Rolling mill with rolling dependent on material properties

Abstract

Rolling mill having a rolling stand (1) in which a flat rolling stock (2) composed of metal is rolled. Arranged before and / or after the rolling stand (1) is a sensor device (6) which detects at least one measured variable (M) which characterizes a material property of the flat rolling stock (2). The material property can be, in particular, an electromagnetic property or a mechanical property of the rolling stock (2). The sensor device (6) transmits the detected measured variable (M) to a control device (9) for the rolling mill. The control device (9) takes into account the measured variable (M) in order to derive a control value (A) for the rolling stand (1). The control of the rolling stand (1) influences the material property of the flat rolling stock (2). The control value (A) is a proportion of the peripheral speeds (vO, vU) used by the upper and lower work rolls (3, 4) of the rolling stand (1).

Description

Technical Field

[0001] The present invention relates to a rolling mill having a first rolling stand for rolling flat workpieces made of metal. Background Technology

[0002] For the aforementioned rolling mill

[0003] —A sensor mechanism is arranged before and / or after the first rolling mill stand.

[0004] —The sensor mechanism is connected to the control mechanism for the rolling mill to transmit the detected measurement variables.

[0005] —The control mechanism is configured such that it takes into account the transmitted measurement variables within the range of the control values ​​acquired for the first rolling mill stand.

[0006] —The sensor mechanism is configured such that at least one measurement variable characterizing the material properties of the flat rolled piece can be detected.

[0007] —The manipulation of the first rolling mill stand by the control value affects the material properties of the flat rolled piece —The first rolling mill stand has an upper work roll and a lower work roll.

[0008] The concept of "first rolling stand" within the scope of this invention does not refer to a rolling mill that is forcibly equipped with multiple rolling stands and where the first rolling stand is the foremost stand through which the flat workpiece first passes. More precisely, it should include the case where the rolling mill has only the first rolling stand. In this case, only the first rolling stand exists. Furthermore, in the case where the rolling mill has multiple rolling stands, the concept of "first rolling stand" is used only to distinguish it from the other rolling stands of the rolling mill, and should not imply any order. Therefore, the first rolling stand can be arranged at any position in the sequence of rolling stands of the rolling mill in this case. That is, if, purely exemplary, the flat workpiece first passes through rolling stand A, then through rolling stand B, then through rolling stand C, and finally through rolling stand D, then the first rolling stand can be any of rolling stands A through D, while the other rolling stands are the second rolling stands.

[0009] When manufacturing flat rolled pieces, efforts are made to adjust the geometric properties of the flat rolled pieces, especially their width and thickness, with the highest possible precision. The same applies to their shape or profile. Flatness should also be observed. Furthermore, as a supplement to these geometric properties, and possibly others, the material properties of the flat rolled pieces should also be adjusted. Material properties are the characteristics that the flat rolled piece should possess in its subsequent use, such as a specific yield point, a specific material hardness, or a specific magnetizability. Therefore, material properties are the characteristics that a material possesses without depending on its specific current state (such as temperature) or its geometric properties. The causes of specific material properties, besides the material itself, are the grain structure of the metal.

[0010] Adjustments to material properties can be made, at least in part, during the rolling of flat workpieces. However, a difference often remains between the actual and desired target values ​​of the material properties. In such cases, it is necessary to heat-treat the flat workpiece after hot rolling. This is particularly applicable if a so-called Goss texture is to be established for the workpiece. However, similar problems arise for certain steels, especially AHSS (advanced high strength steel) and for the quality of martensite and bainite. Regarding heat treatment, the workpiece can be cooled appropriately in a cooling zone after hot rolling or annealed within the range of cold rolling to adjust material properties. Alternatively, this treatment can be performed after cold rolling or between two cold rolling steps. Background Technology

[0012] The professional paper "Umformtechnik fürdie" by Gerhard Hirt et al., published on January 21, 2020, is available at https: / / publications.rwth-aachen.de / record / 762556 / files / 762556.pdf. As known in "(Forming Techniques for Electromobility)," asymmetric rolling can be advantageous in setting a texture in the rolled piece that is favorable for magnetization. In asymmetric rolling, the circumferential speeds of the upper and lower work rolls of the rolling mill stand are different. Therefore, during rolling, shear forces act on the flat rolled piece along the transport direction. This shear force causes a rearrangement of crystal orientations.

[0013] The type of rolling mill mentioned at the beginning is known, for example, from WO 2017 / 157692 A1. For this type of rolling mill, control values ​​are used to adjust, for example, the reduction thickness or the rolling force. Summary of the Invention

[0014] The object of the present invention is to provide a feasible solution by means of which the electrical, magnetic or mechanical material properties of a flat rolled piece can be selectively adjusted as needed in a simple and reliable manner.

[0015] This task is accomplished by a rolling mill. The invention also relates to advantageous designs for said rolling mill.

