JPH0310406B2 - - Google Patents
Info
- Publication number
- JPH0310406B2 JPH0310406B2 JP56063436A JP6343681A JPH0310406B2 JP H0310406 B2 JPH0310406 B2 JP H0310406B2 JP 56063436 A JP56063436 A JP 56063436A JP 6343681 A JP6343681 A JP 6343681A JP H0310406 B2 JPH0310406 B2 JP H0310406B2
- Authority
- JP
- Japan
- Prior art keywords
- looper
- rolling mill
- speed
- control device
- rolled
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000005096 rolling process Methods 0.000 claims description 43
- 238000010586 diagram Methods 0.000 description 9
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/48—Tension control; Compression control
- B21B37/50—Tension control; Compression control by looper control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H23/00—Registering, tensioning, smoothing or guiding webs
- B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
- B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
- B65H23/188—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web
- B65H23/1888—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web and controlling web tension
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Metal Rolling (AREA)
- Control Of Direct Current Motors (AREA)
Description
【発明の詳細な説明】
本発明は熱間帯鋼連続圧延機における圧延スタ
ンド間の電動ルーパー装置によるスタンド間張力
の制御装置およびスタンド間ループ量制御装置の
制御性能の向上に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to improving the control performance of an inter-stand tension control device and an inter-stand loop amount control device using an electric looper device between rolling stands in a hot strip continuous rolling mill.
従来、熱間帯鋼連続圧延機においては、各スタ
ンド間に電動ルーパー装置が設置され、圧延機速
度を介したループ量制御系によりスタンド間ルー
プ量を一定に保つ一方、電動ルーパー電流制御系
によりスタンド間張力を一定に保つように制御さ
れていた。 Conventionally, in a continuous hot strip rolling mill, an electric looper device is installed between each stand, and a loop amount control system via the rolling mill speed keeps the loop amount between stands constant, while an electric looper current control system keeps the loop amount constant. The tension between the stands was controlled to remain constant.
しかしながら、ルーパーの慣性能率が大きい
と、ルーパーはループ量制御系に追従できずに、
張力変動を発生すると同時に、ループ量制御系に
対して振動を与えていた。 However, if the inertia rate of the looper is large, the looper will not be able to follow the loop amount control system.
At the same time as generating tension fluctuations, vibrations were being applied to the loop amount control system.
第１図は、従来のループ量制御系と電流制御系
をもつ熱間帯鋼連続圧延機と電動ルーパの構成を
示す略線図である。 FIG. 1 is a schematic diagram showing the configuration of a conventional hot strip continuous rolling mill having a loop amount control system and a current control system, and an electric looper.
図面について、同一符号は同一部分あるいは相
当部分を表わす。 In the drawings, the same reference numerals represent the same or corresponding parts.
第１図において、１ａは入側圧延機、１ｂは出
側圧延機、２は入側圧延機駆動用電動機、３は被
圧延材、４はルーパーロール、５はルーパーアー
ム、６はルーパー電動機、７はルーパー角度検出
器、７ａはルーパー角度検出器、８はルーパー駆
動用の電源をもつ電流制御装置、９はループ量制
御装置、１０は圧延機駆動用の電源をもつ速度制
御装置、１２はゲインKnを乗ずる掛算器である。 In FIG. 1, 1a is an inlet rolling mill, 1b is an outlet rolling mill, 2 is an electric motor for driving the inlet rolling mill, 3 is a material to be rolled, 4 is a looper roll, 5 is a looper arm, 6 is a looper motor, 7 is a looper angle detector, 7a is a looper angle detector, 8 is a current control device with a power source for driving the looper, 9 is a loop amount control device, 10 is a speed control device with a power source for driving the rolling mill, 12 is a This is a multiplier that multiplies the gain Kn.
第２図は、こうした第１図の従来装置における
制御系を示すブロツク図である。 FIG. 2 is a block diagram showing a control system in the conventional apparatus shown in FIG.
