Rolling Control Apparatus, Rolling Control Method And Rolling Control Program
Abstract:
It is an object of the present invention to suppress fluctuation of exit-side plate
thickness of a rolling mill, by suitably executing control of configuration which generates
tension to a material to be rolled at the entry-side or exit-side of the rolling mill, and control of
roll gap of the rolling mill. A rolling control apparatus for controlling a rolling mill which
continuously rolls a material to be rolled by material of two roll pairs, comprising: a roll gap
control unit for controlling gap between the rolls in the roll pairs, based on tension of the
material to be rolled, which is inserted to the roll pair for rolling by the roll pairs, or the material
to be rolled, which is sent out from the roll pair after being rolled; a speed control unit for
controlling conveying speed of the material to be rolled, which is inserted to the roll pair for
rolling by the roll pairs, or the material to be rolled, which is sent out from the roll pair after
being rolled, based on plate thickness of the rolled material to be rolled; and an intermediate
tension control unit for controlling tension of the material to be rolled between the two roll pairs,
by adjusting roll speed of the roll pair arranged at the latter part side in a conveying direction of
the material to be rolled.
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c/o Hitachi, Ltd., 6-6, Marunouchi 1-chome, Chiyoda-ku, Tokyo 100-8280, Japan
Specification
BACKGROUND OF THE INVENTION
The present invention relates to a rolling control apparatus, a rolling control
method and a rolling control program, and more specifically the present invention relates to
selection of a final control element and feedback of a rolling mill having plural final control
5 elements and feedbacks.
In the rolling mill using a tension reel for unwinding and winding of a material to
be rolled, the tension reel is actuated by torque-constant control (current-constant control). A
problem in the case of controlling the tension reel under torque-constant control includes that,
when tension at the entry-side and the exit-side of the rolling mill fluctuates, fluctuation of
10 tension reel speed is generated to suppress it, and fluctuation of exit-side plate thickness is
generated due to change of plate speed at the entry-side of the rolling mill. As a
countermeasure for this, there has been carried out to allow tension fluctuation within a certain
range, in order to suppress fluctuation of exit-side plate thickness, by actuating the tension reel
under speed-constant control, in tension control using tension reel speed as a final control
15 element (for example, refer to JP-A-20 10-240662).
In addition, in a tandem rolling mill, in the case where influence coefficient of the
rolling mill changed largely by an operating condition, there has been carried out to alter a
control final control element for the control state amount, as appropriate (for example, refer to
JP-A-2012-176428). In the tandem rolling mill, usually, there has been carried out tension
20 control between the stands using screw-down of the latter part stand as a control final control
element, and exit-side plate thickness control using thc front part stand speed as a control final
co~ltroel lement. On the contrary, in the invention disclosed in JP-A-2012-176428, acquiring of
the ~naximume ffect of plate thickness control and tension control becomes possible, by
executing exit-side plate thickness control using screw-down of the latter part stand as a coiltrol
25 final control element, and tension co~ltroul sing front part stand speed as a control final control
element, in response to a rolling state.
Actuation of the unwinding side tension reel and the winding side reel by torqueconstant
control (current-constant control) becoines variable factor of speed at the entry-side of
the rolling mill, and speed at the exit-side of thc rolling mill, whicl~g enerate lluctuation of plate
30 thickness at the exit-side of the rolling mill. 'I'his is because, in the case of executing torqueconstant
control, tension reel speed changcs by tensioll at thc elltry-side oftlle rolli~lgm ill or
tension at the exit-side of the rolling mill, so as to keep torque of the tension reel constant. As a
result, fluctuation of plate thickness at the exit-side is generated by the mass flow-constant rule.
The most impo~-talltp oint for the material to be rolled, which is produced by the
rolling mill, is precision of plate thickness at the exit-side of the rolling mill, and tension at the
5 entry-side and the exit-side of the rolling mill is impostant for stability of operation, however, its
fluctuation in some degree is not a problem in view of rolling operation, as long as it is for
keeping product plate thickness. Based on this way of thinking, in the invention disclosed in
JP-A-2010-240662, as for deviation from a set tension value in a range set in advance, priority is
given in making tension real speed constant, and fluctuation of tension real speed is suppressed
10 by not correcting the tension deviation, and the tension real is actuated under speed-constant
control.
In this case, it is no problem as long as the tension deviation falls within a range
set in advance, however, such a case may be generated where it is over the range set in advance,
depending on a rolling state or a base material condition. In that case, tension real speed results
15 in to be altered, which results in change of speed at the entry-side of the rolling mill, and
generate fluctuation of exit-side plate thickness.
In addition, there may also be the case where influence coefficient of the rolling
mill changes depending on a rolling state, and tension control using tension reel speed as an final
control element, and exit-side plate thickness control using roll gap of the rolling mill as an final
20 control element, beco~neu l~stable. In such a case, current exit-side plate thickness control using
roll gap as a control final control element, and tension speed control in the case of actuating the
tension reel under speed-constant control, or tension torque-constant colltrol in the case of
actuating the tension reel under torque-constant control, are difficult to control stably, resulting
in generation of fluctuation of plate thickness at the exit-side of the rolling mill.
25 In particular, the case where rolling speed is fast and plate thickness is thin
decreases effect of plate thickness control by roll gap. Accordingly, in high speed rolling, plate
thickness control by adjusting speed of the entry-side tension reel may be used in some cases.
In this case, the entry-side tension control is performed by operation of roll gap, and the exit-side
tension control is executed by operation of speed or torque of the exit-side TR. On the contrary,
30 in the case whcrc DCR (Double Cold Rolling) rolling for executing continuous rolling by two
stands, it is necessary to col~trol3 kinds of tensions: tension of the entry-side of the rolling mill
stand at the front part side, tension of the exit-side of the rolling mill stand at the latter part side,
and tension between the stands between the front part stand and the latter part stand.
Tension of the exit-side of the rolli~lgI nill stand at the latter part side can be
controlled by a tension control apparatus at the exit-side, such as a tension reel or a bridle roll at
the exit-side. Tension between the stands is tension between the fiont part stand and the latter
part stand, and is in a state cut off from a te~lsionr eel at the unwi~ldi~slgid e for supplying the
material to be rolled to the stand, or a tension reel at the winding side for winding the rolled
5 material to be rolled. Accordingly, in order to adjust tension between the stands, at least one of
the front part stand and the latter part stand should be adjusted.
In this case, it is a general way of thinking to change speed of the front part stand,
using speed of the latter part stand, which is the last stand in continuous rolling, as a standard.
In this case, in response to speed adjustment of the front part stand, control called "successive" is
10 executed, where control value is input also to a tension control apparatus of a tension reel or a
bridle roll or the like at the entry-side of the front part stand, so that entry-side tension of the
front part stand does not fluctuate. By such control, there may be the case where entry-side
tension control, tension control between the stands, and exit-side plate thickness control interfere
with each other to cause disturbance of exit-side plate thickness.
15 It should be noted that problems as described above may similarly become a
problem, not limited to a tension reel, but also at such a configuration generating tension to the
material to be rolled, at the entry-side or the exit-side of the rolling mill. Other example of a
configuration generating tension to the material to be rolled at the entry-side or the exit-side of
the rolling mill includes a bridle roll, a pinch roll or the like.