[0016] The rolling mill has a first rolling stand for rolling flat workpieces made of metal.

[0017] —A sensor mechanism is arranged before and / or after the first rolling stand, by means of which at least one measurement variable characterizing the material properties of the flat rolled piece can be detected.

[0018] —The sensor mechanism is connected to the control mechanism for the rolling mill to transmit the detected measurement variables.

[0019] —The control mechanism is configured such that it takes into account the transmitted measurement variables within the range of the control values ​​acquired for the first rolling mill stand.

[0020] —The manipulation of the first rolling mill stand using the aforementioned control values ​​affects the material properties of the flat rolled piece.

[0021] —The first rolling mill stand has an upper work roll and a lower work roll.

[0022] According to the present invention, for the type of rolling mill mentioned above, the control mechanism is configured such that the control value obtained, taking into account the measured variables, is the ratio of the upper circumferential speed used by the upper work roll when rotating to the lower circumferential speed used by the lower work roll when rotating.

[0023] Therefore, a measurement variable is detected, which allows the corresponding material properties of the flat rolled piece to be directly obtained at the moment of measurement. Thus, there is a direct functional relationship between the measurement variable and the material properties. What is unnecessary is the implementation of complex model calculations, such as modeling temporal evolution.

[0024] The phrase "at the moment of measurement" should not imply that the material properties change automatically and continuously over time due to variations in the state of the flat rolled piece, such as changes in its temperature. However, the material properties can be adjusted to other values ​​at later times through appropriate treatment of the rolled piece, such as rolling in a first rolling mill or in another rolling mill, or through heat treatment.

[0025] It is possible that the rolling mill has only the aforementioned first rolling stand and therefore only one single rolling stand. In this case, the sensor mechanism is arranged directly before or after the rolling stand. However, it is also possible that the rolling mill, as a supplement to the first rolling stand, also has at least one second rolling stand. In this case, several different design options are possible.

[0026] Therefore, for example, it is possible that the second rolling stand is not arranged between the sensor mechanism and the first rolling stand. This design is implemented, for example, if the sensor mechanism is arranged before the foremost rolling stand of a multi-stand mill train and the control value obtained by the control mechanism, taking into account the measured variables, applies to the foremost rolling stand; or conversely, if the sensor mechanism is arranged after the last rolling stand of a multi-stand mill train and the control value obtained by the control mechanism, taking into account the measured variables, applies to the last rolling stand. Similarly, this design is implemented, for example, if the sensor mechanism is arranged between two rolling stands of a multi-stand mill train and the control value obtained by the control mechanism, taking into account the measured variables, applies to one of these two rolling stands; or if the control mechanism obtains two such control values, one of which applies to one of the two rolling stands respectively.

[0027] As an alternative, it is possible that at least one of the second rolling stands is arranged between the sensor mechanism and the first rolling stand. This design is implemented, for example, if the sensor mechanism is arranged before the foremost rolling stand of the multi-stand rolling mill train and the control value obtained by the control mechanism, taking into account the measured variables, applies to a rolling stand different from the foremost rolling stand; or conversely, if the sensor mechanism is arranged after the last rolling stand of the multi-stand rolling mill train and the control value obtained by the control mechanism, taking into account the measured variables, applies to a rolling stand different from the last rolling stand.

[0028] Of course, combinations of these processing methods are also possible. Thus, for example, the sensor mechanism can be positioned before the foremost rolling stand in a multi-stand rolling mill train, and the control mechanism can acquire multiple control values, taking into account measurement variables, with one control value acting on the foremost rolling stand and another on the next rolling stand. Similarly, conversely, the sensor mechanism can be positioned after the last rolling stand in a multi-stand rolling mill train, and the control mechanism can acquire multiple control values, taking into account measurement variables, with one control value acting on the last rolling stand and another on the next rolling stand.

[0029] The control mechanism is preferably configured such that the ratio of the upper circumferential speed to the lower circumferential speed is determined such that this ratio is between 0.5 and 2.0, and particularly between 0.9 and 1.1. This allows it to cover all relevant situations in practice.

[0030] To achieve different circumferential speeds, it is possible that the upper work roll is driven by an upper drive unit and the lower work roll is driven by a different lower drive unit. In this case, the different circumferential speeds can be easily achieved by adjusting the two drive units to different rotational speeds accordingly.

[0031] Alternatively, the upper and lower work rolls may be driven by a common drive unit. In this case, a transmission mechanism is arranged between the common drive unit on one hand and the upper and lower work rolls on the other hand, by means of which the rotational speed of the upper output shaft of the transmission mechanism, which is anti-torsionally connected to the upper work roll, can be steplessly adjusted relative to the rotational speed of the lower output shaft of the transmission mechanism, which is anti-torsionally connected to the lower work roll.