第２図において、Ｖは入側圧延機速度基準信
号、Vnは入側圧延機出側圧延材速度、Vn＋１は
出側圧延機入側圧延材速度、Ｓはラプラス演算
子、Ssは圧延機間速度差によるループ量、Slはル
ーパによるループ量、Ｅは被圧延材のヤング率、
Ｌはスタンド間にあるループ量、Tuユニツト張
力、Kλはユニツト張力から被圧延材速度への変
換係数、Ａは被圧延材の断面積、Ｔは張力、f(〓)
は張力からルーパーに作用するトルクへの変換係
数、Tsは張力によりルーパーに与えられるトル
ク、Tlはルーパーに電流制御系からルーパーに
与えられるトルク、Ｊはルーパーの慣性能率、Ｎ
はルーパー角速度、Θはルーパー角度、k(〓)はル
ーパーの角度からルーパーによるループ量への変
換係数、Imはルーパー電動機電流基準、KNはル
ーパー角速度から電流制御系に負帰還させること
により安定化をはかる回路の利得である。 In Fig. 2, V is the input rolling mill speed reference signal, Vn is the rolling material speed at the exit side of the input rolling mill, Vn+1 is the rolled material speed at the entrance side of the exit rolling mill, S is the Laplace operator, and Ss is the rolling mill distance. Loop amount due to speed difference, Sl is loop amount due to looper, E is Young's modulus of rolled material,
L is the amount of loop between the stands, Tu unit tension, Kλ is the conversion coefficient from unit tension to rolled material speed, A is the cross-sectional area of rolled material, T is tension, f ( 〓 )
is the conversion coefficient from tension to torque acting on the looper, Ts is the torque given to the looper by tension, Tl is the torque given to the looper from the current control system, J is the inertia factor of the looper, N
is the looper angular velocity, Θ is the looper angle, k ( 〓 ) is the conversion coefficient from the looper angle to the loop amount by the looper, Im is the looper motor current reference, and K N is stabilized by negative feedback from the looper angular velocity to the current control system. This is the gain of the circuit that aims to increase the
以下、第１図、第２図を参照して、従来装置の
説明をする。 The conventional device will be explained below with reference to FIGS. 1 and 2.
すなわち、圧延機間ループ量は入側圧延機１ａ
から出てくる圧延材速度Vnと出側圧延機１ｂに
かみ込まれてゆく圧延材の速度Vn＋１との速度
差により単位時毎に増減する。 In other words, the loop amount between rolling mills is
The speed increases or decreases per unit time due to the speed difference between the speed Vn of the rolled material coming out of the rolling mill 1b and the speed Vn+1 of the rolled material biting into the exit rolling mill 1b.
よつて、ループ量制御部においては、ルーパー
角度θからループ量を検出して、これを基準ルー
プと比較し、その偏差により入側圧延機１ａの速
度Vnを修正すること、あるいは出側圧延機１ｂ
の速度Vn＋１を修正することにより、スタンド
間ループ量を制御する。 Therefore, the loop amount control section detects the loop amount from the looper angle θ, compares it with the reference loop, and corrects the speed Vn of the entry side rolling mill 1a or the exit side rolling mill 1a based on the deviation. 1b
The inter-stand loop amount is controlled by modifying the speed Vn+1.
また、ルーパーはループ量の変動があると、張
力が変動し、その結果ルーパー角速度Ｎ、ルーパ
ー角度Θが単位時間毎に増減する。 Further, when the loop amount changes, the tension of the looper changes, and as a result, the looper angular velocity N and the looper angle Θ increase or decrease every unit time.
以上の各制御要素の関係を示せば、下式のとお
りである。 The relationship between the above control elements is as shown in the following equation.
Tu＝Ｅ／Ｌ・１／Ｓ＋Ｅ・Kλ／Ｌ〔Ｓ
・Sl−（Vn−Vn＋１〕……(1)
Ｔ＝Ａ・Tu ……(2)
Ts＝f(〓)・Ｔ ……(3)
Θ＝１／JS2（Tl−TS） ……(4)
Sl＝K(〓)・Θ ……(5)
Tl＝Ｎ・KN・GC ……(6)
ここでGCは電流制御系の利得である。 Tu=E/L・1/S+E・Kλ/L[S
・S l −(Vn−Vn+1)……(1) T=A・Tu……(2) Ts=f ( 〓 )・T……(3) Θ=1/JS 2 (T l −T S ) ...(4) S l =K ( 〓 )・Θ ...(5) T l =N・K N・G C ...(6) Here, G C is the gain of the current control system.
