EP3795267B1 - Method for operating a rolling mill - Google Patents
Method for operating a rolling mill Download PDFInfo
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- EP3795267B1 EP3795267B1 EP20196043.2A EP20196043A EP3795267B1 EP 3795267 B1 EP3795267 B1 EP 3795267B1 EP 20196043 A EP20196043 A EP 20196043A EP 3795267 B1 EP3795267 B1 EP 3795267B1
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- 238000000034 method Methods 0.000 title claims description 36
- 238000005096 rolling process Methods 0.000 title claims description 24
- 238000012937 correction Methods 0.000 claims description 56
- 230000008859 change Effects 0.000 claims description 27
- 238000005452 bending Methods 0.000 claims description 24
- 238000010438 heat treatment Methods 0.000 claims description 18
- 238000001816 cooling Methods 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 14
- 239000002184 metal Substances 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 9
- 230000006735 deficit Effects 0.000 claims description 6
- 230000004913 activation Effects 0.000 claims description 4
- 239000002826 coolant Substances 0.000 claims description 4
- 230000001939 inductive effect Effects 0.000 claims description 4
- 238000005097 cold rolling Methods 0.000 claims description 2
- 238000005098 hot rolling Methods 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims 45
- 238000012806 monitoring device Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 6
- 230000003449 preventive effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000002829 reductive effect Effects 0.000 description 2
- 238000013000 roll bending Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000013072 incoming material Substances 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002655 kraft paper Substances 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
Images
Classifications
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- 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
-
- 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
- B21B37/28—Control of flatness or profile during rolling of strip, sheets or plates
- B21B37/30—Control of flatness or profile during rolling of strip, sheets or plates using roll camber control
- B21B37/32—Control of flatness or profile during rolling of strip, sheets or plates using roll camber control by cooling, heating or lubricating the rolls
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- 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
- B21B37/28—Control of flatness or profile during rolling of strip, sheets or plates
- B21B37/38—Control of flatness or profile during rolling of strip, sheets or plates using roll bending
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- 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
- B21B37/28—Control of flatness or profile during rolling of strip, sheets or plates
- B21B37/40—Control of flatness or profile during rolling of strip, sheets or plates using axial shifting of the rolls
-
- 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
- B21B37/58—Roll-force control; Roll-gap control
Definitions
- the invention relates to a method for operating a roll stand with a pair of work rolls which create a roll gap for rolling a metal strip.
- Such roll stands are generally known in the prior art, e.g. B. from the Chinese patent CN 102581035B .
- Each of the k'th control loops has a k'th actuator for controlling a k'th controlled variable.
- the target value for the first controlled variable in the prior art is variable over time or has a variable over time portion to compensate for changes in process variables during a rolling process. Due to the temporal variability of the setpoint, the actuator of the first control loop can reach its performance limit; please refer Figure 5a : "without correction". This can result in a shortfall in travel in the first actuator.
- the invention is based on the object of further developing a known method for operating a roll stand with a first and at least one further control circuit such that the occurrence of a (such) power deficit in the actuator of the first control circuit is prevented.
- the monitoring of the time profile of the setpoint of the first controlled variable as claimed there with regard to the threshold values Min, Max, which lie within the performance limits of the first actuator, advantageously enables a preventive initiation of a countermeasure before the master actuator due to a specified setpoint that is too large reaches its performance limit for the first controlled variable.
- the countermeasure provides that as soon as the Min or Max threshold value is reached, i.e. before the lower or upper power limit of the master actuator is reached, the setpoint for the first controlled variable is increased or decreased by a correction component determined according to the invention.
- the corrected setpoint calculated in this way for the first control variable is usually smaller than the previously provided setpoint and is specified for the first control circuit instead of the previously provided setpoint.
- the correction components for the master setpoint value SM are dimensioned preventively in such a way that the master actuator is not even driven to its upper or lower performance limit.
- the stability of a rolling installation can be increased in that actuators are specifically moved to operating points that are favorable for the rolling process by linking the master-slave control circuits according to the invention.
- These working points can offer advantages in terms of process technology, such as targeted control of the actuators in tried and/or pre-calculated working areas.
- actuators with high dynamic properties are strategically kept in work areas in where they can react quickly to any process changes that may occur, such as damage to the incoming material.
- the assignment of the link between master and slave actuators offers additional flexibility.
- the assignment of the actuators can be different for different process situations and/or system types. For example, a different actuator can be defined as the master actuator for a bandwidth r than for a bandwidth j.
- the assignment and priorities of the slave actuators can also be changed in real time using the factor ak for optimal adaptation to current process conditions.
- the method according to the invention can be used both for hot rolling and for cold rolling of metal strip.
- Both the master control circuit and all slave control circuits are operated continuously or iteratively over time. i.e. there is a continuous or ongoing regulation of the controlled variable to its specified setpoints.
- setpoint used in part of the description and in the claims is representative of a setpoint signal that changes over time. Due to the time-discrete consideration customary in digital technology, the term “setpoint” is also used in the description; however, this target value is by no means absolutely necessary to be regarded as constant over time.
- figure 1 shows a first or master control circuit 130 for controlling a first controlled variable in a roll stand 100 to a predetermined master setpoint value SM setpoint n* .
- this setpoint is compared with an actual value of the controlled variable SM actual n .
- a comparison device 134 typically a difference generator.
- the result of this comparison is input as a system deviation into a master controller 133, which generates an actuator for a master actuator 132 at its output.
- the master actuator influences the controlled system 131 of the first or master control circuit 130.
- the controlled system consists here, for example, of a roll stand 100 for rolling metal strip 120 with the help of work rolls 110.
- the roll stand 100 When the roll stand 100 is designed in four-high design, the Work rolls 110 each associated with back-up rolls. If the roll stand is designed in a six-high design, the roll stand also has intermediate rolls in addition to the work and back-up rolls (in figure 1 Not shown). According to the figure 1 In the control circuit 130 shown, the controlled variable at the output of the controlled system 131 is detected using a detection device 136, typically a measuring element. The controlled variable recorded is the said actual value of the controlled variable, which is switched at the output of the recording device 136 to the input of the master comparator device 134 .
- a detection device 136 typically a measuring element.
- the controlled variable recorded is the said actual value of the controlled variable, which is switched at the output of the recording device 136 to the input of the master comparator device 134 .
- figure 2 shows the structure of said master setpoint correction device 135 in detail.
- this correction device the sum of the previous master setpoint value SM setpoint n and the previously calculated correction components y1_n-1 and y2_n-1 is monitored in a threshold value monitoring device 135-1 to determine whether it exceeds a specified upper threshold value Max or a specified one falls below the lower threshold Min.