[0032] As a supplement to adjusting the ratio between the circumferential speeds, the control mechanism may be configured such that the control value obtained, taking into account the measured variables, is the effect of the temperature of the upper and / or lower work rolls and / or the flat workpiece in the first rolling mill prior to rolling in the first rolling mill. For example, cooling can be induced by water jetting or heating can be induced by induction heating.

[0033] If the sensor mechanism is positioned before the first rolling mill stand, the control mechanism is preferably configured such that it outputs the control values ​​acquired, taking into account the measured variables, to the first rolling mill stand, while considering the displacement tracking of the flat workpiece from the sensor mechanism to the first rolling mill stand. The control mechanism thus takes into account the transport time elapsed between the detection of the measured variables for a specific section of the flat workpiece and the rolling of the same section of the flat workpiece in the first rolling mill stand when operating the first rolling mill stand.

[0034] Preferably, the control mechanism includes a model by which it acquires control values ​​for the first rolling mill stand, taking into account measured variables, and further acquires expected values ​​of material properties for the flat workpiece after rolling in the first rolling mill stand, taking into account the control values ​​acquired with respect to the measured variables. Furthermore, it is preferred that an additional sensor mechanism is arranged behind the first rolling mill stand, by means of which at least one additional measured variable characterizing the material properties of the flat workpiece after rolling in the first rolling mill stand can be detected. This additional sensor mechanism is connected to the control mechanism to transmit the detected additional measured variable. Finally, the control mechanism is preferably configured such that it uses the additional measured variable at a time when it acquires the value, taking into account displacement tracking of the flat workpiece from the first rolling mill stand to the additional sensor mechanism, and adapts the model based on a comparison of the additional measured variable with the expected values ​​of the material properties. Through this process, the model can be made to gradually and better match the actual state of the flat workpiece.

[0035] Preferably, the control mechanism is configured such that, when acquiring control values, it considers, as a supplement to the transmitted measurement variables, the temperature of the flat workpiece before rolling it in the first rolling mill and / or the rolling force and / or the pass thinning amount during rolling the flat workpiece in the first rolling mill. This allows for the setting of desired material properties with high accuracy. The necessary correlations can be stored in the control mechanism, for example, in the form of a family of characteristic curves.

[0036] In a preferred design, the sensor mechanism includes an excitation element and a first sensor element. A fundamental signal is excited in the flat rolled piece by means of the excitation element. A first sensor signal based on the excited fundamental signal is detected by means of the first sensor element. Possibly, the sensor mechanism acquires the transmitted measurement variable in consideration of the first sensor signal. Alternatively, it is possible that the transmitted measurement variable includes the first sensor signal.

[0037] In some cases, it may be possible to detect only the first sensor signal. However, the sensor mechanism typically includes an additional number of second sensor elements. In this case, the corresponding second sensor elements are arranged before or after the first sensor elements and / or laterally offset when viewed from the first sensor elements along the transport direction. A corresponding second sensor signal, similar to the first sensor signal, based on the excited fundamental signal, is detected by means of these corresponding second sensor elements. It is possible that the sensor mechanism also acquires the transmitted measurement variable in consideration of the corresponding second sensor signals. For example, the difference or quotient of the corresponding sensor signals can be formed. Alternatively, it is possible that the transmitted measurement variable also includes the corresponding second sensor signal. In this case, similar evaluations can be performed by the control mechanism.

[0038] The underlying signal can be, for example, an eddy current. Alternatively, the underlying signal can be an acoustic signal, particularly an ultrasonic signal.

[0039] Preferably, the line connecting the excitation element to the first sensor element extends parallel to the transport direction. This results in particularly reliable measurements.

[0040] The material properties, as already mentioned, can be the electromagnetic or mechanical properties of the rolled material.

[0041] Hot rolling can be performed in certain cases. However, cold rolling is usually performed. Therefore, the rolling mill is usually a cold rolling mill. Attached Figure Description

[0042] The features, characteristics, and advantages of the present invention described above, and the ways and methods of achieving them, will become clearer and more readily understood in conjunction with the following description of embodiments, which will be explained in detail below with reference to the accompanying drawings. The accompanying drawings are illustrated schematically as follows:

[0043] Figure 1 A rolling mill with a first rolling stand is shown.

[0044] Figure 2 It shows Figure 1 A top view of part of the rolling mill.

[0045] Figure 3 and 4 It shows Figure 3 Side views at two different times.

[0046] Figure 5 A flowchart is shown.

[0047] Figure 6 It shows Figure 1 A top view of part of the rolling mill.

[0048] Figure 7 and 8 It shows Figure 6 Side views at two different times.

[0049] Figure 9 and 10 Another rolling mill with a first rolling stand is shown.

[0050] Figure 11 A flowchart is shown.

[0051] Figure 12 and 13 The drive structure for the work roll is shown.