次に、上記(1)〜(6)式により圧延材速度差からル
ーパー角度への伝達関数を求めると、(7)式で与え
られる。ΔΘはルーパー角度Θの微少変化量、Δ
（Vn−Vn＋１）は入側圧延機１ａから出て圧延
材速度Vnと出側圧延機１ｂにかみ込まれてゆく
圧延材の速度Vn＋１との速度差（Vn−Vn＋１）
の微少変化量とすると、
ΔΘ／Δ（Vn−Vn＋１）＝f(〓)・Ｅ・Ａ／Ｓ
１／LJS2＋（Ｌ・KN・GC＋Ｅ・Kλ・Ｊ）Ｓ＋（KN・G
C・Ｅ・Kλ＋Ａ・ｆ・Ｅ・K(〓)）……(7)
この(7)式がルーパーの振動系を表わす伝達関数
で、この二次系の自然角周波数ωnおよび減衰定
数ζは(8)式、(9)式で与えられる。 Next, when the transfer function from the rolling material speed difference to the looper angle is determined using the above equations (1) to (6), it is given by equation (7). ΔΘ is the minute change in the looper angle Θ, Δ
(Vn-Vn+1) is the speed difference (Vn-Vn+1) between the speed Vn of the rolled material coming out of the inlet rolling mill 1a and the speed Vn+1 of the rolled material being bitten by the outlet rolling mill 1b.
If the amount of slight change is ΔΘ/Δ(Vn−Vn+1)=f ( 〓 )・E・A/S 1/LJS 2 +(L・K N・G C +E・Kλ・J)S+(K N・G
C・E・Kλ+A・f・E・K ( 〓 ) )……(7) This equation (7) is the transfer function representing the looper vibration system, and the natural angular frequency ωn and damping constant ζ of this quadratic system are It is given by equations (8) and (9).
ζ＝１／2ωn（Ｌ・KN・GC＋Ｅ・Kλ・Ｊ）／LJ）
……(9)
この(8)式(9)式のωnおよびζはルーパーの構造、
被圧延材の性質、安定化回路などにより定まる
が、ωn、ζの値いかんによつてはループ量制御
系に影響を与え、ループ量制御系の応答が上げら
れないことになる。 ζ=1/2ωn (L・K N・G C +E・Kλ・J)/LJ) ...(9) ωn and ζ in equations (8) and (9) are the structure of the looper,
Although it is determined by the properties of the material to be rolled, the stabilizing circuit, etc., the values of ωn and ζ will affect the loop quantity control system, and the response of the loop quantity control system will not be improved.
本発明の目的は、かゝる機械振動があつても、
ルーパー電動機の速度の微分信号をある利得で、
圧延機速度制御系に帰還することにより、あたか
も張力偏差を圧延機速度制御系に帰還したと同等
の効果をもたらすことにより、速応性を有するル
ープ量制御系を実現し、張力変動を生じない安定
した電動ルーパー制御装置を提供するにある。 The purpose of the present invention is to
The differential signal of the speed of the looper motor with a certain gain,
By feeding back the tension deviation to the rolling mill speed control system, it produces the same effect as if the tension deviation were fed back to the rolling mill speed control system, thereby realizing a loop amount control system with quick response and stabilizing the tension without fluctuations. To provide an electric looper control device.
第３図は本発明の一実施例の略線図、第４図は
その本発明に必要な回路を追加した制御系の関係
を示すブロツク図である。１１はルーパー角速度
信号Ｎの微分回路、KJは利得、IJは微分回路１１
の出力である。 FIG. 3 is a schematic diagram of one embodiment of the present invention, and FIG. 4 is a block diagram showing the relationship of a control system to which circuits necessary for the present invention are added. 11 is a differentiating circuit for the looper angular velocity signal N, K J is the gain, and I J is the differentiating circuit 11
This is the output of
すなわち、本発明はルーパー電動機速度（ルー
パー角速度）の微分信号をある利得で圧延機速度
制御系に帰還するようにしてあるから、ルーパー
の電流制御系からルーパーに与えられるトルク
Tlと張力によりルーパーに与えられるトルクTs
との間に偏差があると、ルーパー角速度信号の微
分回路の出力Ijは
Ij＝Ｓ・Kj・１／JS（Tl−Ts）＝
Kj（Tl−Ts）／Ｊ……(10)
となり。圧延機速度制御系が応答し、入側圧延材
速度Vnが変化する。これにより圧延機間ループ
量は単位時毎に増減し、これに応じて張力が変化
し、ルーパーの電流制御系からルーパーに与えら
れるトルクTlと張力によりルーパーに与えられ
るトルクTsとの間の偏差を減少させることがで
きる。 That is, in the present invention, the differential signal of the looper motor speed (looper angular velocity) is fed back to the rolling mill speed control system with a certain gain, so that the torque applied to the looper from the looper current control system is
Torque Ts given to the looper by Tl and tension
If there is a deviation between the two, the output I j of the differentiator circuit of the looper angular velocity signal is I j = S K j
K j (Tl−Ts)/J……(10). The rolling mill speed control system responds, and the input rolling material speed Vn changes. As a result, the loop amount between the rolling mills increases or decreases per unit time, and the tension changes accordingly, and the deviation between the torque Tl applied to the looper from the looper's current control system and the torque Ts applied to the looper due to the tension. can be reduced.