- the result is provided at the output of the monitoring device 135-1, here by way of example in the form of the output signals x 1 , x 2 , which are binary-coded, for example.
- the signals x 1 and x 2 are actually enable signals for enabling a calculation unit 135-2 for a correction component y1 for the master setpoint or to enable a calculation unit 135-3 for an alternative correction component y2 for the master setpoint value SM setpoint n .
- n 1 . . . N representing discrete points in time. These points in time are specified by the control clock cycles, ie the runs of the control loop.
- the correction components y1 and y2 calculated in this way are as follows figure 2 into a calculation unit 135-4 for calculating the corrected setpoint value SM setpoint n* .
- the calculation unit is typically an addition device which adds the correction components y1 and y2 to the previous master setpoint SM setpoint n in order to calculate the said corrected setpoint signal in this way.
- the correction component y1 is typically negative and the correction component y2 is typically positive.
- the sign must be selected in such a way that the setpoint SM setpoint n+1 is shifted into the tolerance range.
- the corrected setpoint value SM setpoint n* is typically smaller than the previous master setpoint value SM setpoint n .
- the calculation units 135-2 and 135-3 for the correction components y1 and y2 are individually blocked; this is done with the in figure 2 indicated disable signals DIS y2 and DIS y1 .
- at least one further slave control circuit 140-k is assigned to the roll stand 100 in addition to the master control circuit 130.
- figure 3 illustrates the structure of such a slave control loop 140-k in detail. It is constructed analogously for all slaves k.
- the slave control circuit 140-k is used to control a slave control variable SL k actual n to a corrected desired value SL k desired n* .
- the actual value of the controlled variable is detected with the aid of a detection device 146-k and compared with the corrected setpoint value SL k setpoint n* in a slave comparator 144-k.
- the result is supplied in the form of a control deviation to the k'th controller 143-k, which provides a control signal for a k'th slave actuator 142-k at its output.
- the slave actuator 142-k influences a k'th controlled system 141-k.
- This slave controlled system 141 - k is typically the same roll stand 100 that also represents the master controlled system 131 of the first control loop 130 .
- figure 4 shows the structure of a k'th setpoint correction device 145-k in detail.
- a performance deficit ⁇ p k of the k'th actuator is also determined.
- the detected travel error is distributed to the remaining slave actuators by appropriately changing the respective coefficients ak of the remaining slave actuators.
- the power deficits ⁇ p k determined in the k-slave setpoint correction devices 145-k are sent to a likewise in figure 4 shown power distribution calculation device 150 entered, so that on the basis of said input signals the coefficients a k for the individual slave setpoint correction devices 145-k updated and also provides the lock or disable signals DIS y1 and DIS y2 for the calculation units 135-2 and 135-3 for the correction components y1 and y2.
- At least one of the correction components of the first controlled variable is kept constant; this is done by the said disable signals DIS y1 and DIS y2 calculated by the power distribution calculator 150 as above with reference to FIG figure 4 described.
- the inventive method is described below with reference to the Figures 5a, 5b and 5c described in more detail:
- the upper and lower physical power limits of the master actuator 132 are entered. They correspond to an upper and/or a lower, positive and/or negative operating limit of the master actuator 132.
- the invention provides that these performance limits are exceeded when the master actuator is actuated with the associated control signal S generated by the master controller 133 x should never be reached, even if the master setpoint or its change over time is very large.
- the setpoint value SM setpoint n is monitored according to the invention with regard to reaching low-threshold limit values Max, Min with the aid of the monitoring device 135-1.
- limit values are lower-threshold insofar as they lie within the upper and lower power limits of the master actuator. By monitoring these low-threshold limit values, it is possible to take preventive action before the upper or lower power limit is reached, in that, according to the invention, said correction components y1 and y2 are calculated for the master setpoint. From a synopsis of Figures 5a and 5b it can be seen that the master setpoint SM setpoint is reached when the upper limit value Max is reached at the time n is reduced by adjusting the amount of correction component y1. This results in the corrected master setpoint at time n1.
- the corrected master setpoint SM setpoint n1* reduced in this way is further away from the upper power limit and is also lower and more stable within a tolerance range T spanned by the upper and lower limit values Max, Min. But also this corrected master setpoint at the time n1 is also monitored in the monitoring device 135-1 with regard to whether the upper or lower limit value has been reached. If this is determined at point in time n2, then a new correction takes place, specifically a new reduction in its value by a then newly calculated correction component y1. This correction results in a new, corrected master setpoint value SM setpoint n2* at time n2.
- the process of the master actuator takes place through the opposite activation of at least one slave actuator with only minor flatness disturbances or even flatness-neutral.
- the master actuator 132 is preferably set to be the bender.
- any flatness defects that occur due to fluctuations in the rolling force are compensated for by a Profile-Gauge Meter PGM.
- the functionality of the PGM includes the pre-control of rolling force changes on bends in order to keep the roll gap profile and/or the roll gap contour between the work rolls 110 of the roll stand 100 as constant as possible in the event of a fluctuation in the rolling force.
- the quality of the difference quotient dQM required for the PGM pre-control depends heavily on the current operating point.
- the PGM must always have a bending reserve in the event of a sudden change in force, e.g. B. to be able to react quickly to overpickled spots on steel strips.
- the bending reserve corresponds to in Figure 5a the distance between the upper power limit and the upper limit value Max or the distance between the lower power limit and the lower limit value Min.
- the work roll bending is used for the PGM pre-control and is accordingly defined as a master controlled variable with corresponding master setpoint specifications.
- the associated master actuator 132 can reach its physical limits, ie its upper or lower performance limit.
- an allowed error e.g. B. 4th order
- monitor and within its limits a replacement of the work roll bending by z. B. allow at least partial axial displacement for the work rolls.
- the movement of the master actuator occurs through the opposite activation of at least one slave actuator with only minor flatness disturbances or even flatness-neutral.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Metal Rolling (AREA)
Description
Die Erfindung betrifft ein Verfahren zum Betreiben eines Walzgerüstes mit einem Paar Arbeitswalzen, welche einen Walzspalt aufspannen zum Walzen eines Metallbandes.The invention relates to a method for operating a roll stand with a pair of work rolls which create a roll gap for rolling a metal strip.
Derartige Walzgerüste sind im Stand der Technik grundsätzlich bekannt, so z. B. aus der chinesischen Patentschrift
Dieser Stellweg-Fehlbetrag kann im Stand der Technik durch die bekannten weiteren Regelkreise des Walzgerüstes nicht hinreichend kompensiert werden.In the prior art, this shortcoming in the amount of travel cannot be adequately compensated for by the known further control circuits of the roll stand.
