JPH10277618A - Tension controller for cold rolling mill - Google Patents

Abstract

PROBLEM TO BE SOLVED: To correct a tension disturbance received at the time of a rolling start and at the time of acceleration and the deceleration of a line by interfacing the estimated value of a motor field from the motor variable speed controller of unwinder and take-up machine, providing a field correcting circuit correcting a field shift occurring in terms of a vector control, and inputting a corrected value obtained by the field collecting circuit to a motor torque current output calculating circuit. SOLUTION: A motor field estimated value 16 required in terms of the vector control is interfaced from the motor variable speed controller. By using the value, the field shift is corrected by adding a field correcting circuit 17, and the precision of the motor torque current output calculating circuit 11 is enhanced. That is, the motor field is changed by the number of rotations of a motor, and its change is changed further by the acceleration and the deceleration ratio of the motor. Also, a deviation occurs in between the estimated value of the field and an actual motor field by the design error of a motor secondary time constant and the field shaft. Therefore, the field correcting circuit 17 is provided so that this deviation is eliminated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cold rolling mill for rolling a metal plate, in which rolling at the start of a rolling line under motor control of a rewinding machine, a winding machine, and a rolling mill, and at the time of acceleration / deceleration. The present invention relates to a tension control device for a cold rolling mill provided with a correction circuit for suppressing a change in material tension.

[0002]

2. Description of the Related Art FIG. 13 is a structural view showing a conventional cold rolling mill.
R) 42 and the winding machine (TR) 43 in the rolling direction 44
And a rolling mill (mill) 45 is interposed therebetween. FIG. 14 is a block diagram of the motor control circuit of the rolling mill 45. The components of the motor control circuit on the plant control device side include a speed command determining circuit 46 of the rolling mill (mill) 45, a rolling mill inching circuit 47, and a rolling mill motor. Speed conversion circuit 48, speed control output (REF) 4 to variable speed control device for rolling mill motor
9.

FIG. 15 shows a rewinding machine 42 and a winding machine 4.
FIG. 3 is a motor control block diagram showing a motor control circuit (tension control device) for 3 in which a component of the motor control circuit on the plant control device side is a speed of a rewinding machine (POR) 42 and a winding machine (TR) 43; Command determination circuit 50, jogging circuit 51 of rewinding machine (POR) 42 and rewinding machine (TR) 43, motor speed conversion circuit 52 of rewinding machine (POR) 42 and rewinding machine (TR) 43, rewinding (POR) 42 and take-up (TR) 43 Speed control output (REF) 53 to the motor variable speed device, tension command determination circuit 54 of rewind (POR) 42 and take-up (TR) 43, winding Current output calculation circuit 5 for motor torque of rewinding machine (POR) 42 and winding machine (TR) 43
5, an inertia compensation circuit 56 based on the amount (coil diameter) of the rolled material 41, a mechanical loss compensation circuit 57 for compensating for mechanical loss, a tension feedback control circuit 58 using a tension meter, a rewinding machine (POR) 42, and a winding machine ( TR) 43 and a torque current control output (variable current limit REF) 59 to the motor variable speed control device.

Next, the operation will be described. The rolled material 41 rolled in the rolling direction 44 by the rolling mill 45 is controlled by the rewinding machine 42, the winding machine 43, and the rolling mill 45 so as to maintain a constant plate tension. Rewinding machine 42
There is a motor control circuit for keeping the plate tension between the rolling machine 45 and the rolling machine 45 and the winding machine 43 constant. The motor control circuit of the rolling mill 45 includes a rolling mill speed command determination circuit 4
The speed control output (REF) determined in step 6 is converted by the rolling mill motor speed conversion circuit 48 from the plate speed to the motor rotation speed. The value is output to a motor variable speed control device (specifically, a thyristor device or inverter device) for speed control output (REF).
Output as 49 to control the speed of the motor for the rolling mill 45.

Next, the motor control circuit (tension control device) of the rewinding machine (POR) 42 and the winding machine (TR) 43
The speed control output (REF) determined by the OR and TR speed command determination circuit 50 is converted by the POR and TR motor speed conversion circuit 52 from the plate speed and the coil diameter at that time into a motor rotation speed. The value is output to the motor variable speed control device as a speed control output (REF) 53 to control the speed of the POR and TR motors. Regarding the plate tension, PO
The speed control output (REF) determined by the R and TR tension command determination circuit 54 is calculated into a torque component current value by a motor torque component current output calculation circuit 55 of POR and TR, and the value is sent to the motor variable speed control device. By giving a torque current speed control output (REF) 59, current control of the POR and TR motors is performed so that the tension is constant. The inertia compensation circuit 56, the mechanical loss compensation circuit 57, and the tension feedback control 58 using a tension meter use a conventional compensation / control circuit for suppressing the fluctuation of the plate tension.