20 SUMMARY OF THE INVENTION
A proble~nto be solved in the present invention is to suppress vibration of plate
thickness at the exit-side of the rolling mill, by suitably controlling at least two rolling, and in the
case of cxccuting continuous rolling at the stand, by suitably coiltrolling entry-side tension,
intermediate tension and exit-side tension of the rolliilg mill.
25 One aspect of the present invention is a rolling control apparatus fbr controlling a
rolling mill which continuously rolls a material to be rolled by means of two roll pairs,
comprising: a roll gap control unit for controlling gap between the rolls in the roll pairs, based on
tension of the material to be rolled, which is inserted to the roll pair for rolling by the roll pairs,
or the material to be rolled, which is sent out from the roll pair after being rolled; a speed control
30 unit for controlling conveying speed of the material to be rolled, which is inserted to the roll pair
for rolling by the roll pairs, or the material to be rolled, which is sent out from the roll pair after
being rolled, based on plate thickness of the rolled inaterial to be rolled; and a tension control
unit between the stands for controlling tension of the material to be rolled between the two roll
pairs, by adjusting roll speed of the roll pair arranged at the latter part side in a conveying
direction of the material to be rolled.
In addition, other aspect of the present invention is a method for rolling control
for co~ltrollinga rolling mill which continuously rolls a material to be rolled by means of two roll
5 pairs, wherein gap between the rolls in the roll pairs is controlled, based on tension of the
material to be rolled, which is insei-ted to the roll pair for rolling by the roll pairs, or the material
to be rolled, which is sent out from the roll pair after being rolled; conveying speed of the
material to be rolled, which is inserted to the roll pair for rolling by the roll pairs, or the material
to be rolled, which is sent out from the roll pair after being rolled, based on plate thickness of the
10 rolled material to be rolled; and tension of the material to be rolled between the two roll pairs is
controlled, by adjusting roll speed of the roll pair arranged at the latter part side in a coilveying
direction of the material to be rolled.
In addition, other aspect of the present invention is a rolling control program for
controlling a rolling mill which continuously rolls a material to be rolled by means of two roll
15 pairs, wherein the following steps are made to execute by information processing equipment: a
step for controlling gap between the rolls in the roll pairs, based on tension of the material to be
rolled, which is inserted to the roll pair for rolling by the roll pairs, or the material to be rolled,
which is sent out from the roll pair after being rolled; a step for controlling conveying speed of
the material to be rolled, which is inserted to the roll pair for rolling by the roll pairs, or the
20 material to be rolled, which is sent out from the roll pair after being rolled, based on plate
thickness of the rolled material to be rolled; and a step for controlling tension of the material to
be rolled between the two roll pairs, by adjusting roll speed of the roll pair arranged at the latter
part side in a conveying dircction of thc material to be rolled.
According to the present invention, vibration of plate thickness at the exit-side of
25 the rolling mill can be suppressed, by suitably controlling at least two rolling, and in the case of
executing continuous rolling at the stand, by suitably controlling entry-side tension, intermediate
tension and exit-sidc tension of the rolling mill.
BRIEF DESCRIPTION OF THE DRAWINGS
Fig. 1 is a drawing showing the whole configuration of a rolling mill and a rolling
30 control apparatus, relevant to an embodiment of the present invention.
Fig. 2 is a drawing showing rolling phenomenon of a #1 stand rolling mill,
relevai~to an embodiment of the present invention.
Fig. 3 is a drawing showing relationship among an entry-side teilsion suppression
system, tension reel control and roll gap control, relevant to an embodiment of the present
invention.
Fig. 4 is a drawing showing an example of a time series of each parameter
beginning with roll gap changing amount.
5 Fig. 5 is a drawing showing one aspect of relationship between a control final
control element and control state amount of a single-stand rolling mill.
Fig. 6 is a drawing schematically showing one aspect of cross response of a
single-stand rolling mill.
Fig. 7 is a drawing showing a relationship example of a control final control
10 element and control state amount of a single-stand rolling mill.
Fig. 8 is a drawing showing relationship of a final control element and control
state amount, in consideration of a cross term.
Fig. 9 is a drawing showing fundamental parameters relevant to rolling
phenomenon.
15 Fig. 10 is a drawing showing parameters relevant to DCR rolling.
Fig. 11 is a drawing showing parameters relevant to DCR rolling.
Fig. 12 is a drawing showing relationship among a neutral point, forward slip and
backward slip, relevant to rolling.
Fig. 13 is a drawing showing characteristics of tension control in response to a
20 control mode.
Fig. 14 is a drawing showing function of a control method selection apparatus.
Fig. 15 is a drawing showing one aspect of motion of an optimum control method
determination apparatus.
Fig. 16 is a drawing showing an example of an optimum control method
25 determination procedure.
Fig. 17 is a drawing showing motion outline of a coiltrol output selection
apparatus.
Fig. 18 is a drawing showing motion outline of an entry-side TR speed command
apparatus.
3 0 Fig. 19 is a drawing showing motion outline of a tension control apparatus
between the stands.
Fig. 20 is a drawing showing motion outline of a speed standard selection
apparatus.
Fig. 2 1 is a drawing showing a hardware configuration of infosn~ationp rocessing
equipment relevant to the present embodiment.
Fig. 22 is a drawing showing internal function of screw-down plate thickness
control, speed plate thickness control, speed tension control, and screw-down tension control,
relevant to an embodiment of the present invention.
5 DESCRIPTION OF THE EMBODIMENTS
Explanation will be given in detail below on the present invention with an
example of the most fundamental DCR (Double Cold Rolling) rolling mill, which is the rolling
mill using a tension reel for unwinding and winding of the material to be rolled, and installed
with an entry-side TR (tension reel) for unwinding of the material to be rolled at the entry-side of
10 the two rolling mill stands for executing continuous rolling, and an exit-side TR for winding the
material to be rolled at the exit-side.
Fig. 1 is a block diagram showing a control configuration of a rolling system
relevant to the present embodiment. As shown in Fig. 1, the rolling system relevant to the
present embodiment is a 2-stand continuous rolling mill configured by two rolling mills of a #1
15 stand rolling mill 1, and a #2 stand rolling mill 2, and is installed with an entry-side TR 3 at the
entry-side of the rolling mill, and an exit-side TR 4 at the exit-side of the rolling mill. Each
rolling mill is a roll pair for rolling by sandwiching the material to be rolled from up and down
sides, where each roll speed is controlled by mill speed control apparatuses 12 and 22 for
controlling roll speed, and roll gap is controlled by RG (Roll Gap) control apparatuses 11 and 21,
20 for controlling the upper and lower roll gap.
I11 rolling operation, speed command value output from a rolling spced setting
apparatus 73 is input to the mill speed control apparatuses 12 and 22 via a speed standard
selection apparatus 80, respectively. In this way, the mill speed control apparatuses 12 and 22
control speed of the #1 stand rolling mill 1 and the #2 stand rolling mill 2, that is, circumferential
25 speed of the upper and lower working rolls, based on each input speed command value.
Here, speed command value output by the rolling speed setting apparatus 73 may
be added with necessary correction by the speed standard selection apparatus 80, however, in
principle, it is used as setting value of mill speed of the #2 stand rolling mill 2. On the contrary,
because ratio of speed of the #I stand rolling mill 1 relative to speed of the #2 stand rolling mill
30 2 is determined from product specifications of the nlaterial to be rolled, in the speed standard
selection apparatus 80, speed set value of the #1 stand rolling mill 1 is generated based on
information of speed ratio set at a spced ratio setting apparatus 76, and speed set value input
from the rolling spced setting apparatus 73. The speed set value of the #I stand rolling mill 1 is
input to the mill speed control apparatus 12 as well as to an entry-side TR speed command
apparatus 65 via an entry-side speed setting apparatus 77.
In addition, the entry-side TR 3 and the exit-side TR 4 are controlled rotation
thereof by an entry-side TR control apparatus 32 and an exit-side TR control apparatus 42,
5 respectively. The entry-side TR control apparatus 32 and the exit-side TR control apparatus 42
give predetermined tension to the material to be rolled, respectively, by each motor torque given
to the entry-side TR 3 and the exit-side TR 4, by controlling current of the motor for rotating the
tension reel, so as to attain input current command value. An entry-side and exit-side tension
current converters 15 and 16 compute current set value (motor torque set value), so as to attain
10 tension set value, based on a model of a TR (tension reel) mechanical system and a TR (tension
reel) control apparatus.
However, because this control model includes error, by using actual tension
measured by an entry-side tension meter 5 1 installed at the entry-side of the #1 stand rolling mill
1, and an exit-side tension meter 53 installed at the exit-side of the #2 stand rolling mill 2,
15 tension set value is added with correction by an entry-side tension control apparatus 13 and an
exit-side tension control 14, and given to the entry-side tension current converter 15 and exit-side
tension current converter 16. In this way, the entry-side tension current converter 15 and exitside
tension current converter 16 alter current commaild value to be set to the entry-side TR
control apparatus 32 and the exit-side TR control apparatus 42.
2 0 An entry-side tension setting apparatus 71 and exit-side tension setting apparatus
72 set the torque (current) of the entry-side TR 3 and the exit-side TR 4, necessary to get tension
of the material to be rolled, which is determined from product specificatiolls of the material to be
rolled, to the entry-side tension current converter 15 and thc exit-side tension current converter
16, respectively. In addition, roll gap of the #1 stand rolling mill 1 and the #2 stand rolling mill
25 2 was set to a #1 stand screw-down position setting apparatus 74 and a #2 stand screw-down
position setting apparatus 75, respectively, based on product specifications of the material to be
rolled, and given to the RG control apparatuses 11 and 21.
As fundamental control applied to the DCR rolling mill, control by the entry-side
tension control apparatus 13, the exit-side tension control apparatus 14, a tension control
30 between the stands apparatus 67 and a screw-down plate thickness control apparatus 61 is a
major one. The entry-side tension control apparatus 13 adjusts tension set value to be given to
the entry-side tension current converter 15, based on the entry-side tension of the #1 stand rolling
mill 1 (hereafter abbreviated as the entry-side tension) measured by the entry-side tension meter
5 1. The exit-side tension control apparatus 14 ad-justs tension set value to be given to the exit-
9 -
side tension current converter 16, based on the exit-side tension of the #2 stand rolling mill
(hereafter abbreviated as the exit-side tension) measured by the exit-side tension meter 53.
The tension control between the stands apparatus 67 adjusts speed command
value to be given to the mill speed control apparatuses 12 and 22, and the entry-side TR speed
5 command apparatus 65, based on tension between the #1 stand rolling ~nill1 and the #2 stand
rolling mill 2 (hereafter abbreviated as the tension between the stands) measured by the tension
meter between the stands 52. Among the above 3 tension controls, control by the tension
control between the stands apparatus 67 is managed by a control method selection apparatus 70.
This point is one of the gist relevant to the present embodiment. Detail will be described later.
10 In addition, because plate thickness of the material to be rolled is important in
view of product quality, plate thickness control is executed. The screw-down plate thickness
control apparatus 61 adjusts command value of roll gap of the #1 stand rolling mill given to the
RG control apparatus 11, based on exit-side plate thickness of the #2 stand rolling mill 2
(hereafter abbreviated as the exit-side plate thickness) measured by the exit-side plate thickness
15 meter 54. It should be noted that processing of the screw-down plate thickness control
apparatus 61 is also managed by the control method selection apparatus 70. This point is one of
the gist relevant to the present embodiment. Detail will be described later.
In the DCK rolling mill, plate thickness of the material to be rolled having a plate
thickness of a base material of about 0.2 mm to 0.4 mm, is made thin under a rolling reduction of
20 about 20% to 35% by the #I stand rolling mill 1, and in the #2 stand rolling mill 2, screw-down
is executed in a degree so that plate thickness does not change for temper rolling. Accordingly,
as rolling condition in the #1 stand rolliiig mill 1, there is generated the case where exit-side
plate thickness becomes thin, and rolling speed becomes high speed.
Fig. 2 is a drawing showing rolling phenomenon of a #1 stand rolling mill of the
25 DCR rolling mill. Rolling phenomenon of the #I stand rolling mill of the DCR rolling mill is
similar to rolling phenomenon in a single-stand rolling mill. Here, a control configuration of
the entry-side tension TL, as torque-constant control of the entry-side TK 3, and plate thickness
control of an exit-side plate thickness h using roll gap of the #1 stand rolling mill 1 as an final
control element, as shown in Fig. 2, has a problem that exit-side plate thickness and entry-side
30 tension cannot be controlled stably. Explanation will be given below on such a problem.
As a f~~ndamentraull e in the rolling mill, there is a mass flow-constant rule.
This is expressed by the following cxpression (1), using an entry-side platc thickness 11, the exitside
plate thickness 11, an entry-side plate spced V,, and an exit-side plate speed V,, in the
premise that the material to be rolled is in a continuous statc at the entry-side of the rolling mill
stand and the exit-side of the rolling mill stand:
H.V, = h.Vd (1)
From expression (1) of the mass flow-constant rulc, in the case where the entryside
plate thickness H is constant, it means that fluctuation of the entry-side plate speed V,
5 fluctuates the exit-side plate thickness h. As described above, in the DCR rolling mill, because
main rolling is executed by the #1 stand rolling mill, the entry-side plate speed V, in the above
expression (1) becomes speed of the entry-side TR 3. Speed of the entry-side TR 3 changes so
that tension torque coincides with motor torque, however, because this change is executed by
inertia of the entry-side TR 3 and the above-described control, there is no control means for
10 suppressing change of the entry-side plate speed V,.
When adjustment of roll gap by the RG control apparatus 11 is executed, in order
to suppress change of the exit-side plate thickness h caused by change of this entry-side plate
speed V,, forward slip and backward slip change by change of rolling reduction, resulting in
change of the entry-side plate speed V, and the exit-side plate speed Vd, which still more
15 generates change of the entry-side tension Tb. In order to suppress this, speed of the entry-side
TR 3 fluctuates, as described above, and fluctuation of exit-side plate thickness is generated still
more by this fluctuation. In this way, there may be the case where the entry-side tension
suppression system executed by the entry-side TR 3 has large time constant depending on rolling
condition, causing fluctuation of exit-side plate thickness having large waviness. Causes
20 generating such waviness are called cross terms, because influence by control gives influence
each other.
The entry-side tension Tb of the rolli~lgm ill stand is suppressed also by rolling
phenomenon. When the entry-side tension Tb fluctuates, rolling load of the rolling mill
changes, and by accompanying change of forward slip and backward slip, the entry-side plate
25 speed V, and the exit-side plate speed Vd fluctuate. The entry-side tension Tb fluctuates also
caused by this entry-side tension rolling phenomenon system. Response of the entry-side
tension rolling phenomenon system is very fast as co~nparedw ith the above-described entry-side
tension suppression system, and the entry-side tension rolling phenomenon system and the entryside
tension suppression system can be expressed as shown in Fig. 3.
30 From Fig. 3, it is understood that a roll gap alteration amount AS of the rolling
mill stand is expressed as deviation ATb of entry-side tension in the same phase, and entry-side
TR speed changes in a state that it is integrated at the entry-side TR 3. Accordingly, the
deviation AT,, of the roll gap alteration amount AS and entry-side tension, change of entry-side
'I'R speed, and change of exit-side plate thickness become such a relation as shown in Fig. 4.
- 11 -
Fig. 4 is a drawing showing relationship among the roll gap alteration amount AS, the entry-side
tension TI,, the entry-side TR speed, and the exit-side plate thickness h.
As shown in Fig. 4, when the roll gap alteration amount AS changes, entry-side
speed of the rolling mill stand changes, and the entry-side tension Tb changes. Accompanying
5 with change of the entry-side tension Tb, entry-side TR speed changes by motion of inertia of the
entry-side TR 3, because the entry-side TR 3 is executing torque-constant control. When entryside
TR 3 speed fluctuates, fluctuation of exit-side plate thickness is generated by the mass flowconstant
rule shown in the above expression (1). When fluctuation of exit-side plate thickness
is generated, the screw-down plate thickness control apparatus 61 operates the roll gap change
10 amount AS so as to make exit-side plate thickness constant. Continuation of these series of
motions makes vibration of exit-side plate thickness, as shown in Fig. 4.
It should be noted that, because an exit-side plate thickness meter 17 is practically
installed at a place apart from the rolling mill 1, there is present time delay up to detection of
exit-side plate thickness which an exit-side plate thickness control apparatus 18 uses, however, it
15 can be neglected in the case where the delay time is sufficiently short relative to vibration
frequency of exit-side plate thickness.
In the rolling mill, there are present two control final control elements: roll gap
and roll speed, and two control state amounts: exit-side plate thickness of the rolling mill and
entry-side (or exit-side) tension of the rolling mill. In the case where two control final control
20 elements were operated, it influences on each of the two colltrol state amounts, which then alters
the control state amounts. Fig. 5 is a drawing showing relationship between such a control final
control element and control state amount, in the case of one rolling mill stand. Rolling
phenomenon of one rolling mill stand becomes as shown in Fig. 2, and Fig. 5 is the one
described this conceptually.
25 I11 the casc of one rolling mill stand, the control final control elements are the roll
gap alteration amount AS, and speed of the exit-side TR or the entry-side TR of the front part
stand (hereafter it is represented as "entry-side TR speed"). The entry-side plate speed V, is
determined by this entry-side 'I'R speed. In addition, the control state amounts are the exit-side
plate thickness h and the entry-side tension Tb of the rolling mill. In the case where the roll gap
30 alteration amount AS was altered, change of the exit-side plate thickness h by a (roll gap +
exit-side plate thickness) influence coefficient 503, and change of the entry-side tension Tb by a
(roll gap + entry-side tension) influence coefficient 501 are gcnerated. In addition, in the
casc where V, changed caused by changing of TR speed at the exit-side or the entry-side of the
fiont part stand, change of ihe entry-side te~ision caused by an (entry-side TR speed +
- 12 -
entry-side tension) influence coefficient 502, and change of the exit-side plate thickness h caused
by an (entry-side TR speed -+ exit-side plate thickness) influence coefficient 504 are generated.
As described above, the rolling mill exit-side plate thickness h can be controlled
by alteration of roll gap, based on measurement result of the exit-side plate thickness meter 54.
5 In addition, the entry-side tension Tb is controlled by change of entry-side TR speed, based on
difference between noto or torque and entry-side tension torque. On the contrary, in
consideration of relationship as shown in Fig. 5, when roll gap is altered, change of not only the
exit-side plate thickness h but also the entry-side tension Tb occurs, while when entry-side TR
speed is altered, change of not only the entry-side tension Tb but also the exit-side plate thickness
10 h occurs. This change is not-intended unnecessary change.
In the relationship shown in Fig. 5, in the case where the (roll gap + exit-side
plate thickness) influence coefficient 503 and the (entry-side TR speed -+ entry-side tension)
influence coefficient 502 are sufficiently large as compared with the (roll gap -+ entry-side
tension) influence coefficient 501 and the (entry-side TR speed -+ exit-side plate thickness)
15 influence coefficient 504, this control configuration has no problem, because influence of the
above-described not-intended unnecessary change is small.
On the contrary, in the case where the (roll gap -+ exit-side plate thickness)
influence coefficient 503 and the (entry-side TR speed + entry-side tension) influence
coefficient 502 become smaller as compared with the (roll gap -+ entry-side tension) influence
20 coefficient 501 and the (entry-side TR speed -+ exit-side plate thickness) influence coefficient
504, a problern is generated that stable control is not executed, because influence of the abovedescribed
not-intended unnecessary change becomes large.
When such a state appears, because the exit-side plate thickness h is controlled
based on measurement result of the exit-side plate thickness meter 54, eve11 by operation of roll
25 gap of the #1 rolling mill stand 1, the entry-side tension Tb fluctuates largely, and in order to
control this, change of entry-side TR speed occurs caused by difference between motor torque
and entry-side tension torque. As a result, the exit-side plate thickness h fluctuates largely.
When the exit-side plate thickness h changes, roll gap operation by the screw-down plate
thickness control apparatus 6 1 is executed based on measurement result of the exit-side plate
30 thickness meter 54, resulting in generation of a state that the exit-sidc plate thickness h, the
entry-side tension T,,, the entry-side plate speed V,, and the roll gap S vibrate under the same
fi-ecluency.
As for rolli~~pghe nomenon as explained in Fig. 3, s~icha rolling phenomenon
system is shown in Fig. 6, where an entry-side tension suppression system by the entry-side TR 3
is removed off, the entry-side plate speed V, by operation of entry-side TR speed, and the roll
gap alteration amount AS are used as control final colltrol elements, and the exit-side plate
thickness h and the entry-side tension Tb are used as control state amounts. In Fig. 6, the entry-
5 side tension rolling phenomenon system are put together to give an entry-side tension influence
coefficient 101. From Fig. 6, 11 1, 112, 1 13 and 1 14 of Fig. 7 are obtained, as those
corresponding to the influence coefficients 50 1, 502, 503 and 504 in Fig. 5.
According to Fig. 7, it is understood that, when the exit-side plate thickness h is
thin, and the entry-side plate speed V, is fast, the (entry-side TR speed + exit-side plate
10 thickness) influence coefficient 11 4 and the (entry-side TR speed + entry-side tension)
influence coefficient 112 become small. In addition, a first-order lag time constant Tr included
in the entry-side tension influence coefficient 101 becomes small. Accordingly, the (roll gap
+ exit-side plate thickness) influence coefficient 11 3 becomes small. In addition, the (roll gap
-+ entry-side tension) influence coefficient 1 11 becomes fast in response.
15 That is, when the exit-side plate thickness 11 is thin and the entry-side plate speed
V, is fast, in operation of the roll gap AS, the exit-side plate thickness h of the rolling mill
becomes difficult to change, and the entry-side tension Tb becomes easy to change. That is, the
(roll gap + entry-side tension) influence coefficient 11 1 becomes larger than the (roll gap +
exit-side plate thickness) influence coefficient 1 13. In addition, in operation of the entry-side
20 plate speed V,, the entry-side tension 'rh and the exit-side plate thickness h become difficult to
change similarly.
The entry-side tension Th includes a rolling phellolnenon term K,,. The Kb also
changes in response to rolling speed and exit-side plate thickness, and when the Kb becomes
large, the (entry-side TR speed + entry-side tension) influence coefficient 112 becomes smaller
25 as compared with the (entry-side I'R speed + exit-side plate thickness) influence coefficient
114.
As described above, it is understood that there is present the case where, when the
exit-side plate thickness h becomes thin and the entry-side plate speed V, becomes fast, the (roll
gap + exit-side plate thickness) influence coefficient 11 3 becomes smaller as compared with
30 the (roll gap + entry-side tension) influence coefficient 11 1, and the (entry-side TR speed -+
entry-side tension) influence coefficient 11 2 becomes smaller as compared wit11 the (entry-side
TR speed + exit-side plate tl~ickness)i nfluence coefficient 114. In suc11 a case, in trying to
execute suc11 control as shown in Fig. 3, that is. control of the exit-side plate thickness 11 by the
- 14-
roll gap alteration amount AS and control of the entry-side tension Tb by the entry-side plate
speed V,, stable control becomes impossible, because influence of the cross term is large, as
described above.
In such a case as this, as shown in Fig. 8, by actuation of the speed plate thickness
5 control apparatus 62, which controls the exit-side plate thickness h by change of the entry-side
plate speed V, by controlling the entry-side TR speed, and the screw-down tension control
apparatus 64, which controls the entry-side tension Tb by roll gap alteration amount AS, the exitside
plate thickness h and the entry-side tension TI, become to be controlled stably. To realize
this, it is necessary to change the entry-side TR 3, which is working under conventional torque-
10 constant control (current-constant control), to working under speed-constant control.
Accordingly, the entry-side TR speed command apparatus 65 is installed.
Also in the case where response of the entry-side tension suppression system
became deteriorated, it is necessary to work the entry-side TR 3 under speed-constant control.
The entry-side tension suppression system in Fig. 3 becomes a first-order lag system of time
15 constant T,, by equivalent transformation. Here, the Tq is proportional to the entry-side plate
speed V,, inversely proportional to the exit-side plate thickness h of the rolling mill, and
proportiollal to the rolling phenomenon term Kb. Accordingly, when the rolling phenomenon
term Kb becomes large, the time constant T, of the entry-side tension suppression system
becomes large, and response of the entry-side tension suppression system becomes deteriorated.
20 In addition, in this case, because the (roll gap + entry-side tension) influence coefficient 11 1 in
Fig. 5 does not become large, it is considered that stable control is possible by plate thickness
control by the conventional roll gap alteration amount AS and the speed tension control 63 which
operates speed of the entry-side TR 3.
And, in a rolling apparatus, the material to be rolled having various material
25 qualities is rolled to various plate thicknesses, and rolling speed is also various. Accordingly, it
is preferable to switch a control method in response to a rolling state, in consideration of also
change of control response as described above. In the rolling control method relevant to the
present embodiment, by switching the 3 kinds of control methods of the following (A) to (C),
exit-side plate thickness and control of entry-side tension is stabilized.
30 (A) plate thickness control operating the roll gap, and tension control by an entry-side tension
suppressio~s~ys tem of the entry-side TR working under torque-constant control
(B) plate thickness control operating the roll gap, and speed tellsioll control by operating the
speed of the entry-side TR working under speed-constant control, and
(C) screw-down tension control operating the roll gap, and speed plate thickness control by
operating the speed of the entry-side TR working under speed-constant control.
In the DCR rolling mill, because maintaining of tension between the stands
between the #1 stand rolling mill 1 and the #2 stand rolling mill 2 is also important, the tension
control between the stands apparatus 67 is installed. 'The tension control between the stands
5 usually regards speed of the #I stand rolling mill 1 as a final control element.
Fig. 9 is a drawing showing fundamental rule of rolling including the abovedescribed
mass flow constant rule. As shown in Fig. 9, the mass flow constant rule shown in
the above-described expression (I) is held between plate thickness and speed at the entry-side
and the exit-side of the rolling mill stand. In addition, the material to be rolled becomes to
10 extend in a length direction by screw-down. Ratio of extension in this length direction is
expressed by a forward slip f and a backward slip b.
And, relationship of the following expressions (2) and (3) is held among this
forward slip f and the backward slip b, along with the roll speed of the rolling mill stand Vr<, the
entry-side plate speed Ve and the exit-side plate speed Vd of the rolling mill stand.
15 Ve = (I -b).VR (2)
Vd = (1 +f).VR (3
On the other hand, between the #I stand rolling Inill 1 and the #2 stand rolling
mill 2, or between the entry-side TR 3 and the #1 stand rolling mill 1, or between the #2 stand
rollillg mill 2 and the exit-side TR 4, the following expression (4) is held, using the tension
20 between the stands T, a plate cross section area A, a distance between the stands L, a # 1 stand
entry-side speed V,,, a #1 stand exit-side speed Vd,, as shown in Fig. 10.
(a) of Fig. 11 is a drawing showing relationship of roll speed of each rolling mill
stand and entrylexit-side apparatuses in normal rolling (a state that plate thickness and tension
25 are constant values). In paying attention to entry-side tension of the #1 stand rolling mill 1, it is
necessary that entry-side speed of the #1 stand rolling mill 1 and speed of the entry-side TR 3 are
the same speed. that is, VTTR=Vciln, order to attain constant tension.
I Iere, it is assumed that speed 01t he #1 stand rolli~~mgil l 1 was altered by
actuation of the tension control between the stands apparatus 67. Because control output
30 (l+AVlV) alters speed of the #1 stand rolling mill 1, entry-side tension beconles altered, when no
action is taken. Accordingly, as shown in (b) of Fig. 11, such function becomes necessary that
similar control output (I +AV/V) is output also to the entry-side TR to make speed of the entry-
16 -
side TR 3 coincided with entry-side speed of the #1 stand rolling mill 1, so as not to generate
tension fluctuation. Tlle one executing this is a successive function. As the successive
function, use of known various functions is possible.
Here, it is assumed that the forward slip f and the backward slip b, which
5 determine exit-side speed and entry-side speed of the rolling mill, as explained in Fig. 9, are
constant. Plate thickness fluctuation caused by tension fluctuation, and thus mass flow
fluctuation at the entrylexit-side of the stand of the rolling mill, in operation of speed of the
rolling mill, have been prevented by utilization of successive function, assuming fluctuation of
the forward slip f and the backward slip b is slight, although not constant, during rolling, and as
10 being negligible one.
However, in the case where fluctuation of the forward slip and the backward slip
are over and larger than the negligible level, there is the case where utilization of the successive
function becomes, on the contrary, disturbance to tension or plate thickness. In particular,
influence of fluctuation of the forward slip f and the backward slip b, is large, which is generated
15 by fluctuation of the neutral point in rolling, that is, the point where roll speed coincides with
speed of the material to be rolled, and there is the case where the successive function interferes
with roll gap control or the tension control between the stands 67, based on measurement result
of the exit-side tension meter 54, along wit11 the entry-side tension control based on measurement
result of thc entry-side tension meter 5 1, and becomes vibration phenomenon of plate thickness
20 or tension, similar to that explained in Fig. 4.