[0052] Figure 14 The effects of the rolling mill stand and temperature are shown, and

[0053] Figures 15 to 20 Different design schemes for the rolling mill train are shown. Detailed Implementation

[0054] according to Figure 1 Like every rolling mill, the rolling mill has at least one first rolling stand 1. The first rolling stand 1 is used to roll flat rolled pieces 2, especially strips, made of metal. The flat rolled pieces 2 are made of metal, which can be steel or aluminum in particular. In the case of steel, the flat rolled pieces can be electrical steel sheets with a fairly high proportion of silicon (typically between 2% and 4%).

[0055] The rolling process can be hot rolling. In this case, the rolling mill is a hot rolling mill. However, cold rolling is usually involved. In this case, the rolling mill is a cold rolling mill.

[0056] In the first rolling mill stand 1, Figure 1The upper work roll 3 and the lower work roll 4 are only shown in the accompanying drawings. However, the first rolling mill stand 1 typically has additional rolls, such as a support roll to supplement the work rolls 3 and 4 in a four-roll stand and an intermediate roll to supplement the work rolls 3 and 4 and the support roll in a six-roll stand, the intermediate roll being arranged between the work rolls 3 and 4 and the support roll. Other designs are also possible, such as a so-called 20-roll rolling mill stand. Regardless of the specific design, the upper work roll 3 rotates at an upper circumferential speed vO, while the lower work roll 4 rotates at a lower circumferential speed vU. Not only the upper circumferential speed but also the lower circumferential speeds vO and vU are greater than 0.

[0057] according to Figure 1 As illustrated in the diagram, the rolling mill is constructed as a reversible rolling mill. Therefore, in order to roll the flat workpiece 2, the rolling mill has coilers 5 before and after the first rolling stand 1. The concepts of "before" and "after" should always be considered relative to the first rolling stand 1 in conjunction with the transport direction x, in which the flat workpiece 2 is rolled in the first rolling stand 1. Therefore, for a reversible rolling mill, the concepts of "before" and "after" are defined only during the period of a corresponding rolling pass and are reversed in the corresponding next rolling pass.

[0058] A sensor mechanism 6 is arranged behind the first rolling mill stand 1. The sensor mechanism 6 enables the detection of a measurement variable M. The detected measurement variable M characterizes the material properties of the flat rolled piece 2. Examples of such properties include the electrical conductivity, magnetic permeability, and magnetic saturation of the rolled piece 2, or generally, electromagnetic properties. Other examples of material properties include the yield strength, yield point, elongation at break, or generally, mechanical properties of the rolled piece 2. The parameters mentioned can be either isotropic or oriented (i.e., independent of direction). All parameters are based on the grain structure and, if necessary, on the orientation of the grains of the metal used to constitute the rolled piece 2.

[0059] The following is combined with Figures 2 to 4 One possible design scheme for the sensor mechanism 6 is explained. However, the present invention is not limited to this design scheme for the sensor mechanism 6.

[0060] according to Figures 2 to 4 The sensor mechanism 6 includes an excitation element 7. This excitation element 7 enables the generation of a fundamental signal within the flat rolled piece 2.

[0061] For example, the excitation element 7 can be based on Figure 3 and 4The diagram in the figure is constructed as a coil, to which an excitation current IA is intermittently applied, and the coil thereby generates eddy currents IW in the rolled piece 2 as a fundamental signal. Figure 3 The sensor mechanism 4 is shown at a moment in which an excitation current IA is applied to the excitation element 7.

[0062] Furthermore, the sensor mechanism 6 includes a first sensor element 8a. A first sensor signal Ia is detected by means of this first sensor element 8a. The detection of the first sensor signal Ia occurs after the fundamental signal is excited, that is, at a later time. At this later time, no fundamental signal is typically excited. However, the previously excited fundamental signal has not yet completely decayed. The first sensor signal Ia is based on the excited fundamental signal. For example, the first sensor element 8a is based on... Figure 3 and 4 The diagram can be constructed as a coil, thereby inducing a current in the first sensor element 8a due to eddy current IW, which forms the first sensor signal Ia.

[0063] The first sensor element 8a in Figures 2 to 4 The first sensor element 8a is shown as a different element from the excitation element 7. This design represents a conventional approach. In this case, the first sensor element 8a is arranged behind the excitation element 7 along the transport direction x of the rolled piece 2. The line connecting the excitation element 7 to the first sensor element 8a preferably extends parallel to the transport direction x in this case. However, in some cases, the first sensor element 8a can also be the same as the excitation element 7. This design is particularly possible if the time interval between the excitation of the fundamental signal and the detection of the excited fundamental signal is sufficiently small.