[0006]

Since the conventional tension control device for a cold rolling mill is constructed as described above, it is possible to completely suppress the fluctuation of the tension at the start of rolling or at the time of acceleration / deceleration of the line. No, it causes product thickness fluctuation,
In addition, the operation becomes unstable, and the plate is broken. Therefore, in order to cope with recent high quality and stable work, it is necessary to suppress the fluctuation of the plate tension in all rolling operation conditions.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and is intended to provide a cold rolling mill capable of correcting when a tension disturbance such as a start of rolling of a cold rolling mill or a line acceleration / deceleration is received. An object is to obtain a tension control device.

[0008]

According to a first aspect of the present invention, there is provided a tension control device for a cold rolling mill, which interfaces a motor field estimated value from a motor variable speed control device for a rewinding machine and a winding machine. A field correction circuit for correcting a field deviation in vector control is provided, and a correction value obtained by the field correction circuit is input to a motor torque component current output calculation circuit.

According to a second aspect of the present invention, a tension control device for a cold rolling mill is provided with a torque current forcing circuit for providing a torque current correction value to a motor of a winder when a rolled material coil has a small diameter. It is.

According to a third aspect of the present invention, a tension control device for a cold rolling mill is provided with a speed forcing circuit which supplies a signal to a rolling mill motor at the start to speed up the speed rise.

A tension control device for a cold rolling mill according to a fourth aspect of the present invention is provided with a torque REF forcing circuit for sending a signal to a rolling mill motor at the time of start.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing the configuration of a cold rolling mill according to the present invention.
R) 2 and a winder (TR) 3 move along a rolling direction 4, and a rolling mill (mill) 5 is interposed therebetween.

FIG. 2 is a motor control block diagram showing a motor control circuit (tension control device) for the rewinding machine 2 and the rewinding machine 3. The components of the motor control circuit on the plant control device side are a rewinding machine. (POR) 2 and the speed command determination circuit 6 of the rewinding machine (TR) 3, the rewinding machine (PO)
R) 2 and the inching circuit 7 of the rewinding machine (TR) 3, the rewinding machine (POR) 2 and the motor speed conversion circuit 8 of the rewinding machine (TR) 3, the rewinding machine (POR) 2 and the rewinding machine (TR) Speed control output (RE
F) 9, rewinding machine (POR) 2 and winding machine (T
R) 3 tension command determination circuit 10, rewinding machine (POR)
2 and a motor torque current output calculation circuit 11 of the winding machine (TR) 3, an inertia compensation circuit 12 based on the amount (coil diameter) of the rolling material 1, a mechanical loss compensation circuit 1 for compensating for mechanical loss
3. Tension feedback control circuit 1 using tension meter
4. Rewinding machine (POR) 2 and winding machine (TR) 3
And a current control output (variable current limit REF) 15 for the torque to the motor variable speed control device.

Further, as shown in FIG. 2, the rewinding machine (POR) 2 and the rewinding machine (TR) 3 The motor field estimated value 16 in the vector control from the motor variable speed control device.
, And a field (φ) correction circuit 17 is added using the value to correct the field deviation in the vector control, and the motor torque component current output calculation circuit 11
To increase the accuracy of

Next, the operation will be described. When calculating the torque component current of the motor, how the estimated value of the motor field vector control matches the actual motor field depends on the accuracy of the current command value, more specifically, the accuracy of the plate tension control. It has a significant effect. The field of the motor changes according to the number of rotations of the motor, and the manner of the change depends on the acceleration / deceleration rate (d
V / dt). In addition, the estimated value of the field deviates from the actual field of the motor due to a design error of the motor secondary time constant and a field deviation in vector control. Therefore, the correction circuit 17 may be provided so that these motor field estimation values have no deviation from the actual field.

FIG. 3 shows details of the field correction circuit 17. As shown in FIG.
_The plant controller receives the _REF, and in the case of acceleration, an acceleration function generator (acceleration F, GEN)
The deceleration is performed by a function generator (F, GEN for deceleration) 19 in the case of deceleration. As shown in FIGS. 4 (a) and 4 (b), the correction of the deviation is performed by creating a model in advance and adjusting the estimated field value Φ so as to match the model.
_{Using REF} as a parameter, a correction is made using a polygonal line approximation function. Figure 4 (a) shows the correction in acceleration F, GEN18, correction is performed in 8-point polygonal line, [Phi ₁ shows a field after the correction. FIG. 4B shows the deceleration F, GEN19.
, The correction is performed with an eight-point broken line,
Φ ₂ shows the field after the correction.

