JPH0464975B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a dancer roll control device that absorbs load fluctuations and controls tension applied to a material at a constant level in continuous processing equipment such as a steel manufacturing plant.

[Technical background of the invention and its problems]

As shown in Fig. 1, a continuous processing line in a steel manufacturing plant, etc. has two parts: an inlet part (hereinafter referred to as the "inlet part") into which material 2 is inserted, and a central part (hereinafter referred to as the "center part") in which the material 2 is continuously processed. ), and an outlet side part (hereinafter referred to as "outlet side part") from which the material 2 is taken out. To the continuous processing equipment 5 in the central part, it is necessary to feed the material 2 at a constant speed and under a constant tension in order to manufacture products of stable quality. However, since there is a limit to the length of material that can be unwound or wound on the entry side or the exit side, when inserting a new coil into the unwinding machine 1 or taking out a product coil from the winding machine 6, It is necessary to stop the inlet or outlet part. For this reason, although not shown in the figure, equipment (for example, a loop car, a loop tower, etc.) for temporarily storing the material 2 is provided between the entry side and the center part, and between the center and the exit side. There is. When the entry side stops, the material 2 stored in advance between the entry side and the center is supplied, and when the exit side stops, the material 2 is supplied between the entry side and the center. Material 2
By storing , the continuous processing equipment 5 in the central part is operated without stopping. However, when the inlet side or the outlet side is stopped and restarted, the load fluctuates, making it impossible to supply the material 2 at a constant speed and tension to the continuous processing equipment 5 in the central part. There is a risk that it will not be possible to obtain a quality product. A dancer roll 4 is provided to absorb tension fluctuations in the material 2 due to such load fluctuations. In the case of FIG. 1, the tension of the material 2 is controlled by a dancer roll drive electric motor 10 that drives a dancer roll 4, and the position of the dancer roll 4 is controlled by a roll drive that drives a roll 3 adjacent to the dancer roll 4. This is done by controlling the speed of the electric motor 9.

The tension in the material 2 is detected by a tension detector 8,
Based on the deviation between the detected tension value T and the tension setting value _TR , the tension control device 14 outputs a tension correction signal Tc. The current reference value I _R is corrected by this tension correction signal Tc, and the current control device 13 controls the current of the dancer roll driving motor 10, and as a result, the tension deviation of the material 2 is corrected.

The same applies to the position of the dancer roll 4.
Position detection value P from position detector 7 and position setting value
Based on the deviation of _PR , the position control device 12 outputs a position correction signal Pc. The speed reference value V _R is corrected by this position correction signal Pc, and the speed control device 11
The speed of the roll drive electric motor 9 is controlled, and as a result, the positional deviation of the dancer roll 4 is corrected.

A control block diagram of this conventional control system is shown in FIG. 2. In the tension control system using the roll drive electric motor 9, Vh is the roll drive electric motor 9.
, Vn+ ₁ is the exit speed of dancer roll 4,
T ₁ is the time constant of the speed control system of the roll drive motor 9;
E is the Young's modulus of the material 2, L is the length of the material 2 from a certain point on the entrance side of the dancer roll 4 to a certain point on the exit side, K _T is the conversion coefficient from tension to velocity of the material 2, f ₁
is a conversion coefficient from tension T to torque acting on the dancer roll 4. Furthermore, in the position control system using the dancer roll driving electric motor 10, T ₂ is the time constant of the current control system of the dancer roll driving electric motor 10;
J is the inertia factor of the dancer roll 4, _KN is the gain of the circuit that stabilizes by negative feedback from the position of the dancer roll 4 to the current control system, and _f2 is the length of the material 2 from the position of the dancer roll 4. is the conversion coefficient of

The amount of change ΔI′ _R in the current reference value I′ _R due to the tension correction signal Tc and the amount of change ΔV′ _R in the speed reference value V′ _R due to the position correction signal Pc are expressed by the following equation.