[0064] The sensor mechanism 6 is in accordance with Figure 1 It is connected to the control mechanism 9 for the rolling mill. Due to the connection between the sensor mechanism 6 and the control mechanism 9, the detected measurement variable M can be transmitted to the control mechanism 9. It is possible that the transmitted measurement variable M includes the first sensor signal Ia. If the transmitted measurement variable M does not include any additional components, then the transmitted measurement variable M can also be the same as the first sensor signal Ia. Alternatively, it is possible that the sensor mechanism 6 first evaluates the first sensor signal Ia (and, if necessary, other signals) to obtain the measurement variable M, and the result of this evaluation is the measurement variable M. For example, the sensor mechanism 6 can associate the first sensor signal Ia with the excitation signal IA and thereby obtain the measurement variable M.

[0065] The sensor mechanism 6 often supplements the first sensor element 8a by having a number of second sensor elements 8b to 8d. These second sensor elements 8b to 8d are different from the first sensor element 8a (and generally also different from the excitation element 7). Viewed from the excitation element 7, the second sensor elements 8b to 8d are typically arranged after the excitation element 7, although this may differ in some cases. Second sensor signals Ib to Id can be detected by means of the second sensor elements 8b to 8d. These second sensor signals Ib to Id are also based on the excited fundamental signal IW and are of the same type as the first sensor signal Ia. The second sensor signals Ib to Id are typically detected simultaneously with the first sensor signal Ia.

[0066] If the second sensor elements 8b to 8d are also additionally present, then the sensor mechanism 6 can transmit all sensor signals Ia to Id as a measurement variable M, that is, transmit not only the first sensor signal Ia but also the second sensor signals Ib to Id. The corresponding evaluation of the sensor signals Ia to Id is then performed by the control mechanism 9. Alternatively, the evaluation of the sensor signals Ia to Id (completely or partially) can already be performed by the sensor mechanism 6, and the result of this evaluation can be transmitted as a measurement variable M. Different arrangements and designs are possible regarding the arrangement of the second sensor elements 8b to 8d relative to the first sensor element 8a.

[0067] For example, the sensor mechanism 6 can have second sensor elements 8b and 8c, which are laterally offset from the first sensor element 8a when viewed along the transport direction x. In this case, the sensor mechanism 6 correlates the first sensor signal Ia with the second sensor signals Ib and Ic and thereby obtains the measurement variable M. The measurement variable M can in this case be obtained, in particular, from the difference or quotient of the sensor signals Ia, Ib, and Ic. Figure 2 As shown, if a second sensor element 8b and 8c are arranged on both sides of the first sensor element 8a, the sensor mechanism 6 can correlate the first sensor signal Ia with the average value of the two second sensor signals Ib and Ic.

[0068] As an alternative or supplementary solution, the sensor mechanism 6 may have a second sensor element 8d, which is arranged before or after the first sensor element 8a when viewed from the first sensor element 8a along the transport direction x. Arrangement after the first sensor element 8a is conventional in this case. When the second sensor element 8d is arranged before or after the first sensor 8a, the sensor mechanism 6 can correlate the first sensor signal Ia with the second sensor signal 8d and thereby obtain a measurement variable M. The measurement variable M can also be obtained in this case, in particular, based on the difference or quotient of the sensor signals Ia and Id.

[0069] The control mechanism 9 is in accordance with Figure 5 In step S1, the measured variable M transmitted to it is received. In step S2, the control mechanism 9 acquires the control value A for the first rolling mill stand 1. Figure 5 As illustrated in the diagram, the control mechanism 9 takes into account at least the transmitted measurement variable M when acquiring the control value A. The control mechanism 9 often also additionally considers other variable data when acquiring the control value A, such as, for example, the temperature T of the flat rolled piece 2 before rolling in the first rolling mill 1 and / or the rolling force F during rolling the flat rolled piece 2 in the first rolling mill 1 and / or the pass thinning amount during rolling the flat rolled piece 2 in the first rolling mill 1. The temperature T and rolling force F can be detected by means of appropriate sensors known to those skilled in the art. The pass thinning amount, that is, the ratio of the thickness d2 on the exit side of the flat rolled piece 2 to the thickness d1 on the inlet side of the flat rolled piece 2 (see...). Figure 1 The speed of the flat rolled piece 2 in the region of the sensor mechanism 6 can be known, for example, by the control mechanism 9 based on the pass sequence. Furthermore, the control mechanism 9 can specifically consider the speed of the flat rolled piece 2 in the region of the sensor mechanism 6 within the range of the measurement of the measured variable M. If necessary, the positions of the excitation element 7 and / or sensor elements 8a to 8d can also be considered. In step S3, the control mechanism 9 controls the first rolling mill stand 1 according to the acquired control value A.

[0070] The control mechanism 9 iteratively executes steps S1 to S3 repeatedly. The time constant used for the repetition is generally between 0.1s and 1.0s, especially between 0.2s and 0.5s.

