JPH0431771B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for controlling a metal embossing device in a steel process line in the steel industry.

[Conventional technology]

First, control of a conventional metal embossing device in a steel process line will be explained based on FIG. In the figure, 1 is an entry bridle roll, 2 is an embossing roll, 3 is an exit bridle roll, 4 is an entry bridle motor, 5 is an embossing motor, 6 is an exit bridle motor, 11 is an emboss load setting device, and 12 is a straight line. Accelerator, 13 is speed setting device, 21
is a looper, 22 is a tension reel, 25 is an embossing speed detector, 26 is an exit bridle speed detector, 28 is an embossing motor control unit with drooping characteristics,
29 is an exit bridle motor control unit for speed control; 34 is an entry bridle exit tension setting device; 4
1 is an entry side bridle motor control unit for torque control, 42 is a looper tension setting device, 44 is a tension reel motor, 46 is a tension reel motor control unit for tension control, and 47 is a tension reel tension setting device. It is.

Such a conventional metal embossing device is installed between the bridle rolls 1 and 3, where one side is speed controlled and the other side is torque controlled, so the torque-speed characteristic curve of the metal embossing drive device has drooping characteristics. A control method is adopted in which the speed is controlled by the embossed pattern, and the load setting device 11 is manually adjusted based on information obtained from the operation results depending on the characteristics of the embossed pattern.

Figure 5 shows the control pattern of each control device, where a is the entrance bridle roll, b is the embossed roll,
c shows each control pattern of the exit side bridle roll. That is, the control pattern for the entry side bridle is to control the torque to be constant with respect to the rotational speed as shown in a, and for the emboss to change the torque output by the load setting device as shown in b. Or, as shown in area 2, the load is controlled to match the pattern, and the exit bridle roll is controlled so that the rotational speed is constant relative to the torque, as shown in c. There is.

However, metal embossing can be thought of as a type of mill, and it is important to equalize the tension at the entrance and exit sides of the embossing so that the embossing device supplies only the load necessary for embossing. The condition is that no load disturbance is applied to the The reason for this can be explained as follows.

In the diagram shown in Fig. 6, when the embossing roll 2 is rolled down, the embossing entry side tension is T _e , and the tension conversion value of the load torque required for embossing is
When T _L and the embossing exit side tension are T _d , the output P required for embossing is expressed as P=k(T _e +T _L −T _d ) k: constant. Here, the only tension that changes before and after rolling down the emboss is T _d . If this T _d is made equal to T _e , the emboss will be supplying only its own load (load determined by the pattern), and the tension distribution will not change before and after the emboss is rolled down, so it will not be applied to other sections. Disturbances can also be eliminated.

However, in the case of the above method, the embossing load is manually set (the load setting amount is adjusted to T _L ), so the tensions on the entrance and exit sides of the embossing are not necessarily equal after the embossing is lowered.

That is, in Fig. 6, if the load is set too much on the entrance bridle roll 1 side, T _e > T _d ,
If too much load is set on the exit bridle roll 3 side, T _e > T _d . Therefore, the suitability of this manual load setting method is problematic.

Furthermore, when changing the pattern such as remodeling or changing the plate size, the embossing load T _L changes, so it is not possible to set T _e = T _d unless the load adjustment amount is changed using the manual setting device 11. , it is difficult to respond quickly with manual adjustment.

Next, we will consider speed control with drooping characteristics.
Figure 7 is a block diagram showing the configuration of the speed control system, where ASR is a speed amplifier, ACR is a current amplifier,
N _ref is a speed command, N _T is a load adjustment, N _fb is a detected speed, and T _ref is a torque command.

When the embossing roll is opened and speed control with drooping characteristics is performed, the load-speed characteristics become as shown in FIG. At this time, the gain of ASR is K = 10
It is said that

Therefore, load adjustment is 10% for 100% speed command.
If set as %, the speed will be 110% and 100% when no load is applied.
100% speed under load.