In FIG. 4, the rate of change M
This shows a case where the function generation is performed using the data at the time of AX. Further, a rewinding machine (POR) 2 and a winding machine (TR) 3
Since the reel is constantly accelerating or decelerating by changing the coil diameter, the acceleration and deceleration here are determined not by the acceleration or deceleration of the speed of the rolling line but by the increase or decrease of the rotation speed of the reel motor.

Next, in the sense of making a correction, another correction is performed by a broken line approximation function using the acceleration / deceleration rate dV / dt as a parameter so as to add an additional correction to the field correction term at the acceleration / deceleration rate dV / dt at that time. give. A in FIG. 3 shows an additional correction in the case of acceleration. In this case, the correction is performed with a five-point broken line. When the acceleration rate is 100%, the correction is maximum, and when the acceleration rate is 100%, no correction is performed. Similarly, B shows an additional correction in the case of deceleration, and the correction is also performed with a five-point broken line. When the deceleration rate is 100%, the correction is maximized, and when the deceleration rate is 100%, no correction is performed.

In the above, when a model is created, the actual motor field cannot be measured, and the value of the polygonal line approximation function as described above is used to measure the actual tension fluctuation to correct the estimated field value. The minutes are determined. And Φ
₁ and Φ ₂ are input to the dΦ / dt limiter 20, and large fluctuations due to correction are limited by the dΦ / dt limiter 20 so that the output does not increase at one time. Where d
The Φ / dt limiter is a limiter for the amount of change per sampling, and prevents Φ from changing in a stepwise manner when switching to acceleration / deceleration⇔constant speed. The limit value is determined by the value and one sampling time. Next, at 21, the first-order time delay, that is, the delay of the actual change in the field of the motor is corrected to {1 / (1 + T)}.
S) A signal is input to the motor torque current output calculation circuit 11.

Embodiment 2 FIG. 5 is a block diagram showing a motor control device on a rolling mill 5 side in a tension control device for a cold rolling mill according to a second embodiment of the present invention. In the figure, components of a motor control circuit on a plant control device side are shown. Is a speed command determination circuit 22, a rolling mill inching circuit 23, a rolling mill motor speed conversion circuit 24, and a speed control output (REF) 25 to a rolling mill motor variable speed control device of the rolling mill (mill) 5.
Further, in the present embodiment, a speed forcing circuit 26 at the time of line start and a line start timing 27 are added. FIG. 6 shows the motor variable speed control device side, which is SC (Speed).
Control) amplifier 28, CC (Current)
Control) Amplifier 29 and Motor 3 for Rolling Mill 5
0.

Next, the operation will be described. At the start of the line, the rolling mill 5, the rewinding machine 2, and the winding machine 3 start rotating at the same time. Conventionally, control was performed on the motor variable speed control device side, but a higher accuracy was required. In the present embodiment, the rolling mill motor 30 was started at the plant control device side at the start. A speed forcing circuit 26 for giving a signal is provided so that the rise of the speed is speeded up to suppress the tension fluctuation at the start.

The manner in which the velocity forcing is applied is as shown in FIG. 7. In FIG. 7, when the velocity forcing is not applied, the rise is as shown by a dotted line. And the speed rises faster. As described above, the forcing circuit 26 controls the speed R for increasing the integration time of the SC amplifier 28 to the rolling mill motor 30 and improving the rolling mill start followability so as to suppress the fluctuation of the rolling material 1 tension.
An EF bias is applied.

Embodiment 3 FIG. FIG. 8 is a block diagram showing a motor control device on the rolling mill side in a tension control device for a cold rolling mill according to Embodiment 3 of the present invention. In FIG. 8, a torque component current REF forcing at the time of line start is shown. A circuit 31 is added. Next, the operation will be described. In addition to the speed forcing circuit 26 of the second embodiment, a torque-reflecting current REF forcing circuit 31 for the rolling mill motor is added to obtain a more accurate tension control at the time of line start.

The manner in which the velocity forcing is given is as shown in FIG. 9. By adding the _Iq forcing (Q-axis current) of FIG. 9B to the CC 29 as shown in FIG. c) _Iq FBK (feedback value of Q-axis current) is obtained. The part shown by the dotted line in FIG. 9C shows the case where no speed forcing is given. still,
The operation of the speed REF forcing circuit 26 is the same as in the second embodiment, as shown in FIG. With the above configuration, the rolling mill 5, the rewinding machine 2, and the winding machine 3 can be rotated synchronously to prevent a change in the plate tension.