つまり本発明によれば、あたかもスタンド間張
力制御装置を具備したと同等の効果が得られる。 In other words, according to the present invention, the same effect as if an inter-stand tension control device was provided can be obtained.
以上の各制御要素の関係を示せば前記(2)〜(6)式
及び前記(1)式に対応する下記（11）式で示され
る。 The relationship between the above control elements is expressed by the following equation (11), which corresponds to the equations (2) to (6) and the equation (1).
Tu＝Ｅ／Ｌ・１／Ｓ＋Ｅ・Kλ／Ｌ〔Ｓ・Sl−（Vn
−Vn＋１）＋Ga・Tl−Ts／Ｊ・Kj〕……（11）
ここでGsは入側圧延機駆動用の電源をもつ速
度制御装置の速度基準信号から入側圧延機出側圧
延材速度への変換係数である。 Tu=E/L・1/S+E・Kλ/L [S・Sl−(Vn
−Vn+1)+Ga・Tl−Ts/J・K j 〕……(11) Here, Gs is the speed of the rolled material at the exit side of the input side rolling mill based on the speed reference signal of the speed control device with the power supply for driving the input side rolling mill. is the conversion coefficient.
本発明による回路を追加した後の二次系の自然
角周波数ωo′および減衰定数ζ′は（11）式、（12）
式で与えられる。 The natural angular frequency ω o ′ and damping constant ζ′ of the secondary system after adding the circuit according to the present invention are expressed by equations (11) and (12).
It is given by Eq.
ζ′＝１／2ωo′・Ｌ・Ko・GC＋Ｅ・K〓
・Ｊ＋f(〓)・Ｅ・Ａ・Kj・GS／LJ……（12）
かくして、(8)・(9)式と（11）・（12）式から明ら
かなように、本発明によれば、二次系の減衰定数
をζ→ζ′へ大きくすることができるので、振動系
はループ量制御系に影響を与えることがなくな
り、ループ量は制御系の高速応性を得ることが可
能となる。尚本発明において、ルーパ電動機速度
の微分信号のかわりにルーパ電動機逆起電圧の微
分信号を使用しても同等の効果を得られることは
明白である。 ζ′=1/2ω o ′・L・K o・G C +E・K〓
・J+f ( 〓 )・E・A・K j・G S /LJ……(12) Thus, as is clear from equations (8) and (9) and equations (11) and (12), the present invention According to becomes. In the present invention, it is clear that the same effect can be obtained by using a differential signal of the looper motor back electromotive force instead of a differential signal of the looper motor speed.
第１図は従来の電動ルーパーの概要構成を表わ
す略線図、第２図はその従来の制御系のブロツク
図、第３図は本発明の一実施例の略線図、第４図
はその制御系のブロツク図である。
１ａ……入側圧延機、１ｂ……出側圧延機、２
……入側圧延機駆動用電動機、３……被圧延材、
４……ルーパーロール、５……ルーパーアーム、
６……ルーパー駆動用電動機、７……ルーパー角
度検出器、７ａ……ルーパー角速度検出器、８…
…電流制御装置、９……ループ量制御装置、１０
……速度制御装置、１１……ルーパー角速度信号
の微分回路、１２……利得KNの掛算器。
Fig. 1 is a schematic diagram showing the general configuration of a conventional electric looper, Fig. 2 is a block diagram of its conventional control system, Fig. 3 is a schematic diagram of an embodiment of the present invention, and Fig. 4 is its schematic diagram. FIG. 3 is a block diagram of the control system. 1a... Entry side rolling mill, 1b... Output side rolling mill, 2
...Electric motor for driving the entry side rolling mill, 3... Material to be rolled,
4...Looper roll, 5...Looper arm,
6... Looper drive electric motor, 7... Looper angle detector, 7a... Looper angular velocity detector, 8...
...Current control device, 9...Loop amount control device, 10
... Speed control device, 11 ... Looper angular velocity signal differentiation circuit, 12 ... Multiplier with gain K N.