Der Erfindung liegt die Aufgabe zugrunde, ein bekanntes Verfahren zum Betreiben eines Walzgerüstes mit einem ersten und mindestens einem weiteren Regelkreis dahingehend weiterzubilden, dass der Entstehung eines (solchen) Leistungsfehlbetrages bei dem Stellglied des ersten Regelkreises vorgebeugt wird.The invention is based on the object of further developing a known method for operating a roll stand with a first and at least one further control circuit such that the occurrence of a (such) power deficit in the actuator of the first control circuit is prevented.
Das
Diese Aufgabe der Erfindung wird durch das in Patentanspruch 1 beanspruchte Verfahren gelöst.This object of the invention is achieved by the method claimed in
Das dort beanspruchte Überwachen des zeitlichen Verlaufs des Sollwertes der ersten Regelgröße im Hinblick auf die Schwellenwerte Min, Max, welche innerhalb der Leistungsgrenzen des ersten Stellglieds liegen, ermöglicht vorteilhafterweise ein präventives Einleiten einer Gegenmaßnahme, bevor das Master-Stellglied aufgrund eines betraglich zu groß vorgegebenen Sollwertes für die erste Regelgröße an seine Leistungsgrenze stößt. Konkret sieht die Gegenmaßnahme vor, dass bereits bei Erreichen des Schwellenwertes Min oder Max, d.h. noch vor Erreichen der unteren oder oberen Leistungsgrenze des Master-Stellgliedes, der Sollwert für die erste Regelgröße betraglich um einen erfindungsgemäß ermittelten Korrekturanteil vergrößert bzw. verkleinert wird. Der so berechnete korrigierte Sollwert für die erste Regelgröße ist meist betraglich kleiner als der zuvor vorgesehene Sollwert und wird anstelle des vorher vorgesehenen Sollwertes für den ersten Regelkreis vorgegeben. Die Korrekturanteile für den Master-Sollwert SM werden präventiv so bemessen, dass das Master-Stellglied erst gar nicht an seine obere oder untere Leistungsgrenze gefahren wird.The monitoring of the time profile of the setpoint of the first controlled variable as claimed there with regard to the threshold values Min, Max, which lie within the performance limits of the first actuator, advantageously enables a preventive initiation of a countermeasure before the master actuator due to a specified setpoint that is too large reaches its performance limit for the first controlled variable. Specifically, the countermeasure provides that as soon as the Min or Max threshold value is reached, i.e. before the lower or upper power limit of the master actuator is reached, the setpoint for the first controlled variable is increased or decreased by a correction component determined according to the invention. The corrected setpoint calculated in this way for the first control variable is usually smaller than the previously provided setpoint and is specified for the first control circuit instead of the previously provided setpoint. The correction components for the master setpoint value SM are dimensioned preventively in such a way that the master actuator is not even driven to its upper or lower performance limit.
Die Vorteile der Anwendung der beschriebenen Verfahrensschritte liegen grundsätzlich in der Verbesserung der Walzstabilität sowie der Verbesserung der Produktqualität und Reduzierung von Abmaßlängen.The advantages of using the process steps described lie in the improvement of the rolling stability as well as the improvement of the product quality and the reduction of oversize lengths.
Die Stabilität einer Walzanlage kann erhöht werden, indem Stellglieder gezielt durch die erfindungsgemäße Verknüpfung der Master- Slave Regelkreise in für den Walzprozess günstige Arbeitspunkte gefahren werden. Diese Arbeitspunkte können prozesstechnische Vorteile bieten, wie z.B. ein gezieltes Steuern der Stellglieder in erprobte und oder vorab berechnete Arbeitsbereiche.The stability of a rolling installation can be increased in that actuators are specifically moved to operating points that are favorable for the rolling process by linking the master-slave control circuits according to the invention. These working points can offer advantages in terms of process technology, such as targeted control of the actuators in tried and/or pre-calculated working areas.
Es können weiterhin Vorteile erzielt werden, indem die Stellglieder durch die Wahl der Schwellwerte (Min, Max) gezielt in Bereiche gefahren werden, in denen deren Verhalten nahezu linear ist.Furthermore, advantages can be achieved by using the selection of the threshold values (Min, Max) to specifically drive the actuators into areas in which their behavior is almost linear.
Zusätzlich ergeben sich Vorteile dahingehend, dass die Stellglieder mit hohen dynamischen Eigenschaften strategisch in Arbeitsbereichen gehalten werden, in denen sie schnell auf eventuell auftretende Prozessänderungen, wie z.B. eine Beschädigung des einlaufenden Materials, reagieren können.In addition, there are advantages in that the actuators with high dynamic properties are strategically kept in work areas in where they can react quickly to any process changes that may occur, such as damage to the incoming material.
Insbesondere die Zuordnung der Verknüpfung zwischen Master und Slave Stellgliedern bietet zusätzliche Flexibilität. Die Zuordnung der Stellglieder kann für verschiedene Prozesssituationen und oder Anlagentypen unterschiedlich ausfallen. So kann zum Beispiel bei einer Bandbreite r ein anderes Stellglied als Master Stellglied definiert werden als bei einer Bandbreite j. Auch die Zuordnung und Prioritäten der Slave Stellglieder sind in Echtzeit durch den Faktor ak veränderbar für eine optimale Anpassung an aktuelle Prozessgegebenheiten.In particular, the assignment of the link between master and slave actuators offers additional flexibility. The assignment of the actuators can be different for different process situations and/or system types. For example, a different actuator can be defined as the master actuator for a bandwidth r than for a bandwidth j. The assignment and priorities of the slave actuators can also be changed in real time using the factor ak for optimal adaptation to current process conditions.
Gemäß einem ersten vorteilhaften Ausführungsbeispiel des erfindungsgemäßen Verfahrens weist das Walzgerüst nicht nur einen (k=1), sondern zusätzlich weitere Slave-Regelkreise k=2-K auf. Das Verfahren weist dann vorzugsweise folgenden weiteren Schritt auf: Durchführen der Schritte ii) analog jeweils für jeden der weitern k=2-K Regelkreise mit ihren jeweiligen k=2-K'ten Slave-Stellgliedern.According to a first advantageous exemplary embodiment of the method according to the invention, the roll stand has not only one (k=1) but also additional slave control circuits k=2-K. The method then preferably has the following further step: carrying out steps ii) analogously for each of the further k=2-K control loops with their respective k=2-K'th slave actuators.