Embodiment 4 FIG. 11 is a block diagram showing a motor control device on the side of a rewinding machine 2 and a winding machine 3 in a tension control device of a cold rolling mill according to Embodiment 4 of the present invention. A current forcing circuit 33 for the torque to the winding machine 3 at the time of line start having the line start timing 32 is provided. Next, the operation will be described. The motor is provided by adding a torque current forcing circuit 33 that performs torque current correction to the winder 3 side motor so as to exhibit an effect when the coil diameter on the output side is small (beginning of winding). The current correction value for the torque is given only when the coil diameter of the winding device 3 is smaller than a certain value (when the coil diameter is 1/3 or less of the maximum coil diameter), as shown in FIG. Incomplete derivative ｛1 / I _qf (fixed value in plant control device)
The value obtained by (1 + TS)｝ is given as a current correction value for the torque to the motor of the winder 3 to increase the torque. 12 (b) and 12 (c) show the incomplete differential ｛1 /
It is a figure which shows the Bode diagram and step response in case of (1 + TS)}. This makes it possible to suppress fluctuations in tension at the start of the line.

[0026]

According to the tension control device for a cold rolling mill according to the first aspect of the present invention, a motor field estimated value is interfaced from a motor variable speed control device for a rewinding machine and a winding machine, and vector control is performed. A field correction circuit for correcting the above field deviation was provided, and the correction value of this field correction circuit was input to the motor torque component current output calculation circuit. Can be corrected when receiving a disturbance such as tension.

According to the tension control device for a cold rolling mill according to a second aspect of the present invention, a torque current forcing circuit for providing a torque current correction value to a motor of the winding machine when the rolling material coil has a small diameter is provided. Therefore, the tension fluctuation at the start of the rolling line can be suppressed.

According to the tension control device for a cold rolling mill according to the third aspect of the present invention, a speed forcing circuit for providing a signal for speeding up the speed rise to the rolling mill motor at the start is provided. At the start, the rise of the speed of the rolling mill motor can be accelerated to suppress the fluctuation of the tension at the start.

According to the tension control device for a cold rolling mill according to the fourth aspect of the present invention, a current REF forcing circuit for transmitting a signal to a rolling mill motor at the time of starting is provided. In addition, the winder can be rotated synchronously to prevent fluctuations in plate tension.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a cold rolling mill according to Embodiment 1 of the present invention.

FIG. 2 is a block diagram of a motor control block according to Embodiment 1 of the present invention.

FIG. 3 is a circuit diagram showing a field correction circuit according to the first embodiment of the present invention.

FIG. 4 is graphs (a) and (b) for explaining field correction according to the first embodiment of the present invention.

FIG. 5 is a block diagram of a motor control block according to a second embodiment of the present invention.

FIG. 6 is a configuration diagram illustrating a motor variable speed control device according to a second embodiment of the present invention.

FIG. 7 is a graph for explaining speed forcing according to the second embodiment of the present invention.

FIG. 8 is a block diagram of a motor control block according to Embodiment 3 of the present invention.

FIG. 9 is a graph for explaining speed forcing according to the third embodiment of the present invention.

FIG. 10 is a configuration diagram showing a motor variable speed control device according to a third embodiment of the present invention.

FIG. 11 is a block diagram of a motor control block according to Embodiment 4 of the present invention.

FIG. 12 is a graph for explaining torque current forcing according to a fourth embodiment of the present invention.

FIG. 13 is a configuration diagram showing a conventional cold rolling mill.

FIG. 14 is a motor control block diagram showing a tension control device of a conventional cold rolling mill.

FIG. 15 is a motor control block diagram showing a tension control device of a conventional cold rolling mill.

[Explanation of symbols]

1 rolled material, 2 rewinding machine, 3 winder, 5
Rolling mill, 11 Motor torque component current output calculation circuit, 17
Field correction circuit, 26 Speed forcing circuit, 31
Current REF forcing circuit for torque, 33 Current forcing circuit for torque.

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification code FI H02P 7/00 B21B 37/00 BBN

Claims (4)

[Claims] 1. A tension control device for a cold rolling mill, wherein a rolled material moves between a rewinding machine and a winding machine and a rolling machine rolls the rolled material. The motor variable control device of the present invention interfaces a motor field estimated value, and a field correction circuit for correcting a field deviation in vector control is provided. The correction value of the field correction circuit is applied to a motor torque component current output calculation circuit. A tension control device for a cold rolling mill, wherein the tension is input. 2. The tension control of a cold rolling mill according to claim 1, further comprising a torque current forcing circuit for providing a torque current correction value to a motor of the winder when the diameter of the rolled material coil is small. apparatus. 3. A tension control device of a cold rolling mill for rolling a rolled material by a rolling mill while a rolled material moves between a rewinding machine and a winding machine. A tension control device for a cold rolling mill, comprising a speed forcing circuit for giving a signal for increasing a speed rise. 4. The tension control device for a cold rolling mill according to claim 3, further comprising a torque REF forcing circuit for sending a signal to a rolling mill motor at a start.