Claims (1)
される電動機により駆動される入側圧延機と、入
側圧延機で圧延された被圧延材を下流に送出する
出側圧延機と、この出側圧延機と前記入側圧延機
との間に設けられ前記被圧延材に所定の張力を供
給するルーパーと、このルーパーを駆動しルーパ
ー角度を変化させるルーパー駆動電動機と、この
ルーパー駆動電動機へ与える電流を制御する電流
制御装置と、前記ルーパーの角度を検出するルー
パー角度検出器と、このルーパー角度検出器から
検出されたルーパー角度から前記被圧延材のルー
パー量を導出して前記速度制御装置に速度修正を
行なわせるループ量制御装置と、前記ルーパーの
角速度を検出するルーパー角速度検出器とを具備
し、前記ルーパーの電動機速度又は電動機逆起電
圧の微分信号をある利得で前記入側圧延機の速度
制御装置と前記入側圧延機を駆動する電動機とか
らなる圧延機速度系に帰還させることを特徴とす
る電動ルーパーの制御装置。1. An entry rolling mill driven by an electric motor controlled via a speed control device according to a speed command, an exit rolling mill that sends the rolled material downstream from the entry rolling mill, and an exit rolling mill that sends the rolled material downstream from the entry rolling mill. A looper provided between the side rolling mill and the input side rolling mill and supplying a predetermined tension to the material to be rolled; a looper drive motor that drives the looper and changes the looper angle; and a looper drive motor that supplies tension to the looper drive motor. a current control device that controls current; a looper angle detector that detects the angle of the looper; and a looper amount of the material to be rolled is derived from the looper angle detected by the looper angle detector, and the looper amount is sent to the speed control device. It is equipped with a loop amount control device for speed correction and a looper angular velocity detector for detecting the angular velocity of the looper, and a differential signal of the motor speed of the looper or the motor back electromotive force is applied to the input side rolling mill with a certain gain. A control device for an electric looper, characterized in that the control device returns to a rolling mill speed system consisting of a speed control device and an electric motor that drives the entry side rolling mill.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56063436A JPS57180383A (en) | 1981-04-28 | 1981-04-28 | Controller for motor driven looper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56063436A JPS57180383A (en) | 1981-04-28 | 1981-04-28 | Controller for motor driven looper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS57180383A JPS57180383A (en) | 1982-11-06 |
| JPH0310406B2 true JPH0310406B2 (en) | 1991-02-13 |
Family
ID=13229216
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56063436A Granted JPS57180383A (en) | 1981-04-28 | 1981-04-28 | Controller for motor driven looper |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS57180383A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5930411A (en) * | 1982-08-13 | 1984-02-18 | Nippon Steel Corp | Controlling equipment of looper position |
| JPH08150408A (en) * | 1994-11-25 | 1996-06-11 | Toshiba Corp | Looper control device |
-
1981
- 1981-04-28 JP JP56063436A patent/JPS57180383A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS57180383A (en) | 1982-11-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPH0255123B2 (en) | ||
| JPH0223243B2 (en) | ||
| JPH0510167B2 (en) | ||
| JPH0310406B2 (en) | ||
| KR20150142589A (en) | Control system for rolling equipment | |
| JPH04187315A (en) | Method for controlling strip thickness and tension between stands of continuous rolling mill | |
| JPS6217476B2 (en) | ||
| JPS6343164B2 (en) | ||
| JPH0661571B2 (en) | Looper controller for hot continuous rolling mill | |
| JPH07308706A (en) | Speed control method for tandem rolling mill | |
| JPS637846B2 (en) | ||
| JP3345311B2 (en) | Speed control device of electric motor for rolling mill drive | |
| JPS636288B2 (en) | ||
| JPS58110620A (en) | Controlling method for tension on strip in continuous annealing furnace | |
| JP2672704B2 (en) | Tension control device for H-shaped steel rolling equipment | |
| JP2721409B2 (en) | Motor control device for driving strip conveyor rolls in process line | |
| JPS5945017A (en) | Controller for looper | |
| JPS6211875Y2 (en) | ||
| US2467735A (en) | Motor control system | |
| JPH0472608B2 (en) | ||
| JPS6340256Y2 (en) | ||
| JP2664839B2 (en) | Looper control device | |
| JPH05138251A (en) | Elongation rate control method | |
| SU524580A1 (en) | Device for adjusting the thickness of the strip | |
| JPH079610B2 (en) | Tension control device for long materials |