JP6558324B2 - Bridle roll control device - Google Patents

Description

  The present invention relates to a bridle roll control device. More particularly, the present invention relates to a bridle roll control device that performs tension control between sections of a steel cold rolling line and a process line.

  Steel cold rolling lines and process lines require that continuous strips be continuously conveyed with stable tension. Therefore, many bridle rolls and helper rolls are arranged in the process line in order to carry the conveyance and obtain a predetermined tension.

  Conventionally, as shown in FIG. 7, for example, a bridle roll around which a strip is wound, a motor that drives the bridle roll, a drive device that controls the motor based on a speed reference value, and a master control device that gives a speed reference value to the drive device There are known systems with In addition, the applicant has recognized the literature described below as a thing relevant to this invention.

JP-A-10-128437

  The transport speed of the strip depends on the roll diameter of the bridle roll, the rotational speed of the motor, and the gear ratio. The speed reference value given to the drive device is calculated in consideration of the roll diameter and gear ratio of the bridle roll in the strip conveyance schedule at each time. In the system shown in FIG. 7, the roll diameter of the bridle roll was set by manual input during regular maintenance, and the same set value was used during line operation.

  However, bridle rolls wear with operation and the roll diameter decreases. The decrease in the roll diameter disturbs the alignment speed of the bridle roll and the surrounding helper rolls, causing fluctuations in tension and affecting stable operation. In addition, the bridle roll is often the speed master of the speed master, and there is also a problem that tracking error occurs due to wear of the bridle roll. Conventionally, the roll wear level was confirmed and the roll was changed during regular maintenance, so the roll was sometimes worn heavily, and the roll change timing was not always suitable.

  The present invention has been made in order to solve the above-described problems, and an object of the present invention is to provide a bridle roll control device capable of suppressing disturbance in line alignment due to wear of the bridle roll and tracking errors. .

In order to achieve the above object, the present invention is a bridle roll control device comprising:
A first bridle roll carrying the wound strip;
A snubber roll that rotates in a state in which the strip is pressed against the first bridle roll to wind the strip around the first bridle roll at the time of passing before line operation;
An SR motor for driving the snubber roll;
An SR speed sensor that outputs a signal corresponding to the rotational speed of the SR motor;
A first BR motor that drives the first bridle roll based on a first speed reference value;
A first BR speed sensor that outputs a signal corresponding to the rotational speed of the second motor;
During the line operation, the snubber roll is temporarily pressed against the strip, and a value obtained by multiplying the roll diameter of the snubber roll by a speed value corresponding to the output signal of the SR speed sensor is output from the first BR speed sensor. A roll diameter calculation unit that calculates an actual roll diameter of the first bridle roll based on a value divided by a speed value according to a signal;
And a speed reference calculation unit that calculates the next first speed reference value for the first BR motor based on the actual roll diameter.

  Preferably, a roll diameter warning unit that outputs a warning signal when the actual roll diameter is smaller than a predetermined roll replacement threshold value is further provided.

  Since the snubber roll is mainly used for threading, the wear of the roll is extremely small. According to the present invention, the snubber roll is temporarily used during line operation, and the actual roll diameter of the bridle roll is calculated based on the detected snubber roll speed value and bridle roll speed value. Then, the speed reference value of the bridle roll is updated according to the actual roll diameter of the worn bridle roll. Therefore, according to the present invention, the speed reference value during operation can be compensated, the disturbance of the alignment speed of the line due to wear of the bridle roll and the tracking error can be suppressed, and the stable operation of the line can be achieved.

  Further, according to the present invention, since the actual roll diameter of the bridle roll can be calculated during operation, a warning signal is output when the actual roll diameter is smaller than the roll replacement threshold. Therefore, according to the present invention, it is possible to optimize the roll replacement time and improve the maintainability.

It is a figure which shows the system structural example of the bridle roll group used in the steel process line. It is a figure for demonstrating abrasion of a bridle roll. It is a figure for demonstrating the system configuration | structure which concerns on Embodiment 1 of this invention. It is a flowchart of the control routine which the master controller 80 which concerns on Embodiment 1 of this invention performs. 3 is a diagram illustrating a hardware configuration example of a processing circuit included in the master control device 80. FIG. It is a figure for demonstrating the system configuration | structure which concerns on Embodiment 2 of this invention. It is a figure which shows the system structural example of a general bridle roll group.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, the same code | symbol is attached | subjected to the element which is common in each figure, and the overlapping description is abbreviate | omitted.