[0071] The control mechanism 9 is configured such that it performs... Figure 5 The processing method. The control mechanism 9, in addition, is based on... Figure 1The diagrams in the diagram are typically constructed as software-programmable control mechanisms. In this case, the control mechanism 9 is programmed with a control program 10. The control program 10 includes program code 11, which can be executed by the control mechanism 9. During operation, the control mechanism 9 executes the program code 11. Executing the program code 11 by the control mechanism 9 allows the control mechanism 9 to be configured accordingly.

[0072] The above combination Figures 1 to 5 The following design schemes are explained, in which the fundamental signal is eddy current IW and thus an electrical parameter. These designs are particularly meaningful if the measured variable M characterizes electrical or magnetic material properties. However, the designs can also infer mechanical material properties.

[0073] The following will be combined Figures 6 to 8 Explain another design scheme. Figures 6 to 8 This shows the relationship with Figures 2 to 4 Completely similar design schemes. The difference lies in... Figures 6 to 8 The excitation element 7 described herein emits an acoustic signal, particularly an ultrasonic signal. Correspondingly, the sensor elements 8a to 8d are designed to detect the corresponding acoustic signal. In other respects, regarding... Figures 2 to 4 The explanation can be applied in a similar way.

[0074] Figure 9 It shows Figure 1 A modification scheme for the rolling mill. The difference lies in that, in accordance with... Figure 9 In the design of the rolling mill, the sensor mechanism 6 is no longer arranged after the first rolling stand 1, but before the first rolling stand 1. In other aspects, regarding... Figure 1 The explanation and the related information Figures 2 to 8 The explanation, such as the software programming design scheme of the control mechanism 9, can still be applied. In accordance with... Figure 9 Within the scope of the design scheme, particularly likely, the control mechanism 9 outputs the control value A, which it acquires taking into account the measured variable M, to the first rolling mill 1, taking into account the displacement tracking from the sensor mechanism 6 to the first rolling mill stand 1 for the flat rolled piece 2. Details in this regard will be explained in conjunction with another design scheme, as described below. Figure 10 This alternative design will be explained.

[0075] Figure 10 Origin Figure 9 Therefore, it's like in Figure 9 Just like in the middle, in accordance with Figure 10In the design, the sensor mechanism 6 is arranged before the first rolling mill stand 1. The control mechanism 9 includes model 12, for example, due to the execution of program code 11. Furthermore, another sensor mechanism 13 is arranged after the first rolling mill stand 1. By means of the other sensor mechanism 13, at least one additional measurement variable M' can be detected. The detected additional measurement variable M' characterizes the material properties of the flat rolled piece 2 as it exists after rolling in the first rolling mill stand 1. The additional measurement variable M' therefore characterizes the same material properties as the measurement variable M and is thus, conceptually, of the same kind as the measurement variable M. The difference is that the measurement variable M characterizes the material properties of the flat rolled piece 2 before rolling in the first rolling mill stand 1, while the measurement variable M' characterizes the material properties of the flat rolled piece 2 after rolling in the first rolling mill stand 1.

[0076] The other sensor mechanism 13 is also connected to the control mechanism 9 for the rolling mill. Due to the connection between the other sensor mechanism 13 and the control mechanism 9, it is particularly possible to transmit the detected additional measurement variable M' to the control mechanism 9.

[0077] The following is combined with Figure 11 right Figure 10 The operation mode of the rolling mill will be explained. Considering the displacement tracking of the flat rolled piece 2 from the sensor mechanism 6 to the first rolling mill stand 1 at the first rolling stand, Figure 11 It also shows Figure 9 The operation of the rolling mill.

[0078] according to Figure 11 In step S11, the control mechanism 9 receives the measurement variable M transmitted to it. Step S111: 1. With Figure 2 This corresponds to step S1. In step S12, the control mechanism 9 acquires the control value A for the first rolling mill stand 1. Step S12 is related to... Figure 2 This corresponds to step S2. The difference is that in step S12, the control mechanism 9 uses model 12 to obtain the control value A. In particular, the model parameter k is involved in obtaining the control value A.

[0079] In step S13, the control mechanism 9 obtains the desired value E of the material properties of the flat rolled piece 2 after rolling in the first rolling mill stand 1, taking into account the control value A, which is the control value A obtained in step S12. This acquisition is also performed using model 12.

[0080] In step S14, the control mechanism 9 waits for a first waiting time t1. This first waiting time t1 corresponds to the time required for a specific section of the flat rolled piece 2 to reach the first rolling mill stand 1 from the sensor mechanism 6. Essentially, the control mechanism 9 thus achieves displacement tracking of the flat rolled piece 2 from the sensor mechanism 6 to the first rolling mill stand 1. In the simplest case, the first waiting time t1 (see...) Figure 10 The first waiting time t1 is the result obtained by dividing the distance a1 from the sensor mechanism 6 to the first rolling mill stand 1 by the conveying speed v1 of the flat rolled piece 2 before the first rolling mill stand 1. If another rolling mill stand is arranged between the sensor mechanism 6 and the first rolling mill stand 1, then the first waiting time t1 may be obtained by adding multiple time segments, each time segment representing a specific segment and derived by the conveying speed of the flat rolled piece 2 in the corresponding segment and the length of the corresponding segment.