Das Vorsehen der k weiteren Regelkreise mit ihren jeweiligen Stellgliedern bietet den Vorteil, dass ein eventuell festgestellter Leistungs- bzw. Stellweg-Fehlbetrag des Master-Stellgliedes nicht nur durch ein erstes Slave-Stellglied, sondern zusätzlich auch durch die besagten weiteren Stellglieder mit k=2-K der weiteren Regelkreise kompensiert werden kann, falls erforderlich.The provision of the k further control circuits with their respective actuators offers the advantage that any performance or actuating travel deficiency of the master actuator that may be determined can be compensated not only by a first slave actuator, but also by said other actuators with k=2 -K of the other control loops can be compensated if necessary.
Das erfindungsgemäße Verfahren kann Anwendung finden sowohl beim Warmwalzen wie auch beim Kaltwalzen von Metallband.The method according to the invention can be used both for hot rolling and for cold rolling of metal strip.
Sowohl der Master-Regelkreis wie auch alle Slave-Regelkreise werden zeitlich kontinuierlich bzw. iterativ betrieben. D. h. es findet eine kontinuierliche bzw. fortlaufende Regelung der Regelgröße auf ihre jeweils vorgegebenen Sollwerte statt.Both the master control circuit and all slave control circuits are operated continuously or iteratively over time. i.e. there is a continuous or ongoing regulation of the controlled variable to its specified setpoints.
Der in der Beschreibung und in den Ansprüchen teilweise verwendete Begriff "Sollwert" steht repräsentativ für ein zeitlich veränderliches Sollwert-Signal. Aufgrund der in der Digitaltechnik üblichen zeitendiskreten Betrachtung wird in der Beschreibung stattdessen auch der besagte Begriff "Sollwert" verwendet; dieser Sollwert ist jedoch keineswegs zwingend notwendig als zeitlich konstant anzusehen.The term “setpoint” used in part of the description and in the claims is representative of a setpoint signal that changes over time. Due to the time-discrete consideration customary in digital technology, the term "setpoint" is also used in the description; however, this target value is by no means absolutely necessary to be regarded as constant over time.
Weitere vorteilhafte Ausgestaltungen des erfindungsgemäßen Verfahrens sind Gegenstand der abhängigen Ansprüche.Further advantageous configurations of the method according to the invention are the subject matter of the dependent claims.
Der Beschreibung sind fünf Figuren beigefügt, wobei
Figur 1- einen ersten bzw. Master-Regelkreis zum Regeln einer erste Regelgröße bei einem Walzgerüst;
- Figur 2
- eine Master-Sollwert-Korrektureinheit zur Berechnung eines korrigierten Master-Sollwertes;
- Figur 3
- einen dem Walzgerüst zugeordneten k'ten Slave-Regelkreis zum Regeln einer k'ten Regelgröße;
- Figur 4
- eine Slave-Sollwert-Korrektureinheit zur Berechnung eines korrigierten k'ten Slave-Sollwertes; und
- Figuren 5a), 5b) und 5c)
- die Ermittlung eines Korrekturanteils y1 und eines Kompensationsanteils ZSLk bei Durchführung einer erfindungsgemäß notwendigen Korrektur des Master-Sollwertes SMSoll
- figure 1
- a first or master control circuit for controlling a first controlled variable in a roll stand;
- figure 2
- a master setpoint correction unit for calculating a corrected master setpoint;
- figure 3
- a k'th slave control circuit assigned to the roll stand for controlling a k'th controlled variable;
- figure 4
- a slave target value correction unit for calculating a corrected kth slave target value; and
- Figures 5a), 5b) and 5c)
- the determination of a correction component y1 and a compensation component ZSL k when carrying out a correction of the master setpoint value SM setpoint that is necessary according to the invention
Die Erfindung wird nachfolgend unter Bezugnahme auf die genannten Figuren in Form von Ausführungsbeispielen detailliert beschrieben. In allen Figuren sind gleiche technische Elemente mit gleichen Bezugszeichen bezeichnet.The invention is described in detail below with reference to the figures mentioned in the form of exemplary embodiments. The same technical elements are denoted by the same reference symbols in all figures.
Gegenstand der vorliegenden Erfindung ist weniger der beschriebene Regelkreis 130, sondern vielmehr die ebenfalls in
- Max: einen oberen Schwellenwert für die erste bzw. Master-Regelgröße
- Min: einen unteren Schwellenwert für die erste bzw. Master-Regelgröße
- Cposn maximal zulässiger Planheitsfehler oder maximal zulässige Walzspaltprofilkonturänderung, jeweils 2. oder höherer Ordnung, oder die Summe aus beiden, gültig für eine Veränderung des Sollwertes in positiver Richtung;
- Cnegn minimal zulässiger Planheitsfehler oder minimal zulässige Walzspaltprofilkonturänderung, jeweils 2. oder höherer Ordnung, oder die Summe aus beiden gültig für eine Veränderung des Sollwertes in negativer Richtung;
- dQMn: Verhältnis von Änderung des Sollwertes der Stellgröße des Masterstellglieds zu Änderung der Planheit 2. und/oder höherer Ordnung des Metallbandes; oder Verhältnis von Änderung des Sollwertes der Stellgröße des Masterstellglieds zu Änderung der Walzspaltkontur 2. und/oder höherer Ordnung.
- Max: an upper threshold for the first or master controlled variable
- Min: a lower threshold for the first or master controlled variable
- Cpos n maximum permissible flatness error or maximum permissible change in roll gap profile contour, each of the 2nd or higher order, or the sum of both, valid for a change in the setpoint in the positive direction;
- Cneg n minimum permissible flatness error or minimum permissible change in roll gap profile contour, each of the 2nd or higher order, or the sum of both valid for a change in the setpoint in the negative direction;
- dQM n : ratio of the change in the set value of the manipulated variable of the master actuator to the change in the flatness of the second and/or higher order of the metal strip; or ratio of the change in the target value of the manipulated variable of the master actuator to the change in the roll gap contour of the 2nd and/or higher order.
Sämtliche in der vorliegenden Beschreibung verwendeten Werte bzw. Signale sind zeitabhängig und deshalb mit dem Index n versehen, wobei n=1... N diskrete Zeitpunkte repräsentiert. Diese Zeitpunkte werden durch die Taktzyklen der Regelung, also die Durchläufe der Regelschleife, vorgegeben.All of the values or signals used in the present description are time-dependent and are therefore provided with the index n, with n=1 . . . N representing discrete points in time. These points in time are specified by the control clock cycles, ie the runs of the control loop.