Tc=△I′ _R = (JT ₂ S ³ +JS ² +K _N S) △P+f ₁ (1+T ₂ S) △T …(1) Pc=△V′ _R = f ₂ S (1+T ₁ S) △P− {K _T (1+T ₁ S) +L/ES (1+T ₁ S)}△T …(2) As can be seen from these equations (1) and (2), the position control system and tension control system interfere with each other. ing. For this reason, the control gain has been suppressed to stabilize position control and tension control. Therefore, it has been impossible to correct small deviations, and it has been difficult to respond to sudden fluctuations.

[Purpose of the invention]

The present invention was made in consideration of the above circumstances, and
It is an object of the present invention to provide a dancer roll control device that can correct even small fluctuations or rapid fluctuations, has a fast response speed, and has good control accuracy.

[Summary of the invention]

To achieve this objective, the dancer roll control device according to the present invention corrects tension control so as to offset fluctuations in material tension due to position control of the dancer roll, and compensates for fluctuations in dancer roll position due to material tension control. By correcting the position control in this manner, mutual interference between the position control of the dancer roll and the tension control of the material is prevented.

[Embodiments of the invention]

The present invention will be explained below with reference to an embodiment shown in the drawings.
A dancer roll control device according to this embodiment is shown in FIG. As before, the material 2 from the unwinder 1 is
The target is a continuous processing line that passes through a central continuous processing facility 5 and is wound up by a winder 6. Also in this embodiment, the tension of the material 2 is controlled by current control of the dancer roll driving electric motor 10, and the position of the dancer roll 4 is controlled by speed control of the roll driving electric motor 9 of the roll 3.

Based on the deviation between the tension detection value T detected by the tension detector 8 and the tension setting value _TR , the tension control device 14 outputs a tension correction signal Tc. The current reference value I _R is corrected by this tension correction signal Tc, and the current control device 13 controls the current of the dancer roll driving motor 10. In addition, the position detection value P of the dancer roll 4 detected by the position detector 7 and the position setting value
Based on the deviation from _PR , the position control device 12 outputs a position correction signal Pc. The speed reference value V _R is corrected by this position correction signal Pc, and the speed control device 1
1 controls the speed of the roll drive electric motor 9.

This embodiment is characterized in that it further includes a tension correction device 15 and a position correction device 16. The tension correction device 15 receives the position correction signal Pc as input,
A tension correction signal that cancels tension fluctuations caused by position control based on this position correction signal Pc.
Outputs T′c and further corrects the current reference value I _R.
The position correction device 16 receives the tension correction signal Tc as input, outputs a position correction signal P′c that cancels the positional fluctuation of the dancer roll 4 caused by tension control based on the tension correction signal Tc, and adjusts the speed reference value V _R further correct.

A control block diagram of this embodiment is shown in FIG. _hP
is the transfer function of the position correction device 15, and h _T is the transfer function of the transmission device 16 of the tension correction device 16.
The following relationship holds between the position correction signal Pc and the tension correction signal Tc, the amount of change _ΔI'R in the current reference value _I'R , and the amount of change _ΔV'R in the speed reference value _V'R .

Tc＝1/1−h _P h _T △I′ _R −h _P /1−h _P h _T △V′ _R …(3) Pc＝−h _T /1−h _P h _T △I′ _R +1/ 1−h _P h _T △V′ _R …(4) These equations (3) and (4) can be expressed as determinants as follows.

Furthermore, expressions (1) and (2) can be expressed as determinants as follows.

However, A ₁ = JT ₂ S ³ + JS ² + K _N S B ₁ = f ₁ (1 + T ₂ S) C ₁ = f ₂ S (1 + T ₁ S) D ₁ = - {K _T (1 + T ₁ S) + L/ES ( 1+T ₁ S)} From equations (5) and (6), the relationship between the position correction signal Pc, the tension correction signal Tc, the position deviation signal ΔP and the tension deviation signal ΔT is as follows.

In order to eliminate interference between tension control and position control, the off-diagonal elements of the matrix on the right side of equation (7) may be set to zero. Therefore, it is sufficient that the following formula holds true.

