JP4039403B2 - Profile control method and apparatus - Google Patents

Description

  The present invention relates to a profile control method and apparatus for controlling a plate profile on a final stand exit side of a tandem rolling mill to a target profile, and in particular, to control the profile with high accuracy by calculating the shift amount of each stand online. The present invention relates to a suitable profile control method and apparatus.

  Conventionally, in a rolling mill that generates a rolled material, sheet thickness control is performed to make the sheet thickness in the rolling direction uniform. However, since this plate thickness control is controlled using the plate thickness at a certain control point in the width direction as a controlled variable, the plate thickness in the longitudinal direction at this control point in the width direction is well controlled. The uniformity of the plate thickness in the direction is not always good. Therefore, crown control is performed as one method for controlling the plate thickness in the width direction. In particular, in recent cold rolling, edge drop control that suppresses a reduction in sheet thickness (edge drop) at the end in the sheet width direction has become important along with the crown of the rolled material. Hereinafter, such thickness control including width direction thickness control and longitudinal direction thickness control is referred to as profile control.

  The plate thickness control in the width direction in profile control has been studied and developed especially in the cold rolling process centering on the edge drop control, so the edge drop control will be briefly described as the main. The profile in the width direction of the plate is generated by the distribution of rolling load acting on the roll in the width direction and the distribution of gaps between work rolls depending on the profile of the work roll. Although the load distribution also changes depending on the gap distribution between the work rolls, it is determined by the load distribution and the plate thickness distribution in which the rolled material and the work roll are balanced, and finally the exit side plate thickness profile is determined.

  Here, the profile of the work roll can be changed by cutting the work roll itself (tapering, etc.), and the load distribution is the bending force of the work roll and the intermediate roll, the drive side of the backup roll and the operation side of the backup roll. It can be changed by load leveling.

  For example, in Japanese Patent Publication No. 2500133, an edge drop meter is installed on the exit side of the rolling mill, and the plate thickness direction thickness distribution at the end of the plate is detected by the edge drop meter. The sum of the square values of the differences is obtained for each position in the width direction while taking into account the change in the thickness of the work roll with respect to the shift amount of the work roll. Shifting is described.

  However, in the case of a normal tandem rolling mill, there is no device for measuring the profiles on the entry side and the exit side of all the stands, and only the plate profile on the entry side of the first stand and the plate profile on the exit side of the final stand are measured. It is common. When controlling the profile on the exit side of the final stand, measure the amount of change in the plate profile on the entry side, and manipulate the amount for changing the work roll profile and changing the load distribution in the width direction to suppress the effect. Feed-forward control to calculate the output, and measure the final exit plate profile and perform feedback control to calculate the operation amount for changing the work roll profile and the load distribution in the width direction to cancel the deviation from the target profile Is considered to be effective control.

  A tandem rolling mill is provided with a plurality of rolling mills called stands, and profile control can be performed at each stand. Therefore, it is possible to effectively use these to control edge drop and profile more effectively than control of a single rolling stand.

  However, the profiles that can be measured are only the entrance side of the first stand and the exit side of the final stand, and the plate profile cannot be measured by the intermediate stand. For this reason, in order to perform plate profile control, the amount of feedforward operation that cancels the amount of change in the input plate profile is assigned to which stand, and feedback for removing the error between the target profile on the final stand exit side and the plate profile. The problem is how much operation amount is assigned to which stand. That is, it is important how the operations of a plurality of stands are coordinated and controlled.

  In order to deal with such problems, as described in “Iron and Steel” Vol. 79, No. 3, p388-394 “Development of shape and edge drop control technology in cold rolling”, the last stand The difference between the edge drop on the exit side and the target edge drop amount is distributed to each stand at a predetermined ratio, and the work roll shift amount is adjusted for each stand so as to correct the distributed edge drop amount. I'm calculating. In the prior art described in Japanese Patent Publication No. 2505990, the amount of edge drop on the final exit side is set by the ratio of the influence coefficient of the amount of edge drop on the final stand exit side at a certain point in the width direction by the operation of each stand. Assigned to the stand.

Japanese Patent No. 2500133 Japanese Patent No. 2505990 “Iron and Steel” Vol. 79, No. 3, p388-394 “Development of shape and edge drop control technology in cold rolling”

  As in the prior art described above, the error of the edge drop amount on the final stand exit side is determined at a predetermined ratio (for example, the ratio of the influence coefficient between the operation of each stand and the edge drop amount of the final stand). By calculating the work roll shift amount for each stand so as to be distributed to each stand and correcting the distributed edge drop amount, it is possible to calculate the operation amount for reducing the edge drop amount.

  However, when considering profile control including edge drop, there are multiple means for changing the gap distribution of work rolls and load distribution in the plate width direction for each stand, and the profile depending on the operation amount of each means In tandem rolling mills with different correction effects, the more control points in the width direction of the rolled material, the more distributed the profile error on the final stand exit side by the simple influence coefficient of each point for each operation amount. It takes time and becomes difficult. If the number of control points is increased, highly accurate profile control can be performed. However, in consideration of the calculation time that can be performed by online control, there is a problem in that it is not possible to increase the number of control points.