Wenn bei der Überwachung in der Überwachungseinrichtung 135 festgestellt wird, dass der Sollwert SMSoll n für die erste Regelgröße den oberen Schwellenwert Max eines Toleranzbereiches T überschreitet, wird der Korrekturanteil y1 entweder prozess- oder anlagenspezifisch vorgegeben oder er wird in der Berechnungseinheit 135-2 gemäß folgender Formel berechnet:
Alternativ: Wenn dagegen in der Überwachungseinrichtung 135-1 festgestellt wird, dass der Sollwert SMSoll n für die erste Regelgröße den unteren Schwellenwert Min des Toleranzbereiches T unterschreitet, wird ein Korrekturanteil y2 prozess- oder anlagenspezifisch vorgegeben oder in der Berechnungseinheit 135-3 gemäß folgender Formel berechnet:
Schließlich werden, wenn bei der Überwachung in der Überwachungseinrichtung 135-1 festgestellt wird, dass der Sollwert SMSoll n für die erste Regelgröße weder den oberen Schwellenwert Max des Toleranzbereiches überschreitet, noch den unteren Schwellenwert des Toleranzbereiches T unterschreitet, die Korrekturanteile y1, y2 für den Wert der ersten Regelgröße wie folgt berechnet:
Die so berechneten Korrekturanteile y1 bzw. y2 gehen gemäß
Der Korrekturanteil y1 ist typischerweise negativ und der Korrekturanteil y2 ist typischerweise positiv. Im Ergebnis muss das Vorzeichen so gewählt werden, das der Sollwert SMSoll n+1 in den Toleranzbereich verschoben wird. Im Ergebnis ist der korrigierte Sollwert SMSoll n* typischerweise betraglich kleiner als der vorherige Master-Sollwert SMSoll n. Unter bestimmten Umständen werden die Berechnungseinheiten 135-2 und 135-3 für die Korrekturanteil y1 und y2 individuell gesperrt; dies erfolgt mit den in
Bei einer Sperrung gilt:
Unter Bezugnahme auf die
Die
Erfindungsgemäß wird das bisherige Slave-Sollwert-Signal SLk Soll n mit Hilfe einer Sollwert-Korrektureinrichtung 145-k in dem besagten korrigierten Slave-Sollwert SLk Soll n* korrigiert bzw. umgerechnet. Zu diesem Zwecke empfängt die k'te Sollwert-Korrektureinrichtung 145-k diverse Eingangsgrößen, dabei handelt es sich neben dem besagten k'ten Slave-Sollwert SLk Soll n auch um folgende Größen:
- y1, y2
- kumulierte Korrekturanteile des Masterstellgliedes
- dQSk
- Differenzenquotient, welcher das Verhältnis von Änderung des Sollwertes des k'ten Regelkreises 142-k zu einer Änderung des Sollwertes des ersten bzw. Master-
Regelkreises 130 repräsentiert - ak
- Koeffizient mit
- y1, y2
- cumulative correction components of the master actuator
- dQSk
- Difference quotient, which represents the ratio of a change in the desired value of the k'th control circuit 142-k to a change in the desired value of the first or
master control circuit 130 - a.k
- coefficient with
Die Sollwert-Korrektureinrichtung 145-k=1 empfängt neben dem bisherigen Slave-Sollwert SLk=1 Soll n auch die in der Master-Sollwert-Korrektureinrichtung 135 berechneten Korrekturanteile y1 und y2 für die Korrektur des Master-Sollwertes. Diese beiden Korrekturanteile werden in einer Additionseinrichtung 145-k=1-1 aufaddiert und die so berechnete Summe findet Eingang in eine Berechnungseinheit 145-1-2 zur Berechnung eines Kompensationsanteils ZSLk=1 für den Slave k. Innerhalb dieser Berechnungseinheit erfolgt die Berechnung gemäß der nachfolgenden Formel:
k=1... K : Anzahl der Slave-Stellglieder 142-k.In addition to the previous slave setpoint SL k=1 setpoint n , the setpoint correction device 145-k=1 also receives the correction components y1 and y2 calculated in the master
k=1... K : number of slave actuators 142-k.
Schließlich erfolgt in einer weiteren Berechnungseinheit 145-1-3 die Berechnung des korrigierten Slave-Sollwertes durch Addition des bisherigen bzw. vorherigen Slave-Sollwertes SLk=1 Soll n und des berechneten Kompensationsanteils ZSLk.Finally, the corrected slave setpoint value is calculated in a further calculation unit 145-1-3 by adding the previous slave setpoint value SL k=1 setpoint n and the calculated compensation component ZSL k .
Innerhalb der Berechnungseinheit 145-k=1-2 für den Kompensationsanteil erfolgt auch die Ermittlung eines Leistungsfehlbetrages Δpk des k'ten Stellgliedes. Für den Fall, dass die obere oder untere Leistungsgrenze des k'ten Slave-Stellgliedes erreicht wird, wird der festgestellte Stellweg-Fehlbetrag auf die verbleibenden Slave-Stellglieder verteilt durch geeignete Änderung der jeweiligen Koeffizienten ak der verbleibenden Slave-Stellglieder. Zu diesem Zweck werden die in den k-Slave-Sollwert-Korrektureinrichtungen 145-k ermittelten Leistungsfehlbeträge Δpk an eine ebenfalls in
Für den Fall, dass die verbleibenden Slave-Stellglieder den Stellweg-Fehlbetrag des k'ten Slave-Stellgliedes nicht hinreichend kompensieren können, wird zumindest einer der Korrekturanteile der ersten Regelgröße konstant gehalten; dies erfolgt durch die besagten Disable-Signale DISy1 und DISy2, welche von der Leistungsverteilungs-Berechnungseinrichtung 150 berechnet werden, wie oben unter Bezugnahme auf
Das erfindungsgemäße Verfahren wird nachfolgend unter Bezugnahme auf die
In
In
In
Im Resultat geschieht das Verfahren des Master-Stellgliedes durch die gegensinnige Ansteuerung mindestens eines Slave-Stellgliedes mit nur geringen Planheitsstörungen oder sogar planheitsneutral.As a result, the process of the master actuator takes place through the opposite activation of at least one slave actuator with only minor flatness disturbances or even flatness-neutral.
Die erste und jede der zweiten Regelgrößen für den Master- und die Slave-Regelkreise wird vorzugsweise aus der Menge folgender Größen gewählt:
- Biegekraft für die Arbeitswalzen und/oder die Zwischenwalzen des Walzgerüstes ;
- Position und/oder Horizontalverschiebung für die Arbeits- und/oder Zwischenwalzen;
- Position, Kraft und/oder Drehwinkel einer Exzentereinrichtung zur Einstellung einer Änderung der Walzspaltkontur; und/oder
- Druck eines Kühlmediums, Durchflussmenge des Kühlmediums, Neigungswinkel einer Zonenkühleinrichtung zur Kühlung einer
Arbeitswalze 110 über ihrer Breite zur Einstellung bzw. Änderung der Walzspaltkontur; - Druck eines Heizmediums, Durchflussmenge des Heizmediums, Neigungswinkel einer Zonenheizeinrichtung zum Aufwärmen einer Arbeitswalze über ihrer Breite zur Einstellung bzw. Änderung der Walzspaltkontur;
- Stromstärke, elektrische Leistung für induktive Walzenerwärmung;
- Differenzposition zwischen Bedien- und Antriebsseite einer hydraulischen Anstellung für die
Walzen 110.