1/1-h _P h _T B ₁ -h _P /1-h _P h _T D ₁ =0 ...(8) -h _T /1-h _P h _T A ₁ -1/1-h _P h _T C ₁ = 0...(9) Solving equations (8) and (9) for h _P and h _T yields the following.

h _P = B ₁ / D ₁ = f ₁ (1 + T ₂ S) / - {K _T (1 + T
₁ S)+L/ES(1+T ₁ S)} =-Ef ₁ (1+T ₂ S)/LT ₁ S ² +(L+EK _T T ₁
) S + EK _T … (10) h _T = C ₁ / A ₁ = f ₂ S (1 + T ₁ S) / JT ₂ S ³ + JS ² K _N
S=f ₂ (1+T ₁ S)/JT ₂ S ² +JS+K _N (11) Therefore, the transfer function h _P of the position correction device 15 is expressed as the transfer function h _T of the tension correction device 16 as shown in equation (10). If it is defined as in equation (11), interference between position control and tension control can be prevented.

In the previous embodiment, the electric motor 10 for driving the dancer roll
Although the current was controlled, it can be similarly controlled by speed control.

Furthermore, even when the tension of the material is controlled by the speed control of the roll drive motor, and the position of the dancer roll is controlled by the current control (or speed control) of the dancer roll drive motor, the same position correction as in the previous embodiment is applied. By providing the device and the tension correction device, interference between position control and tension control can be prevented.

Further, the same applies to the case where a plurality of dancer rolls are provided, and the same control is possible even if the positions and number of rolls are different.

〔Effect of the invention〕

As described above, according to the present invention, position control and tension control do not interfere with each other, so the gain of each control can be freely increased. Therefore, correction of small deviations and rapid fluctuations is possible, and control accuracy can be increased. As a result, high quality products can be obtained without stopping the continuous processing line.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a conventional dancer roll control device, FIG. 2 is a control block diagram of the same control device, FIG. 3 is a block diagram of a dancer roll control device according to an embodiment of the present invention, and FIG. 4 is a block diagram of the same. FIG. 3 is a control block diagram of the control device. 1...Rewinder, 2...Material, 3...Roll, 4
...Dancer roll, 5...Continuous processing equipment, 6...
Winding machine, 7... position detector, 8... tension detector,
9... Roll drive electric motor, 10... Dancer roll drive electric motor, 11... Speed control device, 12...
...Position control device, 13...Current control device, 14...
...Tension control device, 15...Tension correction device, 16...
...Position correction device.

Claims (1)

[Scope of Claims] 1. A dancer roll control device that controls a dancer roll to keep the tension of a material constant in a continuous material processing line, comprising: a dancer roll drive motor that drives the dancer roll; and a dancer roll drive motor that drives the dancer roll. a tension control device that keeps the tension of the material constant, a roll drive electric motor that drives a roll provided near the dancer roll, and a position control device that keeps the position of the dancer roll constant by the roll drive electric motor. a tension correction device that corrects the tension control of the tension control device so as to offset the tension fluctuation of the material caused by the position control of the position control device; and a tension correction device that compensates for the tension control of the dancer roll caused by the tension control of the tension control device. A dancer roll control device comprising: a position correction device that corrects the position control of the position control device so that the position control device performs the following: 2. A dancer roll control device that controls a dancer roll to keep the tension of the material constant in a continuous material processing line, which includes a roll drive motor that drives the roll provided near the dancer roll, and a roll drive motor that drives the roll to keep the tension of the material constant. a tension control device that keeps the tension constant; a dancer roll drive electric motor that drives the dancer roll; a position control device that keeps the dancer roll in a constant position by the dancer roll drive electric motor; a tension correction device that corrects tension control of the tension control device so as to offset fluctuations in tension of the material due to position control; and a position control device that compensates for fluctuations in the position of the dancer roll due to tension control of the tension control device. A dancer roll control device comprising: a position correction device for correcting position control of the dancer roll control device.