Next, when the emboss is rolled down and the above control is performed, the load-speed characteristic becomes as follows.

(1) When N _T =0 If the load adjustment is N _T =0, the strip speed is maintained at the exit bridle, so
N _ref and N _fb completely match, and the embossing speed deviation ΔN is 0. Therefore, in this case, the embossing motor is not working. However, the load required to perform embossing is
The supply has to come from somewhere, so
In this case, the exit bridle will supply the necessary load for embossing. Therefore, the tension of the exit bridle and the entrance strip will change before and after the embossing is rolled down.

In order to keep the tension of the exit bridle entry strip from changing before and after embossing,
By adjusting the load adjustment N _T well, T _L2 − in Fig. 9b is obtained.
It is necessary to apply a load equivalent to T _L1 to the emboss side. Here, T _L1 is the load torque when the emboss is opened, and T _L2 is the load torque when the emboss is rolled down.

This shows that it is extremely difficult to manually set the embossing load.

(2) When _NT is adjusted and set Next, Figures 9c and d show the case where the load adjustment _NT is adjusted and set.

In this figure, c indicates the speed-load characteristic of the emboss, and d indicates the speed-load characteristic of the exit bridle.If the load % dimension is the same, N _T・K=10N _T =T _L4 (1) T _L4 =T _L2 −T _L3 (2) ∴ The relational expression ∴ N _T = (T _L2 −T _L3 )/10 (3) holds true.

[Problem that the invention seeks to solve]

The present invention eliminates the conventional manual load setting, which requires changing the load setting every time the pattern is changed, making it difficult to respond appropriately and quickly, and also making it difficult to ensure uniformity of the pattern. The purpose is to solve problems.

[Means for solving problems]

In the present invention, the tension on the entrance and exit sides of the embossing roll is made equal, and the embossing device supplies only the load necessary for embossing to perform ideal control and ensure uniformity of the pattern. This will be explained in detail based on an example.

FIG. 1 is a block diagram showing the configuration of a first embodiment of the present invention, and the same components as in FIG. 4 are denoted by the same reference numerals, and their explanation will be omitted. In this embodiment, a tension meter 23 is installed on the exit side of the metal embossing 2, a looper 21 is installed on the entrance side of the entry bridle roll 1, and a tension meter is installed on the exit side of the exit bridle roll 3. The equipment is equipped with a cast reel 22. Normally, before using the metal embossing roll 2, the exit bridle roll 3 is controlled by the control unit 29.
(This control section is composed of a thyristor Leonard device, for example, and is composed of a thyristor main circuit current minor control section and a speed control section.). Tension is controlled by feedback from a side bridle outlet tension setting device 34 and a tension meter 23 with a speed minor control 31. The reason why speed minor control is performed is to increase the damping of the tension control system and improve the response to tension fluctuations. The control section 27 is composed of a portion of the control section 29 excluding the speed control section. In this state, the metal embossing roll is rolled down. When the embossing roll is rolled down, the entry side bridle 1 transfers the current torque command T _M ^e to the hold circuit 3.
Hold at 2 (see Figure 2c). This hold circuit 32 can be composed of R and C and a reed relay in an analog circuit, but if it is composed of software using a microcomputer, it can be constructed using T _M ^e
The value of can be stored in other memory registers.

It is possible to switch from tension control to torque control using software switchers 30A and 30B (in analog circuits, they are composed of first-order delay circuits of R and C). That is, the output of the soft switch 30A becomes 0 and the output of the soft switch 30B becomes 1 due to the embossing reduction command. Since this switching is performed through a first-order delay circuit as shown in FIGS. 2d and 2e, the input to the control section 27 can be kept almost constant even during switching.
That is, the inputs a and b of the addition points in FIG.
As shown in Figures b and c, the output s of the addition point is approximately constant as shown in Figure a.