- bending force for the work rolls and/or the intermediate rolls of the roll stand;
- position and/or horizontal displacement for the work and/or intermediate rolls;
- Position, force and/or angle of rotation of an eccentric device for setting a change in the roll gap contour; and or
- Pressure of a cooling medium, flow rate of the cooling medium, angle of inclination of a zone cooling device for cooling a
work roll 110 across its width for setting or changing the roll gap contour; - Pressure of a heating medium, flow rate of the heating medium, inclination angle of a zone heating device for heating a work roll across its width for setting or changing the roll gap contour;
- Amperage, electrical power for inductive roller heating;
- Differential position between operating and drive side of a hydraulic adjustment for the
rollers 110.
Das Master- 132 und jedes der Slave-Stellglieder 142-k wird vorzugsweise aus der Menge folgender Stellglieder gewählt:
- Biegeeinrichtung für die Arbeitswalzen und/oder die Zwischenwalzen des Walzgerüstes (100);
- Axialverschiebung für die Arbeits- und/oder Zwischenwalzen;-Exzentereinrichtung zur Einstellung einer Änderung der Walzspaltkontur; und/oder
- Zonenkühleinrichtung mit individuell anzusteuernden Ventilen für das Kühleinrichtung zur Kühlung einer Arbeitswalze über ihrer Breite zur Einstellung bzw. Änderung der Walzspaltkontur;
- Zonenheizeinrichtung mit individuell anzusteuernden Ventilen für das Heizmittel zur Aufheizung einer Arbeitswalze über ihrer Breite zur Einstellung bzw. Änderung der Walzspaltkontur;
- induktive Walzenerwärmung;
- Anstellzylinder der hydraulischen Anstellung von insbesondere den Arbeitswalzen (110).
- Bending device for the work rolls and/or the intermediate rolls of the roll stand (100);
- Axial displacement for the work and/or intermediate rolls;-eccentric device for setting a change in the roll gap contour; and or
- Zone cooling device with individually controllable valves for the cooling device for cooling a work roll across its width for setting or changing the roll gap contour;
- Zone heating device with individually controllable valves for the heating means for heating a work roll across its width for setting or changing the roll gap contour;
- inductive roller heating;
- Adjustment cylinder for the hydraulic adjustment of, in particular, the work rolls (110).
Wenn es sich bei dem Walzgerüst 100 um ein Quarto-Gerüst handelt, dann wird vorzugsweise folgende Regelgrößenkombination gewählt:
- erste Regelgröße : Biegekraft; und
- k=1'te Regelgröße : Axial-Verschiebung;
oder - erste Regelgröße : Axial-Verschiebung und;
- k=1'te Regelgröße : Biegekraft.
- first controlled variable: bending force; and
- k=1st controlled variable: axial displacement;
or - first controlled variable: axial displacement and;
- k=1st controlled variable: bending force.
Für diese beiden Alternativen kann optional jeweils zusätzlich die Zonenkühlung als k=2'te Regelgröße gewählt werden.For these two alternatives, zone cooling can also be optionally selected as the k=2nd controlled variable.
Wenn es sich bei dem Walzgerüst 100 um ein Sechsto-Gerüst handelt, dann werden vorzugsweise folgende Kombinationen von Regelgrößen gewählt:
- erste Regelgröße : Biegekraft für Arbeitswalzen und;
- k=1'te Regelgröße : Biegekraft für Zwischenwalzen und;
- k=2'te Regelgröße : Axialverschiebung der Zwischenwalzen;
oder - erste Regelgröße : Biegekraft für Zwischenwalzen; und
- k=1 'te Regelgröße : Biegekraft für Arbeitswalzen und;
- k=2'te Regelgröße : Axialverschiebung der Zwischenwalzen;
oder
erste Regelgröße : Axialverschiebung der Zwischenwalzen; - k=1'te Regelgröße : Biegekraft für Zwischenwalzen; und
- k=2'te Regelgröße : Biegekraft für Arbeitswalzen.
- first controlled variable: bending force for work rolls and;
- k=1st controlled variable: bending force for intermediate rolls and;
- k=2nd controlled variable: axial displacement of the intermediate rolls;
or - first controlled variable: bending force for intermediate rolls; and
- k=1 'th controlled variable: bending force for work rolls and;
- k=2nd controlled variable: axial displacement of the intermediate rolls;
or
first controlled variable: axial displacement of the intermediate rolls; - k=1st controlled variable: bending force for intermediate rolls; and
- k=2nd controlled variable: bending force for work rolls.
Jede der genannten Kombinationen von Regelgrößen für das Sechsto-Gerüst kann zusätzlich ergänzt werden durch die Zonenkühlung als dritte Regelgröße.Each of the combinations of controlled variables mentioned for the six-high stand can also be supplemented by zone cooling as the third controlled variable.
Wenn die Breite des Metallbandes 120 einen vorgegebenen Breitenschwellenwert übersteigt, wird als Master-Stellglied 132 vorzugsweise die Biegeeinrichtung festgelegt.When the width of the
Bei Quarto- und Sechsto-Walzgerüsten werden auftretende Planheitsstörungen aufgrund von Walzkraftschwankungen durch einen Profile-Gauge Meter PGM ausgeglichen. Dies ist Stand der Technik. Die Funktionsweise des PGM beinhaltet die Vorsteuerung von Walzkraftänderungen auf Biegungen, um im Fall einer Schwankung der Walzkraft das Walzspaltprofil und oder die Walzspaltkontur zwischen den Arbeitswalzen 110 des Walzgerüstes 100 möglichst konstant zu halten. Die Güte der für die PGM-Vorsteuerung benötigten Differenzenquotienten dQM hängt stark von dem aktuellen Arbeitspunkt ab. Außerdem muss das PGM immer eine Biegereserve aufweisen, um im Fall einer plötzlichen Kraftänderung, z. B. durch überbeizte Stellen bei Stahlbändern, schnell reagieren zu können. Die Biegereserve entspricht in
Im einfachen Beispiel eines Quarto-Walzgerüstes wird die Arbeitswalzenbiegung für die PGM-Vorsteuerung genutzt und dementsprechend als Master-Regelgröße mit entsprechenden Master-Sollwert-Vorgaben definiert. Je nach Größe der Sollwert-Vorgabe kann das zugehörige Master-Stellglied 132 an seine physikalischen Grenzen, d. h. seine obere oder untere Leistungsgrenze gelangen. Um dies zu verhindern wird gemäß der Erfindung eine im Hintergrund geschaltete Berechnung einen erlaubten Fehler, z. B. 4. Ordnung, überwachen und innerhalb dessen Grenzen eine Ablösung der Arbeitswalzenbiegung durch z. B. eine zumindest teilweise Axialverschiebung für die Arbeitswalzen zulassen.In the simple example of a four-high rolling stand, the work roll bending is used for the PGM pre-control and is accordingly defined as a master controlled variable with corresponding master setpoint specifications. Depending on the magnitude of the specified setpoint value, the associated
Im Falle eines Sechsto-Walzgerüstes können sogar Arbeitspunkte optimiert werden, um trotz Fehlern in der Berechnung der Setzvorgaben den gewünschten Arbeitspunkt anzufahren und somit Vorteile für die Nutzung von berechneten Differenzenquotienten zu erhalten, die danach besser zu dem Arbeitspunkt passen.In the case of a six-high roll stand, operating points can even be optimized in order to approach the desired operating point despite errors in the calculation of the setting specifications and thus obtain advantages for using calculated difference quotients, which then better match the operating point.