[0081] In step S15, and thus after the first waiting time t1 ends, the control mechanism 9 operates the first rolling mill stand 1 according to the acquired control value A. Step S15 is essentially equivalent to... Figure 2 Step S3. As a result, the control mechanism 9 outputs the control value A to the first rolling stand 1, taking into account the displacement tracking of the flat rolled piece 2 from the sensor mechanism 6 to the first rolling stand 1.

[0082] In step S16, the control mechanism 9 then waits for a second waiting time t2. The second waiting time t2 corresponds to the time required for a specific section of the flat rolled piece 2 to move from the first rolling mill stand 1 to the other sensor mechanism 13. Essentially, the control mechanism 9 thus achieves displacement tracking of the flat rolled piece 2 from the first rolling mill stand 1 to the other sensor mechanism 13. In the simplest case, t1 (see also...) Figure 10 The second time t2 corresponds to the distance a2 from the first rolling mill stand 1 to the other sensor mechanism 13 divided by the conveying speed v2 of the flat rolled piece 2 after the first rolling mill stand 1. If another rolling mill stand is arranged between the first rolling mill stand 1 and the other sensor mechanism 13, then the second waiting time t2 may be obtained by adding multiple time segments, each time segment representing a specific segment and derived by the conveying speed of the flat rolled piece 2 in the corresponding segment and the length of the corresponding segment.

[0083] In step S17, and thus after the second waiting time t2 ends, the control mechanism 9 receives from another sensor mechanism 13 the additional measurement variable M' detected by that sensor mechanism 13 at this moment. In step S18, the control mechanism 9 tracks the model parameter k based on a comparison of the additional measurement variable M' with the expected value E of the material property E, and thereby adapts the model 12. As a result, the control mechanism 9 uses the additional measurement variable M' within the scope of adapting the model 12 at the moment when the control mechanism 9 has already acquired the time, taking into account the displacement tracking of the flat rolled piece 2 from the first rolling mill stand 1 to the other sensor mechanism 13.

[0084] The control mechanism 9 iteratively executes steps S11 to S18 in a manner similar to steps S1 to S3. The above explanation of steps S1 to S3 can be applied similarly.

[0085] Furthermore, steps S11 to S18 and their sequence are implemented slightly differently in practice. For example, steps S11 to S18 can be instantiated and executed multiple times. Alternatively, the sequence of steps S11 to S18 may be divided into two parts executed in parallel. In this case, the first part includes steps S11 to S15, and the second part includes steps S16 to S18.

[0086] It is also possible that steps S14 to S16 themselves can be cancelled. In this case, the remaining steps S11 to S13, S15, S17, and S18 can be executed asynchronously directly. In this case, for example, the corresponding control value A obtained in step S12 and the corresponding expected value E obtained in step S13 can be temporarily cached in a buffer (not shown). If necessary, the corresponding additional measurement variable M' detected in step S17 can also be temporarily cached in a buffer. In this case, an execution time is allocated for the corresponding control value A at storage. In this case, a utilization time is allocated for the corresponding expected value E in a similar manner. In addition, a detection time can also be allocated for the corresponding additional measurement variable M' if necessary. In this case, the stored control value A is output when step S15 is executed accordingly, just at the execution time of the control value. When step S18 is executed accordingly, the stored expected value E is utilized in a similar manner, and the utilization time of the expected value coincides with the current time. If necessary, the stored control value A and the stored expected value E can be interpolated in this respect. If it is also necessary to store the other measurement variable M' and its detection time, then this applies in a similar manner to the other measurement variable M'.

[0087] However, regardless of the specific implementation method, it is important that the adaptation process of model 12 for step S18 applies to all subsequent executions of steps S12 and S13 in time.

[0088] This determines the type of control value A, such that the control applied to the first rolling mill stand 1 using control value A affects the material properties of the flat rolled piece 2. Specifically, the control mechanism 9... Figure 12 and 13 The diagram shows the control value A used to obtain the ratio of the upper circumferential speed vO to the lower circumferential speed vU. This enables asymmetric rolling, in which the two work rolls 3 and 4 rotate at different circumferential speeds vO and vU. The control value A can be, for example, based on... Figure 12 and 13 The diagram in the figure is used as a factor in obtaining the upper circumferential velocity vO (or its target value vO*), wherein the lower circumferential velocity vU (or its target value vU*) must be multiplied by the factor.

[0089] Typically, the ratio of the upper circumferential speed vO to the lower circumferential speed vU is between 0.5 and 2.0, particularly between 0.9 and 1.1. Furthermore, it is generally irrelevant which of the two work rollers 3 and 4 rotates faster than the other work roller 4 and 3.

