REF 16 and the output of the looper angle control device 15 are calculated by an adder 19, and this output is applied to the roll drive motor 3 of the rolling mill stand 1.
The looper height was controlled by applying the same to the speed control device 5. The speed of the roll drive motor 3 is detected by a speed detector 4 and fed back to an adder 6.
and was applied to the speed control device 5. [Problems in the Background Art] However, with such conventional control devices, it was not possible to control the loop height and the pressure independently, so there was mutual interference between the loop height and the tension. However, there is a drawback that variations in the thickness and width of the material occur due to this. [Object of the Invention] The object of the present invention is to provide a continuous rolling mill that can stabilize the material tension and the looper height by controlling the material tension and the looper height independently, and can also control the material tension and the looper height with high precision and high response. Provides control equipment. [Summary of the Invention] In this invention, the speed control device of the roll drive motor remains the same as the conventional one, the looper motor is used as the position control device, and the material tension and the looper height are determined using a material tension detector attached to the looper roll. The above objective was achieved by controlling each device independently. Hereinafter, embodiments of the present invention will be described in detail based on the drawings. [Embodiment of the Invention] FIG. 2 is a system diagram of a control device for a continuous rolling mill according to an embodiment of the invention. For convenience of explanation, a control device is shown for one arbitrary rolling mill stand, but a similar control device is installed for other rolling mill stands. Note that the same parts as shown in FIG. 1 are given the same reference numerals, and the explanation thereof will be omitted. There is a looper between the rolling mill stands 1 and 2, and the looper roll 7
and a material tension detector 40 attached to the looper roll 7. The material tension detector 40 is usually composed of a load meter and an accelerometer, and is designed to measure material tension even during acceleration and deceleration. The looper roll 7 moves up and down as the looper shaft 8 rotates. The looper shaft 8 is connected to a looper drive motor 10.
The rotation angle is detected by an angle detector 9. Looper drive motor 10
The angle detector 9 uses the output of the cross controller 24, which will be described later, as a secondary angle correction signal.
It is controlled via a looper angle control device 20 using a signal calculated by an adder 21 from the output of the looper angle controller 20 . In the conventional control device, the looper axis 8 was used to control the current of the looper drive motor 10, which caused looper fluctuations as the looper angle changed, but with the control system of this embodiment, such load fluctuations are eliminated and extremely reduced. A stable control system can be realized. In this embodiment, the drive system of the looper shaft 8 is configured as a position control system using the looper motor 10, but it is not limited to this, and for example, a position control system using pneumatic pressure, hydraulic pressure, etc. It may be hot. Furthermore, the looper angle control device 20 may be provided with a speed controller, a current controller, a voltage controller, and the like. Now, in this invention, the angle of the looper is controlled, and the material tension is controlled by the speed of the rolling roll drive motor 3. Further, the looper angle and the material tension are configured to be able to be controlled independently so that mutual interference between the looper angle and the material tension is eliminated. This point will be explained in more detail. Looper angle reference θ _REF 17 and looper angle detector 9
The adder 25 adds and subtracts the angular deviation from the output of the main controller 23 to calculate the angular deviation. Further, the tension reference t _REF 22 and the output of the material tension detector 40 are added and subtracted by an adder 26, and the deviation signal thereof is similarly input to the main controller 23. The output of the main controller 23 consists of a first angle correction signal and a first tension correction signal (first speed correction signal), and each is input to the cross controller 24. The output of the cross controller 24 consists of a secondary angle correction signal and a secondary tension correction signal (secondary speed correction signal), which are input to the adder 21 and the adder 19, respectively. Next, details of the main controller 23 and the cross controller 24 will be explained. FIG. 3 is a circuit diagram showing details of the main controller 23 and cross controller 24. The material tension is t, the looper angle is θ _D , the looper angle control amount (hereinafter referred to as the second angle correction signal) is the output of the cross controller 24, Δθ is the rolling roll drive signal, which is also the output signal of the cross controller 24 If the motor speed control amount (hereinafter referred to as the secondary tension correction signal) is ΔV, then t θ _D = R ₁₁ (s) R ₁₂ (s) R ₂₁ (s) R ₂₂ (s) ΔV Δθ …… The relationship (1) holds true. Here R ₁₁ (s), R ₁₂ (s),
R ₂₁ (s) and R ₂₂ (s) are transfer function matrices determined by the looper system. In the cross controller 24, g ₁₁ (s)/g ₂₁ (s) = −R ₁₁ (s)/R ₁₂ (s)...
…(2) g ₂₂ (s) / g ₁₂ (s) = −R ₂₂ (s) / R ₂₁ (s)…
…(3) so that g ₁₁ (s), g ₂₁ (s), g ₁₂ (s), g ₂₂
Determine (s). The main controller 23 is composed of a looper angle main controller 27 and a tension main controller 28, whose outputs are respectively Δθ ^* (hereinafter referred to as the primary angle correction signal) and ΔV ^* (hereinafter referred to as the primary tension correction signal). (referred to as a correction signal), the following equation (4) holds true. ΔV Δθ=g ₂₂ (s) g ₂₁ (s) g ₂₁ (s) g ₁₁ (s) ΔV ^* Δθ ^* ...(4) Therefore, using equations (1) to (4),