Embodiment 1 FIG.
[System Configuration of Embodiment 1]

  FIG. 1 is a diagram showing a system configuration example of a bridle roll group used in a steel process line.

  The strip 1 is a sheet-shaped steel plate (thin plate). The strip 1 is wound around a plurality of bridle rolls and conveyed downstream in a tensioned state. The conveyance speed of the strip 1 is several tens to several hundreds mpm (meter per minute).

  The system shown in FIG. 1 includes a plurality of bridle rolls. The bridle roll conveys the strip 1 downstream with a predetermined tension applied to the strip 1. The four bridle rolls shown in FIG. 1 are, in order from the upstream, the first bridle roll 10 (# 1BR), the second bridle roll 20 (# 2BR), the third bridle roll 30 (# 3BR), and the fourth bridle roll 40 ( # 4BR). The number of bridle rolls is not limited to this. In general, a helper roll (not shown) for assisting the transport of the strip 1 is provided around the bridle roll.

  A snubber roll 50 (SR) rotating above the first bridle roll 10 in a state where the strip 1 is pressed against the first bridle roll 10 in order to wind the strip 1 around the first bridle roll 10 at the time of feeding before line operation. ) Is provided. The snubber roll 50 is mainly used when the plate is passed, that is, until the end of the strip 1 is wound around all the bridle rolls, and is not used during the line operation and is separated from the strip 1. In response to an instruction from the master controller 80, it can be temporarily used during line operation.

  Each bridle roll and snubber roll 50 described above are connected to the motor via a gear mechanism. The motor is provided with a speed sensor (rotation detector) that outputs a pulse signal.

  Specifically, the snubber roll 50 is connected to an SR motor 51 that drives the snubber roll 50 via a gear mechanism. An SR speed sensor 52 that outputs a signal corresponding to the rotational speed of the SR motor 51 is provided in the vicinity of the SR motor 51. Similarly, the first bridle roll 10 is connected to a first BR motor 11 that drives the first bridle roll 10 via a gear mechanism. A first BR speed sensor 12 that outputs a signal corresponding to the rotational speed of the first BR motor 11 is provided in the vicinity of the first BR motor 11. The second bridle roll 20 is connected to a second BR motor 21 that drives the second bridle roll 20 via a gear mechanism. A second BR speed sensor 22 that outputs a signal corresponding to the rotational speed of the second BR motor 21 is provided in the vicinity of the second BR motor 21. The third bridle roll 30 is connected to a third BR motor 31 that drives the third bridle roll 30 via a gear mechanism. A third BR speed sensor 32 that outputs a signal corresponding to the rotational speed of the third BR motor 31 is provided in the vicinity of the third BR motor 31. The fourth bridle roll 40 is connected to a fourth BR motor 41 that drives the fourth bridle roll 40 via a gear mechanism. In the vicinity of the fourth BR motor 41, a fourth BR speed sensor 42 that outputs a signal corresponding to the rotational speed of the fourth BR motor 41 is provided.

FIG. 2 is a diagram for explaining the wear of the bridle roll.
The length of the conveyed strip 1 (strip length) depends on the roll diameter of the bridle roll, the rotational speed (rotational speed) of the motor, and the gear ratio. The speed reference value given to the drive device that controls the motor is calculated in consideration of the roll diameter of the bridle roll and the gear ratio in the transport schedule of the strip 1 at each time. Conventionally, the roll diameter of the bridle roll has been set by manual input during maintenance (FIG. 7). However, bridle rolls wear with operation, and the roll diameter decreases. The decrease in the roll diameter disturbs the alignment speed of the bridle roll and the surrounding helper rolls, causing fluctuations in tension and affecting stable operation.

  Therefore, in the system according to the present embodiment, the actual roll diameter of the bridle roll that decreases due to wear during line operation is calculated, and the speed reference value of the bridle roll is updated according to the actual roll diameter.

FIG. 3 is a diagram for explaining a system configuration according to Embodiment 1 of the present invention.
The system shown in FIG. 3 includes a first BR drive device 60 for the first bridle roll 10, an SR drive device 70 for the snubber roll 50, and a master control device 80 in addition to the configuration of FIG. In the example shown in FIG. 3, other bridle roll drive devices are omitted for ease of explanation.

  The first BR drive device 60 receives the first speed reference value from the master control device 80, and controls power supply to the first BR motor 11 based on the first speed reference value. The first speed reference value is the target rotational speed of the first BR motor 11.