Fig. 12 shows relatiollship between the neutral point, the forward slip and the
backward slip, in rolling. Rolling is executed by passing througl~th e material to be rolled 5
between an upper working roll 101 and a lower worlcing roll 102. In that time, slip is generated
between the material to be rolled 5 and the upper and lower working rolls 101 and 102, and one
25 neutral point, where roll speed coincides with speed of the material to be rolled 5, is generated at
a region where the roll contacts with the material to be rolled. Speed at a contact beginning
point of the work roll and the material to be rolled becomes the cntry-side speed V,. In
addition, speed at a contact ending point of the work roll and the material to be rolled becomes
the exit-side speed Vd.
3 0 'I'he forward slip f is the one where 1 is subtracted from ratio of the exit-side
speed Vd and the neutral point speed VIi, (Vd/VIc)a, nd the backward slip b is the one where ratio
of the entry-side speed V, and the neutral point speed Vp,, (V,/Vn) is subtracted from 1. In the
case wl~erera tio ofthe entry-side speed V, and the exit-side speed Vd, (Ve/Vd)c l~angesf,o r
example, the exit-side plate thickness 1-1 becomes thick, the entry-side speed V, becomes slow,
thc exit-side speed Vd becomes fast, the successive function should be actuated.
In the case wllere only the position of the neutral point changes, while the ratio of
the entry-side speed V, and the exit-side speed Vd, (Ve/Vd) is kept constant, it is necessary to
change the roll speed VR according to change of the position of the ~~eutrpaoli nt, by wl~ichth e
5 entry-side speed V, is kept constant, therefore speed of the entry-side TR 3 should not be altered
using the successive function.
For example, in Fig. 12, assuming that the position of the neutral point changed
from a neutral point A to a neutral point B, the forward slip f becomes small, and the backward
slip b becomes large. According to this, the exit-side speed Vd becomes small as explained in
10 Fig. 9, and the tension between the stands T becomes large as explained in Fig. 10. In addition,
the entry-side speed V, also becomes small, and entry-side tension becomes small. On the
contrary, in the case where the position of the neutral point changed from the neutral point B to
the neutral point A, the tension between the stands T becomes small, and entry-side tension
becomes large. That is, entry-side tension and tension between the stands change in a reversed
15 phase.
In the case of accompanying plate thickness fluctuation, generally, the entry-side
speed V, and the exit-side speed Vd change in a reversed direction, and the entry-side tension and
tension between the stands change in the same phase. Accordingly, whether it is caused by
change of the position of the neutral point, or fluctuation of plate thickness can be judged, based
20 on whether change of the entry-side tension and tension between the stands of the #1 stand
rolling mill 1 is under the same phase or the reversed phase.
Also in the case where roll speed of the #I stand rolling Inill 1 changed, the entryside
tension and tension between the stands change in a reversed phase, and also in this case, it is
better not to actuate the s~lccessivef unction. It is because both entry-side tension and tcnsion
25 between the stands can be controlled at the same time by correction of the roll speed VR, and on
the contrary actuation of tllc successive function provides a state that entry-side tension is not
corrected.
(a) and (b) of Fig. 13 show characteristics of tension control in the abovedescribed
three control modes. In the control method (A) and the control method (B), as show11
30 in (a) of Fig. 13, entry-side tension control is executed by controlling rotation of the entry-side
'I'R 3. Accordingly, influence of entry-side tension control is limited to the entry-side of the #I
stand rolling mill. In addition, because exit-side tension control is executed to operate the exitside
TR 4, influence of exit-side tension control is limited to the exit-side of the #2 stand rolling
mill.
In the case of executing tension control between the stands, operation of speed of
the #1 stand rolling mill or speed of the #2 stand rolling mill is necessary, however, by executing
"successive" to the entry-side TR 3, in the case of operating speed of the #I stand rolling mill,
and to the exit-side TR 4, in the case of operating speed of the #2 stand rolling mill, influence
5 given to entry-side tension or exit-side tension can be suppressed. In this case, operation of
speed of the #1 stand rolling mill is advantageous in view of control response, because of small
' ' S U C C ~ S S ~ Va~m~o' unt to the entry-side TR 3.
In addition, in the DCR rolling mill, because rolling reduction is k 0 in the #2
stand rolling mill, in the case where the neutral point shifted by operating speed of #l stand
10 rolling mill, entry-side tension and tension between the stands can be controlled effectively. In
that case, operation of entry-side TR speed by "successive" becomes disturbance, however, it can
be suppressed by entry-side tension control.
As explained in Fig. 12, when the case of fluctuation of the neutral point to the
exit-side is considered, entry speed decreases and exit speed decreases. As a result, entry-side
15 tension decreases and tension between the stands increases. On the contrary, entry-side tension
control lowers speed of the entry-side TR, and tension control between the stands increases
speed of the #1 stand.
By "successive", speed of the entry-side TR is made fast at the same time, and it
interferes with entry-side tension control, however, entry-side tension increases due to increase
20 in #1 stand speed. In the case where the neutral point does not fluctuate, for example, in the
case where #1 stand gap is closed, both entry-side tension and tension between the stands
decrease, tension between the stands decreases #1 stand speed, and entry-side TR speed is
decreased by "successive". The entry-side tension control controls entry-side tension by
decreasing entry-side TR speed.
25 In the case of the control method (C), because control final control element of
entry-side tension control is roll gap of the #1 stand rolling mill, as shown in b) of Fig. 13, it
influences not only on entry-side tension but also on tension between the stands. Mere, as shown
in Fig. 12, when the case of fluctuation of the neutral point to the exit-sidc is considered, entry
speed decreases and exit speed decreases. Accordingly, entry-side tension decreases and
30 tension between the stands increases.
On the contrary, entry-side tension control tries to return entry-side tension to
original value by col~trollingr oll gap of the #1 stand rolling mill in an opening dircctio~(b~e cause
entry-side tellsioll decreased). Because exit-side plate thickness also increases, the exit-side
plate thicki~essc ontrol decreases entry-side TR speed and illcreases entry-side tension. By
opening roll gap of the #1 stand rolling mill, also tension between the stands results in to
increase.
In the case where tension control between the stands regards #1 stand speed as a
final control element, it tries to decrease tension between the stands by increasing #1 stand
5 speed. This increases entry-side tension, however, when "successive" is executed, increase
entry-side tension does not, and entry-side tension control increases tension between the stands.
Accordingly, it results in excessive operation of #l stand speed, causing interference with exitside
plate thickness control. In this case, by stopping "successive" to the entry-side TR3, it is
possible to suppress the interference.
10 However, in the case where there is no fluctuation of the neutral point, for
example, roll gap is controlled so as to be closed, because both entry-side tension and tension
between the stands decrease, by operation of roll gap of the #1 stand rolling mill by entry-side
tension control, it is possible to suppress the tension between the stands. As tension control
between the stands, fluctuation of entry-side tension is prevented by decreasing speed of the #1
15 stand rolling mill, and decreasing also speed of the entry-side TR by "successive".
Accordingly, "successive" to the entry-side TR cannot be stopped unconditionally.
This problem can be solved by regarding a control output edge of the tension
control between the stands as #2 stand speed. In the case of the above-described state, by
decreasing #2 stand speed, it is possible to decrease tcnsion between the stands, and in this case,
20 interference among exit-side plate thickness control, entry-side tension control, and tension
control between the stands is not generated. In the case of operating #2 stand rolling mill
speed, it is necessary to execute "successive" to exit-side TR speed, however, in the case of the
DCR rolling mill, fluctuation of the neutral point can be neglected, because screw-down is +O
at the #2 stand.