〔Effect of the invention〕

As explained above in detail based on the examples,
In this invention, since the looper angle and the material tension are each controlled independently, it is possible to realize a control device for a continuous rolling mill with high precision and high response without mutual interference.

[Brief explanation of drawings]

Fig. 1 is a system diagram of a conventional control device, Fig. 2 is a system diagram showing an embodiment of the present invention, and Fig. 3 is a circuit diagram showing details of a main controller and a cross controller used in this invention. . 1, 2... Rolling mill stand, 5... Speed control device, 7... Looper roll, 9... Looper angle detector, 10... Looper motor, 15... Looper angle control device, 16... Rolling roll speed reference , 17...
... Looper angle reference, 20 ... Looper angle control device, 22 ... Tension reference, 23 ... Main controller, 24 ... Cross controller, 27 ... Looper angle main controller, 28 ... Tension main controller, 40 ... Material Tension detector, t...
...Material tension, θ _D ...Looper angle, ΔV ^* ...Primary tension correction signal, Δθ ^* ...Primary angle correction signal, ΔV
...Speed control amount (secondary tension correction signal), Δθ...
Looper angle control amount (secondary angle correction signal).

Claims (1)

[Claims] 1. A speed control device that controls the rolling speed of a rolled material stretched between rolling mill stands to control material tension, and a speed control device that controls the rotation angle of a looper motor to position the looper angle of the rolled material. A control device for a continuous rolling mill comprising a looper angle control device for controlling a continuous rolling mill, wherein a control device for controlling a continuous rolling mill is configured to control a looper angle based on a deviation between a looper angle reference signal and an output signal from a looper angle detector that detects an actual looper angle of the rolled material. a looper angle main controller that outputs a primary angle correction signal Δθ ^* ; and a primary speed correction based on the deviation between the tension reference signal and the output signal from the material tension detector that detects the actual tension of the rolled material. a speed main controller that outputs a signal ΔV ^* ; a looper angle cross controller that applies a secondary angle correction signal Δθ to the looper angle control device; and a speed cross controller that applies a secondary speed correction signal ΔV to the speed control device. , and the looper angle cross controller cancels the looper angle fluctuation that is expected when the first angle correction signal Δθ ^* and the rolling speed are corrected by the first speed correction signal ΔV. The speed cross controller calculates the second angle correction signal Δθ based on the necessary looper angle correction command component, and the speed cross controller calculates the second angle correction signal Δθ based on the first speed correction signal ΔV ^* and the looper angle. 1
The second speed correction signal ΔV is calculated based on the rolling speed correction command component necessary to cancel the expected material tension fluctuation when the second angle correction signal Δθ ^* is corrected. A control device for a continuous rolling mill characterized by: