JP2597728B2 - Rolled material meandering control device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rolling material meandering control device for correcting a meandering of a rolled material behind a rolling mill, that is, at a rolling mill exit side.

[Conventional technology]

FIG. 3 is a block diagram showing a conventional rolling material meandering control device used in a tandem type rolling device.

The rolling mill 1 includes a pair of work rolls 2 and a pair of backup rolls 3. The rolled material 4 is fed into the rolling mill 1 from the front (right side in FIG. 3),
After being rolled, it is fed back (to the left in FIG. 3).

Further, below the lower backup roll 3, an operator-side screw-down drive unit 5 and a drive-side screw-down drive unit 6 are disposed at positions corresponding to both sides of the width of the rolled material 4. By controlling the means 5 and 6, the amount of reduction of the rolled material 4 is adjusted.

The “operator side” is the side on which the operator is located, and the “drive side” means the side on which the drive shaft (not shown) of the rolling mill 1 is mounted.

An operator-side tension detector 7 and a drive-side tension detector 8 are provided behind the rolling mill 1 to detect the tension on both sides of the rolled material 4 sent from the rolling mill 1.

The detection signals 7A and 8A from the tension detectors 7 and 8 are sent to a subtractor 9, which calculates a deviation between the operator-side tension and the drive-side tension, that is, a tension deviation.

The calculated tension deviation signal is sent to the tension deviation limiter 10
And a dead band process is performed so that output is not performed unless the input level is equal to or higher than a predetermined level.

Here, if the tension deviation input to the tension deviation limit device 10 is ΔTi, the dead band upper limit is T _UL , and the dead band lower limit is T _LL , the tension deviation Δ after the dead band processing is obtained.
T is given according to the following equation.

If T _UL <ΔTi, ΔT = ΔTi−T _UL If T _LL ΔTiT _UL , ΔT = 0 If ΔTi <T _LL , ΔT = ΔTi−T _LL Thus, dead band processing is performed by the tension deviation limiter 10. The signal of the tension deviation ΔT is sent to a proportional integrator 11, where the signal is subjected to a proportional integration process. The output of the proportional integrator 11 is the leveling amount of the rolling position of the rolling mill 1 for correcting the meandering of the rolled material 4 (the deviation amount between the reference value of the rolling position of the rolling mill 1 and the reference value of the driving side rolling position). 11A. However, this rolling position leveling amount 11A
Has an upper limit value and a lower limit value due to mechanical limitations, so that the output of the proportional integrator 11 is subjected to upper and lower limits by a rolling position leveling amount upper and lower limit device 12.

The rolling position leveling amount 12A whose upper and lower limits are limited by the lowering and upper limit device 12 is sent to the subtractor 13 and the adder 14. The subtractor 13 and the adder 14 are configured to output reference value setting signals 15A and 16A from an operator-side rolling-down position reference value setting device 15 and a drive-side rolling-down position reference value setting device 16, respectively. The subtractor 13 and the adder 14 reverse the polarity of the reference value of the rolling position on the operator side of the rolling mill 1 and the polarity of the reference value of the rolling position on the drive side. Therefore, in FIG. 3, a subtractor 13 is provided on the operator side, and an adder 14 is provided on the drive side. However, the adder 14 is provided on the operator side, and the subtractor 13 is provided on the drive side. You may.

Then, the subtractor 13 subtracts the rolling position leveling amount 12A from the reference value 15A set by the operator-side rolling position reference value setting device 15, and outputs an operator-side correction reference value 13A. Similarly, the adder 14 adds the rolling position leveling amount 1 to the reference value 16A set by the drive side rolling position reference value setting device 16.
The drive side correction reference value 14A is output by adding 2A.

The operator-side rolling down position control device 17 calculates the correction reference value
13A, the operator-side pressure-lowering drive means 5 is controlled.
The drive-side pressure-lowering drive means 6 is controlled based on this.

By the control of the operator-side reduction drive means 5 and the drive-side reduction drive means 6, the amount of reduction of the rolled material 4 is adjusted, and the meandering of the rolled material 4 behind the rolling mill 1 is corrected.

For example, if the operator-side tension of the rolled material 4 is larger than the drive-side tension (7A> 8A), it is considered that the operator-side elongation of the rolled material 4 is smaller than the drive-side elongation, and the rolled material 4 is placed on the operator side. It is determined that it is meandering. By controlling the operator-side screw-down driving means 5 and the drive-side screw-down driving means 6, the tightening of the rolling mill 1 on the operator side is increased and the tightening on the drive side is reduced.

Such control is performed until the operator side tension and the drive side tension of the rolled material 4 become equal (7A = 8A). Thereby, the meandering amount of the rolled material 4 behind the rolling mill 1 becomes zero.

[Problems to be solved by the invention]

As described above, the conventional apparatus attempts to adjust the leveling amount of the rolling position of the rolling mill based on the tension deviation between the operator side and the drive side of the rolled material.

That is, the meandering control is performed by the proportional integration control of one input and one output, in which the tension deviation is input and the rolling position leveling amount is output.

However, the value of the tension deviation does not always exactly reflect the meandering amount of the rolled material. This is because various factors such as the material of the rolled material and the characteristics of the rolling mill are considered to cause the meandering of the rolled material, in addition to the tension deviation between the operator side and the drive side.

Therefore, in the conventional one-input one-output system in which only the tension deviation is input and the rolling position leveling amount is output, it is difficult to perform highly accurate meandering control.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a rolled material meandering control device capable of performing high-accuracy meandering control.

[Means for solving the problem]

The present invention, as a means for solving the above problems, as a rolled material to be fed from the front to the rolling mill, so that after rolling in this rolling mill to be sent to the rear,
The rolling-down amount of the rolled material is adjusted by controlling each of the rolling-down driving means disposed at both side positions in the rolling material width direction of the rolling mill. By this adjustment, meandering control for the rolled material sent to the rear of the rolling mill is performed. In the meandering control device for rolling material, which is arranged in front of the rolling mill, an input side meandering amount detecting means for detecting the meandering amount of the rolled material in front of the rolling mill, and at the rear of the rolling mill. The output side tension detecting means disposed to detect the tension on both sides of the rolled material behind the rolling mill, the meandering amount detected by the input side meandering amount detecting means, and the respective output side tension detecting means And fuzzy calculation means for inputting the tension deviation between the tensions detected by the fuzzy variables as fuzzy variables, and fuzzy calculation of the rolling position leveling amount of the rolling mill based on these inputs. Calculation Using, it is constituted that to perform the control of the arranged on both sides of the rolling mill each rolling drive means.

(Operation)

In the above configuration, not only the tension on both sides of the rolled material at the rear of the rolling mill is detected by the output side tension detecting means, but also the meandering amount of the rolled material at the front of the rolling mill is detected by the entering side meandering amount detecting means. It has become.

Then, the tension deviation between both sides obtained based on the detection of each output side tension detecting means and the meandering amount detected by the entering side meandering amount detecting means are input to the fuzzy calculating means as fuzzy variables.

The fuzzy calculation means calculates the rolling position leveling amount of the rolling mill based on these inputs according to a predetermined fuzzy inference rule.

Such control is not a conventional one-input / one-output control of only the tension deviation, but a two-input / one-output control taking into account the amount of meandering on the entering side, so that more accurate meandering control is performed. .

Further, when trying to find the optimum value of each reduction amount based on a combination of the tension deviation and the amount of meandering on the entry side, the formula becomes complicated, and the calculation becomes difficult with a general method.

However, by using the fuzzy logic, it is possible to easily calculate the optimum value of each reduction amount.

〔Example〕

Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 and 2. However, in FIG. 1, the same components as those in FIG. 3 are denoted by the same reference numerals, and redundant description will be omitted.

In FIG. 1, an entrance side meandering amount detecting means 101 using a CCD camera or the like is provided in front of a rolling mill 1.
The position in the width direction of the rolled material 4 at the front is detected.

Detection signal (image signal) from entrance side meandering amount detecting means 101
01A is sent to the meandering amount calculation device 102, where image processing is performed, and then the meandering amount of the rolled material 4 is calculated.

Then, the calculation signal 102A from the meandering amount calculation device 102 is
The signal is sent to the meandering amount limit device 103, where a dead band process is performed.

The fuzzy computing device 104 receives the signal subjected to the dead band processing from the meandering amount limit device 103, that is, the inward meandering amount Δy in front of the rolling mill 1, and the signal from the tension deviation limit device 10, that is, the tension deviation ΔT, Based on these inputs, the rolling position leveling amount ΔL is calculated and output.

The rolling position leveling amount upper / lower limit device 12 limits the rolling position leveling amount ΔL to upper and lower limits. Subsequent operations are the same as those in FIG. 3, and a description thereof will be omitted.

Next, a calculation method performed by the fuzzy calculation means 104 will be described with reference to FIG.

FIG. 2 shows each membership function A of the fuzzy control rules R1, R2, R3, R4 used in the fuzzy operation in this embodiment.
11, A12, B1, A21, A22, B2, A31, A32, B3, A41, A42, B4.

In this fuzzy operation, an inference method based on the min operation method is applied as an example. The input (premise) for this inference is the tension deviation ΔT and the meandering amount Δy on the entry side, and the output (conclusion) is the leveling amount ΔL of the rolling-down position. What connects the input (premise) and output (conclusion) is the fuzzy control rules R1, R2, R3, R4.

 (Premise) ΔT = ΔT1 and Δy = Δy1 (Fuzzy control rules) R1: If ΔT = A11 and Δy = A12, ΔL = B1 R2: If ΔT = A21 and Δy = A22, ΔL = B2 R3: If If ΔT = A31 and Δy = A32, ΔL = B3 R4: If ΔT = A41 and Δy = A42, ΔL = B4 (Conclusion) ΔL = ΔLa

The contents of each of the above fuzzy control rules R1, R2, R3, R4 are as follows.

Rule R1 This rule specifies that when the operator-side tension of the rolled material 4 is larger than the drive-side tension and the incoming-side rolled material 4 is meandering to the drive side, the rolling position of the rolling mill 1 on the operator side is slightly reduced. This is a rule for setting the rolling position leveling amount such that only tightening is performed.

The horizontal axis of the coordinates of the membership function A11 represents the tension deviation ΔT obtained by subtracting the drive-side tension 8A from the operator-side tension 7A, and the vertical axis represents the magnitude of the deviation between the operator-side tension 7A and the drive-side tension 8A. Of the degree of conformity.

The horizontal axis of the coordinates of the membership function A12 is the meandering amount Δy on the entry side of the rolled material 4 (the meandering amount on the operator side is positive, and the meandering amount on the drive side is negative. Hereinafter, A22, A32, and A42 are also used. The horizontal axis represents the degree of fit indicating the degree of meandering.

The horizontal axis of the coordinates of the membership function B1 is the rolling position leveling amount ΔL (the rolling position leveling amount on the operator side is positive, and the rolling position leveling amount on the drive side is negative. The same applies to B2, B3, and B4. The vertical axis indicates the degree of fit indicating the degree of tightening.

Now, assuming that ΔT = ΔT1 and Δy = Δy1, the fitness levels of the membership functions A11 and A12 are ω1 and ω2, respectively, as illustrated. In this case, since ω2 <ω1, ω2 is taken and the shape of the membership function B1 is cut at the height of ω2. Then, the position ΔL1 on the horizontal axis of the center of gravity G1 of the hatched portion remaining after the cut is the reduction position leveling amount inferred by the rule R1.

Rule R2 This rule is to increase the rolling position of the rolling mill 1 on the operator side when the operator side tension of the rolled material 4 is larger than the drive side tension and the incoming rolled material 4 is meandering to the operator side. This is a rule for setting the leveling amount of the rolling-down position to tighten.

The shape of the membership function A21 is the same as A11, and the shape of the membership function A22 is symmetric with respect to A12 and the point of Δy = 0.

Then, when ΔT = ΔT1 and Δy = Δy1, the respective fitness levels of the membership functions A21 and A22 are ω3 and ω4, and ω4 <ω3. Therefore, the shape of the membership function B2 is the height of ω4. Be cut.

Therefore, the position ΔL2 on the horizontal axis of the center of gravity G2 of the hatched portion remaining after the cut is the rolling position leveling amount inferred by the rule R2.

Rule R3 This rule is to increase the rolling position of the rolling mill 1 on the drive side when the drive side tension of the rolled material 4 is larger than the operator side tension and the incoming rolled material 4 is meandering to the drive side. This is a rule for setting the leveling amount of the rolling-down position to tighten.

The shape of the membership function A31 is A11 (A21) and ΔT =
Symmetric with respect to the zero point, the membership function A3
The shape of 2 is the same as A12.

The fitness of the membership function A32 when Δy = Δy1 is ω5, but the fitness of the membership function A31 when ΔT = ΔT1 is zero.

Therefore, the shape of the membership function B3 is all cut, and the rolling position leveling amount inferred by the rule R3 does not exist.

Rule R4 This rule stipulates that, when the drive side tension of the rolled material 4 is larger than that of the operator and the rolled material 4 on the entry side is meandering to the operator side, the rolling position of the rolling mill 1 on the drive side is slightly reduced. This is a rule for setting the leveling amount of the rolling-down position to tighten.

The shape of the membership function A41 is the same as A31, and the shape of the membership function A42 is the same as A22.

Then, the fitness of the membership function A42 when Δy = Δy1 is ω6, but the fitness of the membership function A41 when ΔT = ΔT1 is zero.

Therefore, as in the case of the rule R3, the shape of the membership function B4 is all cut, and the rolling position leveling amount inferred by the rule R4 does not exist.

Based on the results of the above rules R1, R2, R3, and R4, the amount of leveling ΔL to be obtained when ΔT = ΔT1 and Δy = Δy1 is determined as follows.

That is, the shape of the hatched portion of the membership function B1 and the shape of the hatched portion of the membership function B2 are combined to create a combined membership function Ba, and the center of gravity Ga is obtained. Then, the position ΔL = ΔLa on the horizontal axis of the center of gravity Ga is the reduction position leveling amount to be obtained.

The fuzzy calculating means 104 in FIG. 1 calculates the rolling position leveling amount ΔL in this manner, and outputs the calculation to the rolling position leveling amount upper / lower limit device 12. In this case, the fuzzy calculating means 104 also receives the input side meandering amount Δy in addition to the tension deviation ΔT, and performs the calculation based on these two inputs, so that the output rolling position leveling amount Δ
The value of L is also more accurate.

It goes without saying that the shape of each membership function in FIG. 2 and the number thereof can be varied.

Further, as the entrance side meandering amount detecting means 101, an optical sensor, a magnetic sensor, or the like can be used in addition to a CCD camera or the like.

〔The invention's effect〕

As described above, according to the present invention, the fuzzy calculating means calculates the rolling position leveling amount based on the meandering amount of the rolled material on the entering side and the tension deviation between both sides of the rolled material behind the rolling mill. Since the configuration is adopted, it is possible to perform the meandering control with higher accuracy than before.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.
FIG. 3 is a characteristic diagram showing a membership function of a fuzzy control rule used by the fuzzy operation means in FIG. 1, and FIG. 3 is a block diagram showing a conventional example. 1 ... rolling mill, 4 ... rolled material, 5,6 ... reduction drive means,
7, 8 ... outgoing side tension detecting means, 101 ... ... incoming side meandering amount detecting means, 104 ... fuzzy calculating means, ΔT ... ... tension deviation, Δ
y: the meandering amount on the entry side, ΔL: the leveling amount of the rolling position.

Claims (1)

(57) [Claims] A rolled material fed into a rolling mill from the front thereof is rolled by the rolling mill and then sent out to the rear thereof, and is disposed at both side positions in the width direction of the rolled material of the rolling mill. A rolling material meandering control device that controls each reduction drive means to adjust the amount of reduction of the rolled material, and by this adjustment, performs meandering control on the rolled material sent to the rear of the rolling mill. An inflow meandering amount detecting means disposed in front of the rolling mill and detecting the amount of meandering of the rolled material in front of the rolling mill, and disposed on the rear side of the rolling mill, on both sides of the rolling material behind the rolling mill. The output side tension detection means for detecting the tension, the meandering amount detected by the input side meandering amount detection means, and the tension deviation between the tensions detected by the output side tension detection means are input as fuzzy variables. And enter these And fuzzy calculation means for performing fuzzy calculation of the rolling position leveling amount of the rolling mill based on A meandering control device for a rolled material, characterized in that the control means is controlled.