2 5 In the case where there is fluctuation of the neutral point in the #1 stand rolling
mill, it is finally necessary to alter #1 stand speed, or altcr speed of the entry-side TR, the #2
stand rolling mill and the exit-side TR. In the case of the control method (A) and the control
method (B), it is corresponded with by altering #I stand speed, and in the case of the control
method (C), it is cossesponded with by altering speed of the entry-side TR, the #2 stand, and the
30 exit-side TR.
As described above, in the DCR rolling mill, in the case of using the abovedescribed
three kinds of control mcthods, by switching them in response to a rolling state, it is
necessary to alter not only entry-side tension control, and exit-side plate thickness control, but
also a control output edge of tension control between the stands. Alteration of the control
output edge of tension control between the stands results in alteration of the rollillg mill stand
(master stand), which becomes a speed standard in the tandem rolling mill.
Based on such principle, explanation will be given on control of the rolling
system relevant to the present embodiment, by returning back to Fig. 1. As described above, in
5 order to execute plate thickness control and tension control of the rolling mill stably, it is
necessary to use the above-described 3 kinds of controls, by switching them in response to a
rolling state. Accordingly, operation command AASAGc to roll gap is produced by the screwdown
plate thickness co~ltroal pparatus 61, and operation command AAVAGct o the entry-side TR
is produced by the speed plate thickness control apparatus 62, using the exit-side plate thickness
10 deviation Ah measured by the exit-side plate thickness meter 54.
In addition, using deviation (deviation of entry-side tension) ATb between entryside
tension actual result measured by the entry-side tension meter 5 1 and entry-side tension
setting set by the entry-side tension setting apparatus 71, the speed tension control apparatus 63
produces operation command AAVATRto the entry-side TR speed, and the screw-down tension
15 control 64 produces operation command AAVAni to roll gap.
In addition, in the case where the entry-side TR 3 is running under torqueconstant
control, the one added with control output from the entry-side tension control 13 for
operating entry-side tension set value to the entry-side tension set value by the entry-side tension
setting apparatus 7 1, by deviation between entry-side tension result and entry-side tension set
20 value, is converted to current colninand to thc entry-side TR 3 by the entry-side tension current
converter 15 to prepare current colnmaiid value to the entry-side TR control apparatus 32.
The control method selectio~al pparatus 70 selects, in response to a rolling state,
application of which control mctl~oda mong (A), (B) and (C) can most decrease fluctuation of
exit-side plate thickness and fluctuation of entry-side tension, and based on the selection result,
25 outputs roll gap operation command to the roll gap control apparatus 11. In the case of
operating the entry-side TR speed, it outputs speed operation command to the entry-side TR
speed command apparatus 65. In the entry-side TR speed command apparatus 65, entry-side
TR speed command is prepared by nleans of entry-side TR standard speed, which is output from
the rolling speed setting apparatus 73 via the speed standard selection apparatus 80, and entry-
30 side TR speed alteration amount from the control method selection apparatus 70, and outputs it
to the entry-side TR control apparatus 32.
The entry-side TR control apparatus 32 has an operation mode for executing
torque-constant control (current-constant control) in response to curre~lct ommand, and an
operation mode for executing speed-constant colltrol in response to speed cornmand, and
- 21 -
operates them by switching then1 in response to co~nmandf rom the control method selection
apparatus 70.
Fig. 22 shows one example of a block diagram of the screw-down plate thickness
control 61, the speed plate thickness control 62, the speed tension control 63, and the screw-
5 down tension control 64. They are one example of each control configuration, and a
configuration using a method other than this is also possible. For example, in an example of
Fig. 2, each control system is configured by integral control (I control), however, proportional
integral control (PI control) or proportional integral derivative control (PID control) may also be
configured.
10 The screw-down plate thickness control apparatus 61 relevant to the present
embodiment is configured by integral control (I control), which regards, as input, an exit-side
plate thickness deviation Ah=hfb-hrefw, hich is difference between the exit-side plate thickness
actual result hfb, which is output from the exit-side plate thickness meter 54, and the exit-side
plate thickness set value hres, which is set in rolling operation, and integrates the one obtained by
15 multiplying the adjustment gain and conversion gain from exit-side plate thickness deviation to
roll gap, to input exit-side plate thickness deviation. Deviation between output after integral
and the previous time value is used as control output AASAGc.
In addition, the speed plate thickness control 62 is configured by integral control
(I control), which regards, as input, an exit-side plate thickness deviation Ah, and integrates the
20 one obtained by multiplying the adjustment gain and conversion gain fronl exit-side plate
thickness deviation to cntry-side speed, to input exit-side plate thickness deviation. Deviation
between output after integral and the previous value is used as colltrol output by the following
expression (5). This command value is output as speed alteration ratio to set speed.
2 5 Screw-down tension control apparatus 64 is configured by integral colltrol (I
control), which regards, as input, an entry-side tension deviation ATb=Tbfbb-Tbrwcfh,i ch is
difference between the entry-side tension actual result Tblbb, which is measured by the entry-side
tension meter 5 1, and the entry-side tension set value Thrct, which is set in advance in rolling
operation, and integrates the one obtained by multiplying the adjustment gain and conversion
30 gain from entry-side tension deviation ATl, to roll gap, to input elltry-side tension deviation ATl,.
Deviation between output after integral and the previous time value is used as control output
AASA1I1 .
In addition, the speed tension co~ltroal pparatus 63 is configured by integral
control (I control), which regards, as input, the entry-side tension deviation ATb, and integrates
the one obtained by multiplying the adjustment gain and conversion gain from the entry-side
tension deviation ATb to entry-side speed, to the entry-side tension deviation ATb. Deviation
between output after integral and the previous value is used as control output by the following
5 expression (6).
Fig. 14 shows outline of the control method selection apparatus 70. The control
method selection apparatus 70 is configured by an optimum control method determination
apparatus 70a and a control output selection apparatus 70b. In the optimum control method
10 determination apparatus 70a, it is determined which control method among the above-described
(A), (B) and (c) is used in control, and in the control output selection apparatus 70b, it is selected
which output of the screw-down plate thickness control apparatus 6 1, the speed plate thickness
control apparatus 62, the speed tension control apparatus 63, and the screw-down tension control
apparatus 64 is used, and control command is output to the roll gap control apparatus 1 I, the
15 entry-side TR speed command apparatus 65, the entry-side TR control apparatus 32, and the
speed standard selection apparatus 80.
Fig. 15 shows operation outline of the optimum control method determination
apparatus 70a. Here, in the case where the above-described (roll gap -+ entry-side tension)
influence coefficient 11 1 is large, tension control by screw-down, and plate thickness control by
20 reel spced should be executed using the control method (C), and in the case where tension
corrcction time constant of the entry-side tension suppression systcm is large, plate thickness
control by screw-down, and tension control by operation of TR speed should be executed using
the control method (B). In other cases, the control method (A), which has been executed
conventionally, should be selected.