  An object of the present invention is to provide a profile control method and apparatus suitable for controlling a profile with high accuracy by calculating the shift amount of each stand online.

  The object is to provide a plurality of rolling mills (hereinafter referred to as “stands”) for rolling the material to be rolled in the moving direction of the material to be rolled, and to correspond to the stand for correcting the profile of the material to be rolled. In profile control of a tandem rolling mill provided with a profile operation unit that corrects a profile in the width direction, a region in which the profile is corrected in a region in the width direction of the material to be rolled does not overlap with the corresponding stand. An area that can be corrected by a stand, excluding an area that can be corrected by the next stand, is divided as a dedicated area that is corrected by the stand, and a profile in each dedicated area assigned to each stand is obtained. Achieved by calculating the amount of operation of the profile control unit corresponding to each stand so that it becomes the target profile

  In the present invention, when profile correction is performed with a plurality of stands, the areas handled for each stand are divided so as not to overlap each other, and the amount of operation to be performed only for the areas handled by itself is affected by other areas. The amount of operation at each stand is online during the control of the rolling mill, even if there are many control points. This makes it possible to perform highly accurate rolling.

  Further, as an embodiment of the present invention, a plurality of rolling mills (hereinafter referred to as stands) for rolling the material to be rolled are provided in the moving direction of the material to be rolled, and a stand corresponding to the profile of the material to be rolled is corrected. In the profile control method of a tandem rolling mill provided with a profile operation unit for correcting a profile in the width direction of the material to be rolled, a region for profile correction in the width direction region of the material to be rolled corresponds to each stand The area that can be corrected by a certain stand, excluding the area that can be corrected by the next stand, is divided as a dedicated area that is corrected by the stand, and assigned to each stand. The profile in each dedicated area (the determined area is a preferred example of the dedicated area) is the target profile. So as configured with profile control method characterized by determining the amount of operation of each stand corresponding profile control unit.

  Similarly, a plurality of rolling mills (hereinafter referred to as “stands”) for rolling the material to be rolled are provided in the moving direction of the material to be rolled, and the width of the material to be rolled corresponding to the stand for correcting the profile of the material to be rolled. In a profile control apparatus of a tandem rolling mill provided with a profile operation unit for correcting a direction profile, a region for profile correction in a region in the width direction of the material to be rolled does not overlap with the corresponding stand. The area that can be corrected by the stand, except for the area that can be corrected by the next stand, is divided as a dedicated area that is corrected by the stand, and each dedicated area assigned to each stand (in this way Each of the stand pairs is set so that the profile in the designated area is a preferred example of the dedicated area). Further comprising means for obtaining the manipulated variable of the profile control unit configured with profile control apparatus according to claim.

  According to the present invention, since control is performed by determining the area that is handled by each stand, control calculation can be performed online, and highly accurate profile control is possible.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a configuration diagram of a profile control apparatus for a tandem rolling mill according to a first embodiment of the present invention. In FIG. 1, a tandem rolling mill 100 to be controlled is composed of a plurality of rolling mills (101-1 to 101-n) called stands. The rolling mill 101 of each stand is equipped with profile operation units (102-1 to 102-n) that change the exit profile at each stand. In addition, profile measuring means 201 and 202 for measuring the plate profile in the width direction are installed on the entry side and the exit side of the tandem rolling mill 100, and the sheet profile is measured on the entry side and the exit side of the tandem rolling mill 100, respectively. The

  In the embodiment shown in FIG. 1, the case of profile control by feedback control is shown. The feedback control type profile control apparatus includes an error calculation unit 400 that calculates an error between an exit side plate profile measured by the profile measuring unit 202 on the exit side of the final stand and a preset target profile, and an error calculation unit 400. The first feedback (FB) control unit 300-1 that outputs the operation amount of the profile operation unit 102-1 of the first stand and the predicted value of the exit side plate profile error that varies depending on the operation amount, using the profile error calculated in step 1 as an input. Then, the plate profile error predicted value predicted by the FB control unit related to the previous stand is input, and the operation amount of the profile operation unit 102 and the predicted value of the exit side plate profile error that changes depending on the operation amount are fed back (FB) ) Control units 300-2 to 300-n and the same material The control timing adjusting unit 2000 is configured to set the output timing of each operation amount so as to output the operation amount that is the calculation result of each feedback control unit 300-1 to 300-n at the passing timing. The operation amount output timing is determined by calculating where each point of the material is currently from the rolling speed so that the operation is performed on the same point of the material. This is achieved by a technique called tracking in the field of rolling control.

  The first FB control unit 300-1 is based on a profile error from the error calculation unit 400, and a region dividing unit 301-1 for extracting a region in the width direction that can be corrected by the profile operation unit 102-1 of the first stand 101-1. A first stand operation amount calculation unit 302-1 for calculating an operation amount of the first stand profile operation unit 102-1 for correcting a profile error in the correctable region extracted by the region dividing unit 301-1, and A model 303-1 for predicting a change in the exit side plate profile obtained on the exit side of the final stand when the profile operation unit 102-1 of the first stand is operated with the operation amount calculated by the stand operation amount calculating means 302-1 as an input. And a new plate profile from the plate profile change amount estimated by the model 303-1 and the profile error calculated by the error calculation unit 400. Composed from the prediction means 304-1 to predict the file error.

  The plate profile error calculated by the prediction means 304-1 of the first FB control unit 300-1 is sent to the second FB control unit 300-2. Similarly to the first FB control unit 300-1, the second FB control unit 300-2 also has a width direction that can be corrected by the second stand profile operation unit 102-2 from the plate profile error calculated by the first FB control unit 300-1. Region dividing means 301-2 for extracting the profile error and second stand operation amount calculating means 302 for calculating the operation amount of the extracted second stand profile operation unit 102-2 for correcting the correctable profile error in the width direction. -2 and the change in the exit plate profile obtained on the exit side of the final stand when the profile operation unit 102-2 of the second stand is operated using the operation amount calculated by the second stand operation amount calculating means 302-2 as an input. Predicted model 303-2, plate profile change amount estimated by model 303-2 and predictor of first FB control unit 300-1 It consists prediction means 304-2 for predicting a new plate profile error from the calculated plate profile error at 304-1. Hereinafter, the third to n-th FB control units 300-3 to 300-n have the same configuration.

  As described above, each of the FB control units 300 including the region dividing unit 301, the operation amount calculating unit 302, the model 303, and the prediction unit 304 is the final outgoing side predicted by the FB control unit 300 of the previous stand. Is used as an input, and the amount of operation of the profile operation unit 102 of each stand and the plate profile error on the final stand exit side obtained when the profile operation unit 102 upstream of each stand is operated are output.

  FIG. 2 is a configuration diagram of a profile control apparatus according to the second embodiment of the present invention. In this embodiment, profile control is performed by feedforward control. The feed-forward control type profile control apparatus is a change from the plate profile measured one cycle before the input plate profile measured at a certain time period by the profile measuring means 201 on the first side of the first stand before rolling. A change amount calculation unit 600 that calculates the amount, a final profile prediction unit 700 that predicts a plate profile error on the exit side of the final stand by using the profile change amount calculated by the change amount calculation unit 600, and a final profile prediction unit 700 The first feedforward (FF) control unit 500-1 that outputs the predicted value of the operation amount of the profile operation unit 102-1 of the first stand and the output side plate profile error that changes according to the operation amount, using the profile error predicted in step 1 as an input. And the board plate predicted by the FF control unit for the previous stand Feed forward (FF) control units 500-2 to 500-n of each stand that outputs a predicted value of the output plate profile error that varies depending on the operation amount of the profile operation unit 102 and the operation amount by using the file error prediction value, The control timing adjusting unit 2000 is configured to set the operation amount output timing so as to output the operation amount as a calculation result of each of the feedforward control units 500-1 to 500-n at the timing when the same point passes.

The first FF control unit 500-1 includes an area dividing unit 501-1 that extracts an area in the width direction that can be corrected by the profile operating unit 102-1 of the first stand from the profile error from the final profile predicting unit 700, and an area dividing unit First stand operation amount calculation means 502-1 for calculating the operation amount of the first stand profile operation unit 102-1 for correcting the profile error in the correctable area extracted in 501-1, and the first stand operation amount A model 503-1 that predicts a change in the exit side plate profile obtained on the exit side of the final stand when the profile operation unit 102-1 of the first stand is operated with the operation amount calculated by the arithmetic means 502-1 as an input; The plate profile change amount estimated in 503-1 and the profile error calculated by the final profile prediction means 700 Constituted by prediction means 504-1 for predicting et new plate profile error.

  The plate profile error calculated by the prediction means 504-1 of the first FF control unit 500-1 is sent to the second FF control unit 500-2. Similarly to the first FF control unit 500-1, the second FF control unit 500-2 is a profile in the width direction that can be corrected by the second stand profile operation unit 102-2 from the plate profile error calculated by the first FF control unit 500-1. An area dividing unit 501-2 for extracting an error and a second stand operation amount calculating unit 502- for calculating the operation amount of the second stand profile operation unit 102-2 for correcting the extracted profile error in the width direction that can be corrected. 2 and when the operation amount calculated by the second stand operation amount calculating means 502-2 is used as an input, the profile operation unit 102-2 of the second stand is operated to predict a change in the exit side plate profile obtained on the final stand exit side. Model 503-2, the plate profile change amount estimated by the model 503-2, and the prediction means of the first FF control unit 500-1 It consists prediction means 504-2 for predicting a new plate profile error from the calculated plate profile error at 04-1. Hereinafter, the third to n-th FF control units 500-3 to 500-n have the same configuration.

  As described above, the FF control unit 500 corresponding to each stand configured by the area dividing unit 501, the operation amount calculation unit 502, the model 503, and the prediction unit 504 is the FF control unit 500 of the previous stand. Using the predicted profile error on the final exit side as input, the amount of operation of the profile operation unit 102 of each stand and the plate profile error on the final stand output side obtained when operating the profile operation unit 102 upstream of each stand Is output.

  FIG. 3 is a configuration diagram of a profile control apparatus according to the third embodiment of the present invention. The present embodiment is a combination of the two embodiments shown in FIGS. 1 and 2, and performs profile control by feedforward control and feedback control. This profile control apparatus includes both the feedback control type profile control apparatus shown in FIG. 1 and the feedforward control type profile control apparatus shown in FIG. 2, and further, an arithmetic means 800 that fuses both operation amounts. −1 to n, and the operation amount calculated by each feedback control unit 300-1 to n and each feedforward control unit 500-1 to n at the timing when the same point of the material passes is output. It comprises control timing adjustment means 2000 for timing output.

  Next, the prediction of the plate profile on the final stand exit side will be described.

  First, the relationship between the entrance side plate profile and the exit side plate profile of a certain stand can be described by the following equation (1).

  At this time, when the above relationships are summarized, the relationship between the entrance profile of the first stand and the exit profile of the final stand can be described as in the following equation (2).

  In the above model, when the profile operation unit 102 of each stand is operated, the work roll interval distribution S (z) changes, or the rolling load distribution P (z) changes to change the exit profile of the final stand. .

  For example, when the bending force is changed by the profile operation unit, the load distribution changes, and when the shape of the work roll is changed, the work roll interval distribution changes. Therefore, the operation of the profile operation unit 102, the work roll interval distribution, and the change in the rolling load distribution may be modeled in advance. In other words, the relationship of the following formula 3 may be examined in advance for each stand.

  If the above model is used, the exit profile of the final stand can be predicted. For example, when the input profile changes and the profile operation unit 102 does not operate at that time, the output profile error is predicted by the following equation (4).

  Further, the final stand exit side profile error when only the profile operation unit 102-i of the i-th stand is operated without any change in the ingress profile can be calculated by the model expressed by the following equation (5).

  FIG. 4 is an explanatory diagram regarding the role of the area dividing means in the above-described embodiment. FIG. 4 shows a profile cross section from the center of the plate to the end in the plate width direction. In the rolling process, since rolling is performed sequentially at a plurality of stands, the thickness and hardness of the rolled material at each stand are different for each stand, and accordingly, the rolling state is also different. Therefore, the range (area) in which the plate profile can be changed by operating the profile operation unit 102 of each stand is different. For example, as shown in FIG. 4, the plate thickness of the material when passing through the first stand is still thick, and the influence of work hardening (the material hardens when pressed) is small. At this stage, the region where the plate profile can be corrected by operating the profile operation unit 102-1 is from the plate end to the vicinity of the plate center. That is, as shown in the upper side of FIG. 4, there is a considerably wide area as the profile-modifiable area A1 in the first stand.

  On the other hand, the thickness of the rear stand becomes thinner and the influence of work hardening advances. Therefore, no matter how many times the profile operation unit 102 is operated, the profile near the center of the plate cannot be corrected, and only the profile at the end of the plate can be corrected. It cannot be corrected. Accordingly, the area A2 that can be corrected by the profile operation unit 102-2 of the second stand is narrower on the plate end side than the first stand correctable area A1, as shown in the upper part of FIG. Similarly, in the nth stand, the profile correction possible region An is further narrowed toward the plate end side. As described above, since the region that can be corrected by the profile operation unit 102 is ubiquitous on the plate end side as it becomes the exit side stand, in order to correct the region close to the center of the plate, it is corrected with the entrance side stand. There is a need.

  Therefore, in the present embodiment, for the region where the profile can be corrected only by the profile operation unit 102-1 in the first stand (the lower region B1 in FIG. 4), that region is designated as the dedicated correction region for the first stand. The operation calculation means for one stand calculates in consideration of only the profile control of this region B1 and obtains the operation amount. In this case, if the profile control is performed by operating the first stand, it is natural that the profile is actually corrected not only in the dedicated correction area B1 but also in the entire correctable area A1 of the first stand. . Therefore, for the areas other than the correction area B1 (A1-B1), the amount of operation of each stand is calculated so that the correction is made below the second stand in consideration of the profile change caused by the operation of the first stand. Ask. That is, in the second stand, except for the first stand correction possible area A1, the area B2 that can be profile corrected only by the profile operation unit 102-2 in the second stand is set as a dedicated correction area for the second stand, As will be described in detail later, the operation calculation means of the second stand obtains the amount of profile control operation only in this region B2. In this case, the amount of operation of the second stand in this region B1 is determined in consideration of the effect of profile correction by the first stand. Thereafter, similarly in the third to nth stands, the respective dedicated correction areas B3 to Bn are assigned and the respective operation amounts are obtained.

  FIG. 5 is a flowchart showing a processing procedure in the feedback control type profile control apparatus shown in FIG. In this embodiment, discrete time control is performed every certain time period, and first, control calculation is started at a certain time timing (S-FB0). When the control calculation is started, first, profile data sent from the plate profile measuring device installed in the final stand is taken in (S-FB1). When the measurement of the profile data is completed, the deviation between the target profile on the final stand exit side and the actually measured profile data is calculated (S-FB2). Next, the target stand number is set to “1” (S-FB3).

  Next, profile deviation data in the profile correction area B1 of the first stand is extracted from the profile deviation data obtained in step S-FB2 (S-FB4). Then, the profile operation amount of the first stand that eliminates the profile deviation in the correction area B1 is calculated (S-FB5).

  For the calculation of the operation amount here, for example, the operation prediction satisfying the following Expression 6 may be obtained using the profile prediction model shown above.

  Next, after calculating the profile operation amount of the first stand, when the profile operation is performed with the operation amount, the plate profile error on the exit side of the final stand is predicted, and the predicted profile error is calculated in step S-FB2. From the profile deviation data, the profile deviation with respect to the target profile on the exit side of the final stand that occurs when the profile operation of the first stand is performed is calculated (S-FB6). Then, the profile deviation calculated in step S-FB6 is set as new profile deviation data (S-FB7). The above is the calculation for the first stand. Next, the stand number i is incremented and the calculation for the second stand is started (S-FB9).

  By repeating the above procedure, all the profile operation amounts from the first stand to the final stand are calculated, and when the calculation of the final stand is completed, the process waits again until the next control calculation start timing and repeats this procedure again ( S-FB8).

FIG. 6 is a flowchart showing a processing procedure in the profile control apparatus of the feedforward control type shown in FIG. In the case of this embodiment as well, discrete time control is performed every certain time period, and first, control calculation is started at a certain time timing (S-FF0). When the control calculation starts, the profile data sent from the plate profile measuring device installed on the first stand entry side is taken in (S-FF1). When the measurement of the profile data is completed, the change amount of the profile data measured in the previous cycle and the profile data measured this time in step S-FF1 are calculated (S-FF2). And step S-
The profile error on the final stand exit side when the amount of change calculated in FF2 exists is predicted (S-FF3). Then, after performing this prediction, the stand number i is first set to “1” in order to calculate the operation amount of the first stand (S-FF4).

  Next, as described above, the profile deviation data of the correction area B1 for performing the profile of the first stand is extracted (S-FF5). Then, the profile operation amount of the first stand is calculated so as to remove the profile deviation extracted in the previous step (S-FF6). The operation amount here can be calculated in the same manner as the feedback control type profile operation amount described above.

  After calculating the profile operation amount of the first stand, the plate profile error on the final stand exit side when the profile operation is performed with the operation amount is predicted, and the predicted profile error and the profile change amount predicted in step S-FF3 From the above, the profile deviation with respect to the target profile on the final stand exit side that occurs when the profile operation of the first stand is performed is calculated (S-FF7). Then, the profile deviation calculated in step S-FF7 is set as new profile deviation data (S-FF8). The above is the calculation related to the first stand. Next, the process proceeds to step S-FF10, where the stand number i is incremented and the calculation proceeds to the second stand.

  By repeating the above procedure, all the profile operation amounts from the first stand to the final stand are calculated. When the calculation of the final stand is completed, the process waits again until the next control calculation start timing and repeats this procedure (S -FF9). In addition, the output timing of each operation amount is performed at the timing when the same point of the material passes through each stand.

  FIG. 7 is a configuration diagram of another embodiment of the feedback control unit. The feedback control unit 300-i in this embodiment includes an operation amount determination in addition to the region dividing unit 301-i, the i-th stand operation amount calculation unit 302-i, the model 303-i, and the prediction unit 304-i. Means 305-i are provided. The operation amount determination means 305-i calculates the difference between the operation amount output to the profile operation unit from the control unit 300- (i-1) of the previous stand and the operation amount calculated for controlling the own stand. A determination is made as to whether or not the difference is greater than or equal to a limit value. If the difference is greater than or equal to the limit value, a value obtained by limiting the calculated operation amount to the limit value is output as an actual operation amount. The model 303-i predicts based on the limited new operation amount.

  FIG. 8 is a configuration diagram of another embodiment of the feedforward control unit. The feedforward control unit 500-i in this embodiment includes an operation amount in addition to the area dividing unit 501-i, the i-th stand operation amount calculation unit 502-i, the model 503-i, and the prediction unit 504-i. Determination means 505-i is provided. This operation amount determination means 505-i calculates the difference between the operation amount output to the profile operation unit from the control unit 500- (i-1) of the previous stand and the operation amount calculated for controlling the own stand. A determination is made as to whether or not the difference is greater than or equal to a limit value. If the difference is greater than or equal to the limit value, a value obtained by limiting the calculated operation amount to the limit value is output as an actual operation amount. The model 503-i predicts based on the limited new operation amount.