Im Resultat geschieht das Verfahren des Master Stellgliedes durch die gegensinnige Ansteuerung mindestens eines Slave Stellgliedes mit nur geringen Planheitsstörungen oder sogar planheitsneutral.As a result, the movement of the master actuator occurs through the opposite activation of at least one slave actuator with only minor flatness disturbances or even flatness-neutral.
- 100100
- Walzgerüstmill stand
- 110110
- Arbeitswalzenstrippers
- 120120
- Metallbandmetal strap
- 130130
- erster Regelkreisfirst loop
- 131131
- Regelstrecke des ersten Regelkreises bzw. des Master-RegelkreisesControl system of the first control circuit or the master control circuit
- 132132
- Master-Stellgliedmaster actuator
- 133133
- Master-Reglermaster controller
- 134134
- Master-Vergleichermaster comparator
- 135135
- Master-Sollwert-KorrektureinrichtungMaster setpoint correction device
- 135-1135-1
- Überwachungseinrichtungmonitoring device
- 135-2135-2
- Berechnungseinheit für Korrekturanteil y1Calculation unit for correction component y1
- 135-3135-3
- Berechnungseinheit für Korrekturanteil y2Calculation unit for correction component y2
- 135-4135-4
- Berechnungseinheit für korrigierten SollwertCalculation unit for corrected target value
- 136136
- Erfassungseinrichtungdetection device
- 140-k140-k
- k'ter Regelkreisk'th control loop
- 141-k141-k
- k'te Regelstreckek'th controlled system
- 142-k142-k
- k'tes Slave-Stellgliedk'th slave actuator
- 143-k143-k
- k'ter Reglerk'ter regulator
- 144-k144-k
- k'ter Vergleicherk'ter comparator
- 145-k145-k
- k'te Slave-Sollwert-Korrektureinrichtungk'th slave setpoint correction device
- 145-k-1145-k-1
- Sumierertotalizer
- 145-k-2145-k-2
- Umrechnungseinheitconversion unit
- 145-k-3145-k-3
- Summierer des SollwertsSetpoint totalizer
- 150150
- Leistungsverteilungs-BerechnungseinheitPower Distribution Calculation Unit
- TT
- Toleranzbereichtolerance range
- kk
- k'tes Slave-Stellglied mit k=1-Kk'th slave actuator with k=1-K
- nn
- diskreter Zeitpunkt, Laufindexdiscrete point in time, running index
- y1y1
- Korrekturanteilcorrection share
- y2y2
- Korrekturanteilcorrection share
- Sxsx
- Stellsignal für Master-StellgliedActuating signal for master actuator
- **
- korrigierter Wertcorrected value
Claims (15)
- Method of operating a roll stand (100), which comprises: a pair of work rolls (110) for bounding a rolling gap for the rolling of a metal strip (120), a first regulating circuit (130) with a first setting element (132) for regulating a first regulating variable and k further regulating circuits (140-k) each with a kth setting element (142-k) for regulating a kth regulating variable, wherein k = 1 to K,
wherein the method comprises the following steps:determining that the first setting element (132) functions as a master setting element and the kth setting elements (142-k) each function as a slave setting element; andpredetermining the target value (SMSoll n) for the first regulating variable;wherein the method is characterised by the following steps;monitoring the time plot of the target value (SMSoll n) for the first regulating variable with regard to whether the target value exceeds an upper threshold value (Max) or falls short of a lower threshold value (Min), wherein the upper and lower threshold values lie within a tolerance range defined by the upper and lower power limits of the first setting element;if yes:i) determining at least one correction component (y1, y2) in such a way that the target value for the first regulating variable is displaced in the direction of the tolerance range, calculating a corrected target value (SMSoll n*) for the first regulating variable from the previous target value (SMSoll n) for the first regulating variable with consideration of the correction component (y1, y2) and regulating the first regulating variable to the corrected target value (SMSoll n*) by appropriate activation of the master setting element (132); andii) calculating a compensation component (ZSLk=1) for the target value (SLk = 1 Soll n) of the k = 1st regulating variable with consideration of the correction component (y1, y2) for the target value (SMSoll n) of the first regulating variable; calculating a corrected target value (SLk = 1 Soll n*) for the k = 1st regulating variable from the previous target value (SLk - 1 Soll n) for the k - 1st regulating variable with consideration of the compensation component (ZSLk=1) and regulating the k = 1st regulating variable to the corrected target value (SLk = 1Soll n*) for the k = 1st regulating variable by appropriate activation of the k = 1st slave setting element (142-1). - Method according to claim 1,
characterised in that
the roll stand additionally comprises further slave regulating circuits (k = 2 to K); and
the method additionally comprises the following steps:
carrying out the step ii) in analogous manner also for each of the further k = 2 to K regulating circuits by its respective k = 2 to Kth slave setting elements (142-k). - Method according to one of the preceding claims,
characterised in that
if it is established in the monitoring that the target value (SMSoll n) for the first regulating variable exceeds the upper threshold value (Max) of the tolerance range (x1 = 1, x2 = 0), the correction component (y1) is predetermined in process-specific or plant-specific manner or calculated in accordance with the following formula:
if it is established in the monitoring that the target value (SMSoll n) for the first regulating variable falls short of the lower threshold value (Min) of the tolerance range (x1 = 0, x2 = 1), the correction component (y2) is predetermined in process-specific or plant-specific manner or calculated in accordance with the following formula:
if it is established in the monitoring that the target value for the first regulating variable neither exceeds the upper threshold value (Max) of the tolerance range nor falls short of the lower threshold value (Min) of the tolerance range (x1 = 0, x2 = 0) or if the disable signals (DISy1 and/or DISy2) from the power distribution calculating device (150) are set, the correction components (y1, y2) for the target value (SMSoll n) of the first regulating variable are calculated as follows:n = 1 ... N discrete time instants;Cposn: maximum permissible planarity error or maximum permissible rolling gap profile contour change, in each instance of 2nd or higher order, or the sum of the two, valid for a change of the target value in positive direction;Cnegn: minimum permissible planarity error or minimum permissible rolling gap profile contour change, in each instance of 2nd or higher order, or the sum of the two, valid for a change of the target value in negative direction;dQMn: ratio of change of the target value of the setting variable of the master setting element to the change of planarity of 2nd and/or higher order of the metal strip; or ratio of change of the target value of the setting variable of the master setting element to change of the rolling gap contour of 2nd and/or higher order. - Method according to claim 3 or 4,