2 5 Which one of the three control methods should be selected is determined as
follows. Because the optimum control method is considered to change by steel kind of the
~naterialto be rolled, exit-side plate thickness and rolling speed, when steel kind and exit-side
plate thickness changed, rolling speed is classified into about three stages of low speed, medium
speed, and high speed, and when the relevant rolling speed was achieved in rolling, change of
30 entry-side tension and exit-side plate thickness is checked by changing roll gap in step wise. I11
this case, alteration amount of roll gape can be implemented even in rolling of a product
material, as long as it is changed ~ I Ia n amount not to give large influence on product quality of
- 23 -
the material to be rolled. In addition, in the case of changing roll gap in step wise, the abovedescribed
control method (A) should be selected in advance.
It should be noted that in the present embodiment, as shown in Fig. 15, rolling
speed is altered in step wise in the order of low speed, medium speed, and high speed. This is
5 because of performing for selection of any of the above-described three control methods.
E-Iowever, also in the case of practically beginning rolling operation, rolling speed is increased in
step wise, as shown in Fig. 15. Accordingly, operation as shown in Fig. 15 can be executed
together with usual rolling operation, and can be executed without decreasing productivity.
Fluctuation amount of entry-side tension and fluctuation amount of exit-side plate
10 thickness, just after alteration of roll gap in step wise, are measured to judge which of the (roll
gap + entry-side tension) influence coefficient 114 and the (roll gap -+ exit-side plate
thickness) influence coefficient 112 is larger. In addition, response time of the entry-side
tension suppression system is judged from change of entry-side tension, in the case where roll
gap was operated in step wise.
15 For example, as shown in Fig. 15, in response to rolling speed, regions of low
speed, ~nediums peed, and high speed are determined. This determination method may be
divided into three equal parts up to the maximum speed, or may be divided based on other
suitable standard. When rolling speed entered these regions, step wise disturbance is added to
roll gap. By adding step wise disturbance, entry-side tension and exit-side plate thickness
20 fluctuate.
Next, as shown in Fig. 16, from actual result of entry-side tension and deviation
of exit-side plate thickness, parameters dTI,, dh and T,,, are determined. These parameters can
be determined by signal processing from a fluctuation state of time direction of actual value.
From magnitude relation of thus determined parameters dTb, dh and Tbr, the control method (A),
25 the control method (B), and the control method (C) are selected.
In selection of each of the control method (A), the control method (B), and the
control method (C), as shown in Fig. 16, it is judged by comparison of a value calculated based
on the above-described parameters dTb, dh and Tbr, with a predetermined threshold value. For
example, in the case where thc value calculated by (dh/hrel)/(dTb/Tbreisl) e qual to or smaller than
30 selected value of the control method (C), which is the predetermined threshold value, the control
method (C) is selected. In addition, in the case where ITbis re qual to or larger than selected value
of the coiltrol method (B), which is the predetermined threshold value, the control method (B) is
selected. The selected value of the control method (C) and the selected value of the control
method (H) can be set by deterinillation in adval~ccb, y past actual result value or simulation of
- 24 -
the rolling mill, or the like.
When this optimum control method selection processing is executed on a step-like
alteration point 1, a step-like alteration point 2, and a step-like alteration point 3 in the low
speed, the medium speed, and the high speed shown in Fig. 15, in the case shown in Fig. 15,
5 such a result is obtained to select the control method (A) for the low speed, the control method
(B) for the medium speed, and the control method (C) for the high speed, as an optimum control
method.
The control method selection apparatus 70 implements such a determination
procedure of the optimum control method, and switches the control method to thus determined
10 optimum control method. In this case, because a control method of the entry-side TR 3 is
different in the control method (A), the control method (B) and the control method (C), there
may the case where switching cannot be executed during rolling operation. In that case, it is
enough to continue rolling operation by the control method (A), and in the case when the
material to be rolled having the same steel kind and the same plate width will come next time,
15 the control method is switched. Thus detesmined optimum control method is recorded in a
database using steel kind of the material to be rolled, exit-side plate thickness and rolling speed
as search conditions, and in the case of rolling the same kind of the material to be rolled next
time, control is executed in accordance with the optimum control method recorded in the
database.
2 0 Fig. 17 shows operation outline of the control output selection apparatus 70b.
The control output selection apparatus 70b regards output from the screw-down plate thickness
control apparatus 6 1, the speed plate thickness control apparatus 62, the speed tension control
apparatus 63, and the screw-down tension control apparatus 64, and control method selection
result from the optimum control method determination apparatus 70a, as input, and outputs
25 control command to the roll gap control apparatus 11, the entry-side TR speed command
apparatus 65 and the entry-side TR control apparatus 32.
As shown in Fig. 17, in the control output selection apparatus 70b, output from
the screw-down plate thickness control apparatus 61, the speed plate thickness control apparatus
62, the speed tension control apparatus 63, and the screw-down tension control apparatus 64 is
30 input to gain controllers 8 1 to 84, respectively. The gain controllers 8 1 to 84 are signal
adjusting units for outputting by multiplying gain to each o~rtpuot f the screw-down plate
thickness coiltrol apparatus 61, the speed plate thickness control apparatus 62, the specd tension
control apparatus 63, and the screw-down tension control apparatus 64. The gain of the gain
controllers 8 1 to 84 is adjusted based on tlle control ~netl~osedl ection result from the optimum
control method determination apparatus 70a.
In the case of selection of the control method (A), output from the screw-down
plate thickness control apparatus 61 is integral processed to output to the roll gap control
apparatus 11. In addition, a torque-constant mode selection is output to the entry-side TR
Ci control apparatus 32. Accordingly, gain of the gain controllers 82 to 84 is set to zero, by the
control method selection result by the optimum control method determination apparatus 70a, as
well as gain of the gain controller 81 is adjusted and set so that output from the screw-down plate
thickness control apparatus 61 is integral processed by an integral processing unit 85. In
addition, based on the control method selection result by the optimum control method
10 determination apparatus 70a, torque-constant control mode selection is output to the entry-side
TR control apparatus 32.
In the case of selection of the control method (B), output from the screw-down
plate thickness control apparatus 61 is integral processed to output to the roll gap control
apparatus 1 1, as well as output from the speed tension control apparatus 63 is integral processed
15 to output to the entry-side TR speed command apparatus 65. Accordingly, gain of the gain
controllers 82 and 83 is set to zero, based on the control method selection result by the optimum
control method determination apparatus 70a, as well as gain of the gain controllers 8 1 and 84 is
adjusted and output from the screw-down plate thickness control apparatus 61 is integral
processed by the integral processing unit 85, as well as it is set so that output from the speed
20 tension control apparatus 63 is integral processed by the integral processing unit 86.
In the case of selection of the control method (C), output from the speed plate
thickness control apparatus 62 is integral processed to output to tl~cen try-side TR speed
command apparatus 65, as well as output from the screw-down tension control apparatus 64 is
integral processed to output to the roll gap control apparatus 11. Accordingly, gain of the gain
25 controllers 8 1 and 84 is set to zero, based on the control method selection result by the optimum
control method determination apparatus 70a, as well as gain of the gain controllers 82 and 83 is
adjusted and output from the screw-down tension control apparatus 64 is integral processed by
the integral processing unit 85, as well as it is set so that output from the speed plate thickness
control apparatus 62 is integral processed by the integral processing unit 86.
30 That is, a control path connecting to the integral processing unit 85 and the roll
gap control apparatus 11 functions as a roll gap control unit. And, by gain setting of the gain
controllers 8 1 and 82, switching is made on roll gap control, based on which of tensioil of the
material to be rolled, and plate thicl