FIG. 9 is a configuration diagram of a profile control apparatus according to the fourth embodiment of the present invention. This embodiment is a feedback type, and as in the profile control device of FIG. 1, an error for obtaining a deviation between the profile in the width direction of the plate measured by the profile measuring means 202 provided on the exit side of the final stand and the target profile. In addition to the calculation unit 400 and the feedback control unit 300 that calculates the operation amount of the profile operation unit 102 of each stand, the profile storage unit 1100 that stores the profile deviation calculated by the error calculation unit 400, The operation amount storage means 1000 for storing the operation amount calculated by the feedback control unit 300 of the stand, and the control quality is determined from the predicted profile value at the final stand when operated by each operation amount, and the feedback control unit 300 is adjusted. Profile determination means 900 is provided

  The profile storage unit 1100 stores the deviation of the profile calculated by the error calculation unit 400. Then, based on this deviation, the feedback control unit 300 calculates an operation amount. When the operation amount up to the final stand is calculated by the feedback control unit 300, a predicted value of the profile deviation at the final stand is obtained. The profile determination unit 900 includes a determination unit 910, a correction unit 920, and an arithmetic control unit 930. The determination unit 910 receives the final stand profile deviation prediction value as input, and determines whether the prediction error is within a preset allowable value. The determination result is sent to the calculation control unit 930. If the predicted profile value is within the allowable value, the calculation control unit 930 operates the profile operation unit 102 according to the operation amount stored in the operation amount storage unit 1000.

  On the other hand, if it is determined that the value is not within the allowable value, the arithmetic control unit 910 causes the correction unit 920 to change the area division range of each feedback control unit 300. Then, using the profile deviation value stored in the profile storage unit 1100, the operation amount is further calculated by the feedback control unit 300 under the changed divided area. The above operation is repeated, and the manipulated variable is calculated until the predicted profile deviation value falls within the allowable value. At this time, the correction unit 910 can change the limit value (amount) of the operation amount in addition to the change of the divided region of the feedback control unit 300.

  FIG. 10 is a configuration diagram of a profile control apparatus according to the fifth embodiment of the present invention. This embodiment is a feed-forward type, and similarly to the profile control device of FIG. 2, a change amount calculation for obtaining a change amount of the profile in the plate width direction measured by the profile measuring means 201 provided on the entrance side of the first stand. Unit 600, final profile predicting means 700 for predicting the profile on the exit side of the final stand from the result of change amount calculation unit 600, and feedforward control unit 500 for calculating the operation amount of profile operation unit 102 of each stand. In addition to these, in addition to these, the operation amount storage means 1300 for storing the operation amount calculated by the feedforward control unit 500 of each stand, and the control quality based on the predicted profile value in the final stand when operated with each operation amount Profile determination to determine and adjust feedforward control unit 500 It is provided with the stage 1200.

  The final profile prediction means 700 stores the profile change amount calculated by the change amount calculation means 600. Then, based on the profile change amount stored in the prediction means 700, the feedforward control unit 500 calculates the operation amount. When the operation amount up to the final stand is calculated by the feedforward control unit 500, a predicted value of the profile deviation at the final stand is obtained. The profile determination unit 1200 includes a determination unit 1210, a correction unit 1220, and an arithmetic control unit 1230. The determination unit 1210 receives the final stand profile deviation predicted value as input, and determines whether the prediction error is within a preset allowable value. The determination result is sent to the calculation control unit 1230. If the predicted profile value is within the allowable value, the calculation control unit 1230 operates the profile operation unit 102 according to the operation amount stored in the operation amount storage unit 1300.

  On the other hand, if it is determined that the value is not within the allowable value, the arithmetic control unit 1210 causes the correction unit 1220 to change the range of the region division of each feedforward control unit 500. Then, using the profile change amount stored in the final profile prediction means 700, the operation amount is further calculated by the feedforward control unit 500 under the changed divided region. The above operation is repeated, and the manipulated variable is calculated until the predicted profile deviation value falls within the allowable value. At this time, the correction means 1210 can change the limit value (amount) of the operation amount in addition to the change of the divided area of the feedforward control unit 500.

  FIG. 11 is a flowchart showing a processing procedure of the profile control apparatus shown in FIG. If control is performed at a certain sampling interval, the exit-side profile of the final stand is measured with a sampling trigger (NS-FB1). Next, a profile deviation is calculated from the measured delivery profile and target profile (NS-FB2). First, the stand number i is set to “1”, the first stand is designated (NS-FB3), and the deviation data in the correction area B1 of the first stand is selected from the profile deviations obtained in the previous step NS-FB2. Is cut out (NS-FB4). The operation amount of the first stand is calculated with respect to the deviation data in the cut correction area B1 (NS-FB5). Next, a profile change value at the final stand is predicted from the calculated operation amount and profile deviation data (NS-FB6), and the predicted profile deviation data is used as deviation data (NS-FB7).

  The above is repeated until the final stand, and the operation amount of all the stands is calculated. When the operation amount of all the stands is calculated, a predicted profile deviation value at the final stand based on the obtained operation amount is calculated (NS-FB10). If the predicted profile deviation is within the preset allowable profile deviation, control is performed with the obtained operation amount (NS-FB13), and the process returns to step NS-FB0. Here, when the predicted profile deviation value is not within the allowable value, when calculating the operation amount of each stand, the range of the area to be divided is changed, or the operation amount limit value of each stand is changed (NS-FB12). ). Then, returning to step NS-FB3, the operation amount is calculated from the first stand. The above operation is repeated, and an operation amount is determined so that the predicted profile deviation falls within the allowable value. However, the maximum value of the operation amount limit is determined in advance, and if it is equal to or greater than the maximum value, the loop operation is forcibly repeated and the profile operation unit is operated with the stored operation amount. The timing of operating each profile operation unit, that is, the output timing of the operation amount of each stand calculated in the same control cycle is the timing at which the same point of material passes through each stand. In addition, the feedforward type control shown in FIG. 10 can also be performed by the same procedure as this procedure.