  The first BR drive device 60 includes a load balance unit 61, an ASR (Automatic Speed Regulator) 62, an ATR (Automatic Torque Regulator) 63, and an inverter 64. The load balancer 61 controls the load on each bridle roll. The ASR 62 sets the rotation speed of the first BR motor 11 to the command rotation speed (a value obtained by correcting the first speed reference value based on the difference between the first speed reference value and the speed value corresponding to the output signal of the first BR speed sensor 12). Control to match. The ATR 63 performs control so that the shaft torque of the first BR motor 11 matches the command shaft torque. Inverter 64 is controlled based on the output values of ASR 62 and ATR 63. The first BR drive device 60 also includes a speed feedback circuit for making the speed value corresponding to the output signal of the first BR speed sensor 12 coincide with the first speed reference value.

  Similarly, the SR drive device 70 receives the SR speed reference value from the master controller 80 and controls the power supply to the SR motor 51 based on the SR speed reference value. The SR speed reference value is a target rotation speed of the SR motor 51. The SR drive device 70 includes an ASR 72, an ATR 73, and an inverter 74. The SR drive device 70 also includes a speed feedback circuit for making the speed value corresponding to the output signal of the SR speed sensor 52 coincide with the SR speed reference value.

  The master controller 80 includes a speed reference calculation unit 81 and a roll diameter calculation unit 82. The speed reference calculation unit 81 calculates an individual speed reference value for each drive device in consideration of the roll diameter and gear ratio of each roll in the transport schedule of the strip 1 at each time. In the example shown in FIG. 3, the first BR speed reference value is output to the first BR drive device 60, and the SR speed reference value is output to the SR drive device 70.

  The roll diameter calculator 82 calculates the actual roll diameter of the first bridle roll 10 based on the speed value corresponding to the output signal of the SR speed sensor 52 and the speed value corresponding to the output signal of the first BR speed sensor 12.

  The calculation of the roll diameter of the bridle roll in the roll diameter calculation unit 82 will be described. The master controller 80 performs control to press the snubber roll 50 against the strip 1 and rotate it periodically during line operation and in response to an extraordinary request operation by the operator. During this control, the roll diameter calculator 82 calculates the actual roll diameter of the first bridle roll 10.

  The strip length L can be obtained from the roll diameter, the number of rotations of the motor, and the gear ratio. Since the snubber roll 50 and the first bridle roll 10 carry the same strip 1, the snubber roll is assumed on the assumption that no slip occurs. When the relationship between 50 and the first bridle roll 10 is expressed by an equation, it becomes equal to the strip length L.

  Formula (1) is a formula for calculating the strip length L in the snubber roll 50.

here,
r (SR): snubber roll diameter rpm (SR): snubber roll speed Gear (SR): snubber roll gear ratio

  Formula (2) is a formula for calculating the strip length L in the first bridle roll 10.

here,
r (BR): diameter of bridle roll rpm (BR): rotational speed of bridle roll Gear (BR): gear ratio of bridle roll

  As described above, since the strip lengths L of the snubber roll 50 and the first bridle roll 10 are equal, the actual roll diameter of the bridle roll is expressed by the formula (3) from the formulas (1) and (2).

  As for the formula (3), the snubber roll 50 is normally used at the time of feeding and not during operation. Therefore, the wear of the snubber roll 50 itself during operation is extremely small, and the roll diameter at the time of a new article or periodic maintenance is maintained. It is thought that. That is, r (SR) is considered to be a fixed value. The gear ratios Gear (SR) and Gear (BR) are also fixed values. Therefore, speed values (rpm (SR) and rpm (BR) corresponding to the output signals of the SR speed sensor 52 and the first BR speed sensor when the snubber roll 50 is pressed against the strip 1 temporarily (periodically) during line operation. )) Is substituted into equation (3), the actual roll diameter r (BR) of the first bridle roll 10 can be calculated. When the first bridle roll 10 is worn and the roll diameter is reduced, the first BR motor 11 that drives the first bridle roll 10 receives the rotational force of the other bridle roll and receives the rotational speed from the current speed reference value. Also rotating at high speed. The rpm (BR) means an actual measurement value of the rotation speed of the first BR motor 11 in such a state.

  The roll diameter calculating unit 82 temporarily presses the snubber roll 50 against the strip 1 during operation, and the roll diameter r (SR) of the snubber roll 50 is a speed value rpm (SR) corresponding to the output signal of the SR speed sensor 52. The actual roll diameter r (BR) of the first bridle roll is calculated based on a value obtained by dividing the value by the speed value rpm (BR) corresponding to the output signal of the first BR speed sensor 12. That is, the actual roll diameter r (BR) of the first bridle roll 10 is calculated by substituting the speed values corresponding to the output signals of the SR speed sensor 52 and the first BR speed sensor 12 into the equation (3).

  The above-described speed reference calculation unit 81 considers the gear ratio of the first bridle roll and the calculated actual roll diameter r (BR) in the transport schedule of the strip 1 at each time, and performs the following for the first BR motor 11. A first speed reference value is calculated. The calculated first speed reference value is output to the first BR drive device 60.

  FIG. 4 is a flowchart of a control routine executed by the master control device 80 in order to realize the above-described operation.

  In the routine shown in FIG. 4, the master controller 80 makes a roll diameter measurement request periodically during line operation and in response to a temporary request operation by the operator. In step S100, it is determined whether there is a roll diameter measurement request. When the determination condition is satisfied, control is performed in which the snubber roll 50 is pressed against the strip 1 and rotated (step S110).

  In step S120, the roll speed of the snubber roll 50 is detected. Specifically, a speed value corresponding to the output signal of the SR speed sensor 52 is input to the roll diameter calculation unit 82.

  In step S130, the roll speed of the first bridle roll 10 is detected. Specifically, a speed value corresponding to the output signal of the first BR speed sensor 12 is input to the roll diameter calculation unit 82.

  The process of step S140 is executed after the processes of step S120 and step S130. In step S140, the roll diameter calculation unit 82 sets the speed value according to the output signal of the SR speed sensor 52 as rpm (SR), and sets the speed value according to the output signal of the first BR speed sensor 12 as rpm (BR). The actual roll diameter r (BR) of the first bridle roll 10 is calculated by substituting into the formula (3).

  In step S150, the speed reference calculation unit 81 considers the gear ratio of the first bridle roll and the calculated actual roll diameter r (BR) in the transport schedule of the strip 1 at each time, and the speed reference calculation unit 81 The next first speed reference value is calculated. The calculated first speed reference value is output to the first BR drive device 60.

(effect)
As described above, according to the master controller 80 according to the first embodiment of the present invention, the actual roll diameter of the first bridle roll 10 is periodically calculated during line operation, and the worn first bridle roll 10 is worn. The first speed reference value can be periodically updated according to the actual roll diameter. Further, when the first bridle roll 10 is a speed master, the line speed can be accurately grasped, so that the tracking error can be reduced. Therefore, according to the system of the present embodiment, the first speed reference value during operation is compensated, and it is possible to suppress disturbance in line alignment due to wear of the first bridle roll and tracking errors, thereby realizing stable line operation. can do.

(Modification)
By the way, in the system of the first embodiment described above, the actual roll diameter of the first bridle roll 10 is periodically calculated during line operation to compensate for the first speed reference value. It is not limited to one bridle roll 10. The i-th speed reference value related to the i-th bridle roll (i ≧ 2, i is a natural number) can be similarly compensated.

  Specifically, the i-th bridle roll (i ≧ 2, i is a natural number) that conveys the wound strip 1 disposed downstream of the first bridle roll 10 and the i-th speed reference value. An iBR motor that drives the roll; and an iBR speed sensor that outputs a signal corresponding to the rotational speed of the iBR motor. Then, the roll diameter calculating unit 82 divides the value obtained by multiplying the roll diameter of the snubber roll 50 by the speed value corresponding to the output signal of the SR speed sensor 22 by the speed value corresponding to the output signal of the iBR speed sensor. Based on this, the actual roll diameter of the i-th bridle roll is calculated (formula (3)). The speed reference calculation unit 81 calculates the next i-th speed reference value for the i-BR motor based on the actual roll diameter of the i-th bridle roll. This also applies to the second embodiment below.

(Hardware configuration example of master controller 80)
FIG. 5 is a diagram illustrating a hardware configuration example of a processing circuit included in the master control device 80. Reference numerals 81 and 82 in FIG. 3 indicate some of the functions of the master controller 80, and each function is realized by a processing circuit. For example, the processing circuit includes at least one processor 101 and at least one memory 102. For example, the processing circuit includes at least one dedicated hardware 103.

  When the processing circuit includes the processor 101 and the memory 102, each function is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is described as a program. At least one of software and firmware is stored in the memory 102. The processor 101 implements each function by reading and executing a program stored in the memory 102. The processor 101 is also referred to as a CPU (Central Processing Unit), a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. For example, the memory 102 is a nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.

  When the processing circuit includes dedicated hardware 103, the processing circuit is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. For example, each function is realized by a processing circuit. For example, each function is collectively realized by a processing circuit.

  Further, part of each function may be realized by the dedicated hardware 103 and the other part may be realized by software or firmware.

  As described above, the processing circuit realizes each function by the hardware 103, software, firmware, or a combination thereof.

Embodiment 2. FIG.
[System Configuration of Embodiment 2]
Conventionally, the roll wear level was confirmed and the roll was changed during regular maintenance, so the roll was sometimes worn heavily, and the roll change timing was not always suitable. According to the first embodiment described above, the actual roll diameter of the bridle roll can be calculated periodically during line operation. In the second embodiment, the actual roll diameter of the bridle roll calculated in the first embodiment is used to output a warning signal when the actual roll diameter is smaller than the roll replacement threshold to notify the roll replacement time. .

  FIG. 6 is a diagram for explaining a system configuration according to the second embodiment of the present invention. The system shown in FIG. 6 is the same as the system shown in FIG. 3 except that a roll diameter warning unit 83 is added to the master controller 80 and an alarm device 90 connected to the master controller 80 is added. Therefore, the description of the common configuration is omitted.

  The roll diameter warning unit 83 determines whether or not the actual roll diameter of the bridle roll calculated by the roll diameter calculation unit 82 is smaller than a predetermined roll replacement threshold. The roll replacement threshold value is a threshold value related to the wear of the roll. When the roll replacement threshold value is smaller than the threshold value, it is considered that the wear has progressed and should be replaced. The roll diameter warning unit 83 outputs a warning signal when the actual roll diameter is smaller than a predetermined roll replacement threshold.

  The alarm device 90 has means for notifying an operator of a warning signal such as a screen display, a warning light, or a buzzer, and issues a warning according to the warning signal.

  As described above, according to the system according to the second embodiment of the present invention, the actual roll diameter of the bridle roll is periodically calculated during line operation, and the roll replacement time is accurately notified according to the actual roll diameter. can do. Therefore, it is possible to optimize the replacement time of the worn bridle roll and improve the maintainability.

1 Strip 10, 11, 12 1st bridle roll, 1st BR motor, 1st BR speed sensor 20, 21, 22 2nd bridle roll, 2nd BR motor, 2nd BR speed sensor 30, 31, 32 3rd bridle roll, 3rd BR Motor, 3rd BR speed sensor 40, 41, 42 4th bridle roll, 4th BR motor, 4th BR speed sensor 50 Snubber roll 51 SR motor 52 SR speed sensor 60 1st BR drive device 61 Load balance unit 62, 72 ASR
63, 73 ATR
64, 74 Inverter 70 SR drive device 80 Master controller 81 Speed reference calculation unit 82 Roll diameter calculation unit 83 Roll diameter warning unit 90 Alarm device 101 Processor 102 Memory 103 Hardware

Claims (3)

A first bridle roll carrying the wound strip;
A snubber roll that rotates in a state in which the strip is pressed against the first bridle roll to wind the strip around the first bridle roll at the time of passing before line operation;
An SR motor for driving the snubber roll;
An SR speed sensor that outputs a signal corresponding to the rotational speed of the SR motor;
A first BR motor that drives the first bridle roll based on a first speed reference value;
A first BR speed sensor that outputs a signal corresponding to the rotational speed of the first BR motor;
During operation, the snubber roll is temporarily pressed against the strip, and the output signal of the first BR speed sensor is obtained by multiplying the roll diameter of the snubber roll by the speed value corresponding to the output signal of the SR speed sensor. A roll diameter calculating unit that calculates an actual roll diameter of the first bridle roll based on a value divided by a corresponding speed value;
A speed reference calculating unit that calculates the next first speed reference value for the first BR motor based on the actual roll diameter;
A bridle roll control device comprising: An i-th bridle roll (i ≧ 2, i is a natural number) disposed downstream of the first bridle roll and carrying the wound strip;
An iBR motor that drives the i th bridle roll based on an i th speed reference value;
An iBR speed sensor that outputs a signal corresponding to the rotational speed of the iBR motor,
The roll diameter calculation unit is based on a value obtained by multiplying a value obtained by multiplying the roll diameter of the snubber roll by a speed value corresponding to the output signal of the SR speed sensor by a speed value corresponding to the output signal of the iBR speed sensor. Calculating the actual roll diameter of the i-th bridle roll,
The speed reference calculation unit calculates the next i-th speed reference value for the i-th BR motor based on the actual roll diameter;
The bridle roll control device according to claim 1. When the actual roll diameter is smaller than a predetermined roll replacement threshold, a roll diameter warning unit that outputs a warning signal,
The bridle roll control device according to claim 1, further comprising:

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