Furthermore, in the case of torque control, acceleration/deceleration torque compensation is required, so it is necessary to compensate using the output T〓 ^e of the linear accelerator 12. In this way, since this torque command T _M ^e has the same value as the torque command during tension control before rolling down the emboss, the embossing roll entrance tension T _e ′ will be a command that matches the tension setting device 34. I can see that I am getting used to it.

Simultaneously with the above control switching, the tension of the metal embossing roll is controlled by the tension controller 35 based on feedback from the tension setting device 34 and the tension detector 23. The output from the tension control unit 35 is outputted through a soft switch 30C to avoid sudden fluctuations in the embossing roll (see FIGS. 2f and 2g).
The control section 28 has the same configuration as the control section 29, and includes a speed minor control section. thus,
The tension T _e on the exit side of the embossing roll can also be matched with the tension setting device 34, and the tension on the entrance and exit sides of the embossing roll can be made equal. Therefore, if the load on the metal embossing roll is automatically determined by this method, it is possible to ensure the uniformity of the strip pattern.

FIG. 3 shows a control block diagram when a tension meter cannot be installed on the exit side of the metal embossing. In this case, before the metal embossing roll 2 is used, the exit bridle roll 3 is normally as shown in FIG.
The speed of the entry bridle roll 1 is controlled, and the torque of the entry bridle roll 1 is controlled by the control section 41 using a looper tension setting device 42 and an entry bridle exit tension setting device 34 . The control section 41 has the same configuration as the control section 27. The tension of the looper is controlled by a tension setting device 34. In addition, the tension reel 22 is
The tension is controlled by controlling the tension reel drive motor 44 by the control unit 46 based on the tension setting 47 . From this state, the metal embossing roll 2 is rolled down, but when the embossing roll is rolled down, the tension on the exit side of the embossing roll increases.
T _e changes compared to before rolling. This change in tension T _e only appears in the torque of the exit bridle roll drive motor 6 because the input bridle roll is under torque control and the tension reel is under tension control. Therefore, the torque of the exit side bridle roll 3 is detected, and the emboss exit side tension is determined from the bridle roll diameter D and the tension reel tension setting device 47.
T _e is estimated, and the tension controller 35 controls the metal emboss so that this estimated value matches the tension setting device 34.
By controlling the tension using the above, it is possible to make the tension on both the entrance and exit sides of the embossing roll equal to the tension setting device 34. The same control as that performed in the embodiment of FIG. 1 can be performed.

The embossing exit tension T _e is calculated using tension calculator 4.
3, it can be calculated using the following formula.

T _e = (2T _M ) / (η _M D) + T _d (4) Where, T _M : Output bridle torque [Kg・m] η _M : Output bridle efficiency (including mechanical and electrical) D: Output Side bridle roll diameter [m] T _d : Tension reel tension setting [Kg] This control method appropriately applies the load to the strip processing device, maintains uniformity of the strip, and manages the strip tension at a constant level. It can be applied when For example, (1) In a steel process line, determining the load on the pinch roll when the pinch roll is used from open to compressed during line operation.

(2) In stainless steel shear lines, in order to avoid leveler marks, the leveler is lowered after the line is operated, and in this case, the load on the leveler is determined.

Further, in addition to matching the tensions on the input and output sides of the processing device, if a ratio setting device is provided, it is possible to easily set the tensions on the input and output sides to have a certain ratio.

〔Effect of the invention〕

As described above, according to the present invention, with the tension control method using a tension detector, it is possible to appropriately and quickly set the load for metal embossing, and the tension on the entrance and exit sides of the embossing roll is equalized and the tension required for embossing is adjusted. It is possible to perform ideal control in which the embossing device supplies only a certain load, and it is possible to ensure uniformity of the pattern.