characterised in that
the compensation component (ZSLk=2-k) for the slave k is calculated in accordance with the following formula:k = 1... K: number of the slave setting elements 142-kdQSk: difference quotient: ratio of change of the target value of the kth regulating circuit (142-k) to change of the target value of the first regulating circuit (130). - Method according to any one of the preceding claims,
characterised in that
the first and each of the kth regulating variables is selected from the totality of the following variables:bending force for the work rolls and/or the intermediate rolls of the roll stand;position and/or horizontal displacement for the work rolls and/or intermediate rolls;position, force and/or rotational angle of an eccentric device for setting a change of the rolling gap contour; and/orpressure of a cooling medium, throughflow quantity of the cooling medium, inclination angle of a zonal cooling device for cooling a work roll (110) over the width thereof for setting or changing the rolling gap contour;pressure of a heating medium, throughflow quantity of the heating medium, inclination angle of a zonal heating device for heating a working roll over the width thereof for setting or changing the rolling gap contour;current intensity, electrical power for inductive roll heating;difference position between control side and drive side of a hydraulic adjustment for the rolls (110). - Method according to any one of the preceding claims,
characterised in that
the master setting element (132) and each of the slave setting elements (142-k) are selected from the totality of the following setting elements:bending device for the work rolls and/or the intermediate rolls of the roll stand (100);axial displacing means for the work rolls and/or intermediate rolls;eccentric device for setting a change of the rolling gap contour;and/orzonal cooling device with valves, which are to be individually activated, for the cooling device for cooling of a work roll over the width thereof for setting or changing the rolling gap contour;zonal heating device with valves, which are to be individually activated, for the heating means for heating a work roll over the width thereof for setting or changing the rolling gap contour;inductive roll heating means;adjusting cylinder for hydraulic adjustment of, in particular, the work rolls (110). - Method according to one of claims 6 and 7,
characterised in that
if the roll stand (100) is a four-high stand then:first regulating variable: bending force; andk = 1st regulating variable: axial displacement;orfirst regulating variable: axial displacement; andk = 1st regulating variable: bending force. - Method according to claim 8,
characterised in that
for the two alternatives according to claim 8 there optionally applies:
k = 2nd regulating variable: zonal cooling - Method according to one of claims 6 and 7,
characterised in that
if the roll stand is a six-high stand then:first regulating variable: bending force for work rolls; andk = 1st regulating variable: bending force for intermediate rolls; andk = 2nd regulating variable: axial displacement of the intermediate rolls;orfirst regulating variable: bending force for intermediate rolls; andk = 1st regulating variable: bending force for work rolls; andk = 2nd regulating variable: axial displacement of the intermediate rolls;orfirst regulating variable: axial displacement of the intermediate rolls:k = 1st regulating variable: bending force for intermediate rolls; andk = 2nd regulating variable: bending force for work rolls. - Method according to claim 10,
characterised in that
for all three alternatives according to claim 10, there optionally additionally applies:
k = 3rd regulating variable: zonal cooling - Method according to any one of the preceding claims,
characterised in that
the rolling is hot rolling or cold rolling. - Method according to any one of the preceding claims,
characterised by:monitoring the upper and/or lower power limits of the kth setting element;determining a power deficit (Δpk) of the kth setting element; andif the upper or lower power limit of the kth slave setting element is reached, redistributing the power deficit to the remaining slave setting elements by appropriate change of the respective coefficients ak of the remaining slave setting elements. - Method according to claim 13,
characterised in that
if the remaining slave setting elements cannot provide sufficient compensation for the setting travel deficit of the kth slave setting element at least one of the correction components (y1, y2) of the first regulating variable is kept constant. - Method according to any one of claims 7 to 14,
characterised in that
if the width of the metal strip (120) exceeds a predetermined width threshold value the bending device is determined as master setting element (132).
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JPH02255208A (en) | 1989-03-29 | 1990-10-16 | Sumitomo Metal Ind Ltd | Shape control method for sheet rolling |
JPH05104120A (en) | 1991-10-11 | 1993-04-27 | Hitachi Ltd | Method and device for controlling shape in 6 stages rolling mill |
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US4000449A (en) * | 1974-10-22 | 1976-12-28 | Westinghouse Electric Corporation | Electrical shaft system |
CN102581035B (en) | 2012-01-30 | 2014-07-02 | 中冶南方工程技术有限公司 | Feed-forward control system for cold-rolled steel strip shape |
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2019
- 2019-09-18 DE DE102019214192.7A patent/DE102019214192A1/en active Pending
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2020
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JPS55120409A (en) | 1979-03-09 | 1980-09-16 | Nippon Steel Corp | Controlling method for shape in six-stage rolling mill |
EP0171732A1 (en) | 1984-08-10 | 1986-02-19 | Kabushiki Kaisha Toshiba | Thickness control method and system for a single-stand/multi-pass rolling mill |
JPS62168607A (en) | 1986-01-20 | 1987-07-24 | Nippon Steel Corp | Shape controlling method for sheet rolling |
JPS63177910A (en) | 1987-01-16 | 1988-07-22 | Nippon Steel Corp | Shape control method in plate rolling |
JPH02255208A (en) | 1989-03-29 | 1990-10-16 | Sumitomo Metal Ind Ltd | Shape control method for sheet rolling |
JPH0636926B2 (en) | 1989-03-29 | 1994-05-18 | 住友金属工業株式会社 | Shape control method in strip rolling |
JPH05104120A (en) | 1991-10-11 | 1993-04-27 | Hitachi Ltd | Method and device for controlling shape in 6 stages rolling mill |
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DE102019214192A1 (en) | 2021-03-18 |
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