  FIG. 12 is a schematic diagram showing the state of the operation timing for each stand by the control timing adjusting means 2000. The operation amount of each stand is calculated in advance. In the case of the feedforward control unit 500, the feedforward operation amount of the first stand is the timing at which the control point measured by the entry-side profile measuring means 201 reaches the first stand. Control the operating means. Since this control point reaches the second stand after the transfer time corresponding to the rolling speed, the second stand operation amount is output at that timing. In this way, the control timing adjusting means outputs the operation amount corresponding to each stand in consideration of the transfer time between the stands.

  FIG. 13 is a schematic diagram showing another state of the operation timing for each stand by the control timing adjusting means 2000. FIG. Here, in consideration of the response delay of the operation means, the operation amount of each stand is output before the control point reaches each stand in the manner of the preview control. For example, the output timing of the operation amount is advanced by a time corresponding to the response delay of the operation means. As a result, an optimum operation can be performed in consideration of the response characteristics of the operation means.

  As described above, in the above-described embodiment, each stand is divided so that the profile correction areas do not overlap each other, and each stand calculates the operation amount in consideration of only the profile correction of the area that it is in charge of. The influence on the other area due to the operation amount is considered on the stand side in charge of the affected area, so that online control calculation is possible.

1 is a configuration diagram of a feedback type profile control apparatus according to a first embodiment of the present invention. FIG. It is a block diagram of the feedforward type profile control apparatus which concerns on 2nd Embodiment of this invention. It is a block diagram of the profile control apparatus provided with both the function of a feedback type and + feedforward type which concerns on 3rd Embodiment of this invention. It is a figure explaining the function of area division. It is a flowchart which shows the process sequence of the profile control apparatus shown in FIG. It is a flowchart which shows the process sequence of the profile control apparatus shown in FIG. FIG. 3 is a schematic diagram of an internal configuration according to another embodiment of the feedback control unit shown in FIG. 1. FIG. 3 is a schematic diagram of an internal configuration according to another embodiment of the feedforward control unit shown in FIG. 2. It is a block diagram of the feedback type profile control apparatus which concerns on 4th Embodiment of this invention. It is a block diagram of the feedforward type profile control apparatus which concerns on 5th Embodiment of this invention. It is a flowchart which shows the process sequence of the profile control apparatus shown in FIG. It is explanatory drawing of the control timing to each stand by a control timing adjustment means. It is explanatory drawing of another embodiment of the control timing to each stand by a control timing adjustment means.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 100 ... Tandem rolling mill, 101 ... Rolling mill of each stand, 201, 202 ... Profile measuring means, 102 ... Profile operation part, 300 ... Feedback control part of each stand, 301, 501 ... Area dividing means, 302, 502 ... Operation Quantity calculation means, 303, 503 ... model, 304, 504 ... prediction means, 400 ... error calculation section, 500 ... feedforward control section of each stand, 600 ... change amount calculation section, 700 ... final profile prediction means, 800 ... calculation Means 900, 1200 ... profile determination means, 1000, 1300 ... operation amount storage means, 2000 ... control timing adjustment means.

Claims (12)