Further, when a tension detector is not attached, by automatically estimating the tension, the same control as when using a tension detector can be performed. Therefore, problems in operability and application can be solved, and it is particularly effective when a tension detector cannot be attached because the strip span is too short, or when it is not desired to attach a tension detector due to cost considerations.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the configuration of the first embodiment of the present invention, FIG. 2 is an operating waveform diagram thereof, FIG. 3 is a block diagram showing the configuration of the second embodiment of the present invention, and FIG. 4 is a conventional Fig. 5 is an explanatory diagram showing the control pattern of each control device in the conventional system, Fig. 6 is an explanatory diagram showing the relationship between the tension on the entry side and the exit side of the embossing roll, and Fig. 7 8 is a block diagram showing the configuration of a conventional speed control with drooping characteristics, FIG. 8 is a load-speed characteristic diagram thereof, and FIG. 9 is a load-speed characteristic diagram of the conventional control method. 1... Entry side bridle roll, 2... Metal embossing roll, 3... Exit side bridle roll, 4
... Input side bridle drive motor, 5 ... Metal emboss drive motor, 6 ... Output side bridle drive motor, 12 ... Linear accelerator, 13 ... Speed setting device, 21 ... Looper, 22 ... Tension reel, 23...Tension detector, 24-26...Speed detector, 27...Enter side bridle motor control unit, 2
8...Metal embossed motor control unit, 29...Output side bridle motor control unit, 30A to 30C...
Soft switching device, 31...Speed control unit, 32...Hold circuit, 33...Tension control unit, 34...Tension setting device, 35...Tension control unit, 41...Inlet side bridle motor control unit, 42... …Looper tension setting device, 43…Metal emboss exit side tension calculator, 4
4... Tension reel drive motor, 46... Tension reel motor control unit, 47... Tension reel tension setting device.

Claims (1)

[Claims] 1. A method for controlling a metal embossing device for a steel process line having a metal embossing roll 2 between an inlet bridle roll 1 and an outlet bridle roll 3, comprising: a bridle whose speed is controlled with the metal embossing roll 2; A tension meter 23 is provided to detect the tension between the metal embossing roll 2 and the metal embossing roll 2, and when the metal embossing roll 2 is opened, the tension of one bridle roll 1 is controlled by an electric motor 4, and the speed of the other bridle roll 3 is controlled by an electric motor 6. , when rolling down the metal embossing roll 2, the torque command value T _M ^e of the control device 27 of the bridle roll 1 whose tension was controlled before rolling is held, and the bridle roll 1 is controlled to the held torque command value T _M ^e . Gradually switches to torque control using a torque command within a predetermined time, and adjusts the acceleration/deceleration of the speed setting device 13.
Acceleration/deceleration torque compensation is performed using dv/dt, and at the same time, the deviation between the tension setting value for the bridle roll 1 whose tension was being controlled and the tension detection value of the tension meter is input to the tension control calculation section, and this output is A method for controlling a metal embossing device, characterized in that compensation is added to a speed command value of a control device for an electric motor 5 that drives the metal embossing roll 2 so that the amount gradually reaches the full amount within a predetermined time. 2. A steel process including a metal embossing roll 2 between an input bridle roll 1 and an output bridle roll 3, and machines such as a looper 21 and a reel 22 whose tension is controlled on the outside of the input and output bridle rolls 1 and 3. In a method for controlling a metal embossing machine on a line, the torque of the bridle roll 3 whose speed is controlled, the roll diameter of the bridle roll 3, and the tensioned bridle roll 3 on the side opposite to the metal embossing roll 2 with respect to the roll 3 are determined. A tension calculator 43 is provided for estimating the tension between the bridle roll 3 and the metal embossing roll 2 based on the tension setting value of the machine and the mechanical efficiency of the speed-controlled bridle roll 3. When the rolls are released, one bridle roll 1 is torque-controlled by the electric motor 4, acceleration/deceleration torque compensation is performed using the acceleration/deceleration dv/dt of the speed setting device 13, and the speed of the other bridle roll 3 is controlled by the electric motor 6. , when rolling down the metal embossing roll 2, the output of the tension calculator 43 and the bridle roll 1 and metal embossing roll 2, which are under torque control, are
The deviation from the tension setting value between the two and A metal embossing device control method characterized by adding to a command value.