  A plurality of rolling mills each having a profile operation unit for correcting the profile in the width direction of the rolled material (hereinafter, each rolling mill is referred to as a stand), profile measuring means for measuring a profile on the final stand exit side, and the profile An error calculation unit that calculates the difference between the measurement value measured by the measuring means and the target profile, and the operation amount of the profile operation unit of a stand and the final stand output based on the operation amount by inputting the difference between the profiles calculated by the error calculation unit. A first feedback control unit that outputs a profile error predicted value on the side, and a profile error predicted value on the final stand output side predicted by the first feedback control unit as input. The amount of operation of the profile operation unit and the profile error estimate on the final stand exit side due to the operation amount A profile control apparatus comprising: a second feedback control unit that outputs a value; and a control timing adjustment unit that adjusts an output timing of an operation amount output from the first and second feedback control units. .   A plurality of rolling mills each having a profile operation section for correcting the profile in the width direction of the rolled material (hereinafter, each rolling mill is referred to as a stand), profile measuring means for measuring a first stand entry side profile, A change amount calculation unit for calculating a change amount per time from a measurement value by the profile measurement means, and an input side profile change amount calculated by the change amount calculation unit as an input of the profile change amount on the exit side of the final stand A final profile predicting means for calculating a predicted value, and a profile change amount on the final stand output side calculated by the final profile predicting means as an input. A first feedforward control unit for outputting a profile change amount prediction value; The operation amount of the profile operation unit of the next stand of the certain stand and the predicted value of the profile change amount of the final stand exit side based on the operation amount are input using the profile change amount of the final stand exit side predicted by the mode control unit. A profile control apparatus comprising: a second feedforward control unit that outputs a control signal; and a control timing adjustment unit that adjusts an output timing of an operation amount output from the first and second feedforward control units. .   A profile control apparatus comprising both the configuration according to claim 1 and the configuration according to claim 2.   2. The feedback control unit according to claim 1, wherein each feedback control unit calculates a profile error amount on the final stand output side calculated by the error calculation unit or a predicted profile error value on the final stand output side output from the feedback control unit of the previous stand. As an input, an area dividing means for extracting error data in the dedicated area for each stand from the error data in the width direction of the profile error, and a stand corresponding to the dedicated area for correcting the error data extracted by the area dividing means. An operation amount calculation means for calculating an operation amount of the profile operation unit, and a model for calculating a profile to be corrected on the final stand exit side by the operation amount by inputting the operation amount calculated by the operation amount calculation means, The modified profile calculated in the model and the feedback in the previous stand Profile control device characterized by comprising a prediction means for predicting a final stand delivery side of the profile error and a final stand delivery side of the profile error control unit outputs as inputs.   3. The feedforward control unit according to claim 2, wherein each feedforward control unit calculates a profile change amount predicted value on the final stand output side calculated by the final profile prediction unit or a profile change on the final stand output side output by the feedforward control unit of the previous stand. An area dividing means for taking out the error data in the dedicated area for each stand from the error data in the width direction of the profile error with the amount predicted value as an input, and the dedicated area for correcting the error data extracted by the area dividing means A model that calculates the amount of profile to be corrected on the final stand exit side by the operation amount by inputting the operation amount calculated by the operation amount calculation unit and the operation amount calculation unit that calculates the operation amount of the profile operation unit of the corresponding stand And the corrected profile amount calculated by the model and the stand stand Profile control device characterized by comprising a prediction means for predicting a final stand delivery side of the profile errors of the final stand outlet side of the profile errors output from Dobakku controller as an input.   5. The profile control device according to claim 3, wherein the feedback control unit and the feedforward control unit are the feedback control unit according to claim 4 and the feedforward control unit according to claim 5, respectively.   A tandem rolling mill that corrects the profile in the width direction of the rolled material with a plurality of rolling mills each having a profile operation section (hereinafter, each rolling mill is referred to as a stand), and measures the profile on the final stand exit side with a profile measuring means. In the profile control method, the error between the profile measurement value on the final stand exit side and the target profile is calculated, the operation amount of the profile operation unit of a certain stand is calculated so as to remove the calculated profile error, and the operation amount is calculated. To calculate a predicted value of the profile error on the final stand exit side when the profile operation unit of the certain stand is operated, and to remove the predicted profile error predicted value on the final stand exit side. Calculate the operation amount of the profile operation section of the next-stage stand, and use the operation amount to calculate the next-stage profile. Profile control method characterized by performing a process of calculating a final stand delivery side of the profile error prediction value when operating the file operation unit to the last stand.   Tandem rolling in which the profile in the width direction of the rolled material is corrected by a plurality of rolling mills each having a profile operation section (hereinafter, each rolling mill is referred to as a stand), and the profile on the first stand entry side is measured by the profile measuring means. In the profile control method of the machine, the amount of change per time is calculated from the measured profile value on the entrance side of the first stand, and the profile change amount on the final stand exit side caused by the calculated profile change amount on the entrance side is predicted. Calculate the operation amount of the profile operation unit of a certain stand that cancels the calculated profile change amount on the final stand exit side, and calculate the predicted profile change amount value on the final stand exit side caused by the operation amount. The certain star is calculated and cancels the predicted profile change amount on the final stand exit side. A profile control method comprising: calculating an operation amount of a profile operation unit of a stand at the next stage of a station and calculating a predicted value of a profile change amount on a final stand exit side caused by the operation amount up to the final stand. .   A profile control method that performs both the profile control method according to claim 7 and the profile control method according to claim 8.   In any one of claims 7 to 9, in the calculation of the operation amount at each stand, the calculated profile error amount at the last stand exit side or the profile error predicted value at the last stand exit side calculated at the previous stand is calculated. The error data in the dedicated area for each stand is extracted from the data in the width direction, the operation amount for correcting the error data in the dedicated area is calculated, and obtained when the operation is performed with the operation amount. A profile control method characterized by calculating a profile prediction value and predicting a profile error on the final stand exit side from the calculated profile prediction value and a profile error on the final stand exit side calculated or measured in the previous stand .   7. The prediction according to any one of claims 4 to 6, wherein the predicted value of the profile on the final stand exit side and the error of the target profile are re-determined based on the operation amounts calculated by the feedback control unit and the feedforward control unit. When the error is an allowable value, a determination unit that controls with the calculated operation amount, and when the determination result of the determination unit is not the allowable value, a correction that corrects the range of the dedicated area divided for each stand And a profile control apparatus. When the prediction error of the final stand exit side profile and the target profile under each operation amount calculated in the feedback control and the feedforward control is re-determined and the prediction error is an allowable value Is controlled by the calculated operation amount, and if it is not an allowable value, the range of the dedicated area is corrected and the operation amount is calculated again.

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