[0090] also, Figure 12 A design scheme is shown that is particularly easy to implement in terms of adjustment technology. Specifically, in Figure 12 Within the scope of the design scheme, the upper working roller 3 is driven by the upper driving device 14, while the lower working roller 4 is driven by the lower driving device 15. The lower driving device 15, in accordance with... Figure 12 The design scheme is for a drive device that is different from the upper drive device 14. In this case, it is only necessary to pre-define the corresponding target values ​​vO* and vU* for the upper drive device 14 and the lower drive device 15.

[0091] In contrast, according to Figure 13In the design, the upper work roller 3 and the lower work roller 4 are driven by a common drive unit 16. In this case, a transmission mechanism 17 is arranged between the common drive unit 16 and the work roller 3 and the lower work roller 4. The transmission mechanism has an input shaft 18 on one side and an upper output shaft 19 and a lower output shaft 20 on the other. The input shaft 18 is torsionally connected to the common drive unit 16. The upper output shaft 19 is torsionally connected to the upper work roller 3, and the lower output shaft 20 is torsionally connected to the lower work roller 4. The input shaft 18 acts not only on the upper output shaft 19 but also on the lower output shaft 20.

[0092] The transmission mechanism 17 is configured such that the ratio of the rotational speed of the upper output shaft 19 to the rotational speed of the lower output shaft 20 can be steplessly adjusted. For example, the transmission mechanism 17 may have a dividing block 21 in which the power transmission system is divided between the upper working roller and the lower working rollers 3 and 4. Then, an intermediate transmission mechanism 22 can be arranged between the dividing block 21 and the upper working roller 3, by means of which the ratio of the rotational speed on the output side of the intermediate transmission mechanism 22 to the rotational speed on the input side can be steplessly changed. Such an intermediate transmission mechanism 22 is well known to those skilled in the art. Examples are planetary gear transmission mechanisms and differentials. As an alternative or supplement to the arrangement between the dividing block 21 and the upper working roller 3, an intermediate transmission mechanism (not shown) can also be arranged between the dividing block 21 and the lower working roller 4.

[0093] Figure 14 Another control value A is shown, which can be obtained as a supplement to control value A if necessary, said control value acting on the circumferential speeds vO and vU of work rolls 3 and 4. Figure 14 The control value A can be the temperature effect of the upper work roll 3, which is applied to the upper work roll 3 through a corresponding influencing mechanism 23. For example, the upper work roll 3 can be cooled by water spraying.

[0094] As an alternative or supplementary solution, the control value A can be the temperature influence of the lower work roll 4. For example, similar to the upper work roll 3, the lower work roll 4 can be cooled by water jetting through a corresponding influencing mechanism 23'. As an alternative or supplementary solution, the control value A can be the temperature influence of the flat workpiece 2 before rolling in the first rolling stand 1. For example, the flat workpiece 2 can be heated, especially by induction heating, through a corresponding influencing mechanism 23".

[0095] Combined with the above Figures 1 to 14 The basic principles of the invention and different possible design schemes are explained. Figures 1 to 14Within the scope of this study, a reversible rolling mill was observed, which has only one single rolling stand 1, namely the first rolling stand 1. However, a completely similar design is also possible if the rolling mill—with or without being a reversible rolling mill—additionally has another rolling stand, hereinafter referred to as the second rolling stand 24.

[0096] Therefore, for example, according to Figures 15 to 20 The illustration suggests that the rolling mill may have multiple rolling stands 1, 24, through which the rolled piece 2 passes sequentially. Therefore, in this case, the rolling mill is constructed as a multi-stand mill train. However, the corresponding number shown, namely a total of five sequentially arranged rolling stands 1, 24, is merely illustrative. In the second rolling stand 24, in... Figures 15 to 20 Only the work rolls are shown in the image. However, typically, the second rolling mill 24 is similar to the first rolling mill 1, with additional rolls. Furthermore, in... Figures 15 to 20 Only the rolling mill stands 1 and 24, the rolled piece 2, and the sensor mechanism 6, and additional sensor mechanisms 13 if necessary, are shown. However, other components of the rolling mill exist, particularly the control mechanism 9. The control mechanism 9 typically operates on all rolling mill stands 1 and 24, even when... Figures 15 to 20 The image only shows the control of the first rolling mill stand 1 using the control value A.

[0097] Figures 15 to 20 The design schemes are largely similar. However, they differ in the arrangement of the sensor mechanism 6, the arrangement of the second rolling mill stand 24 relative to the sensor mechanism 6 and relative to the first rolling mill stand 1, and the presence or absence of another sensor mechanism 13.

[0098] Specifically, in Figures 15 to 16 In the design scheme, the sensor mechanism 6 is arranged behind the last rolling mill stand 1, 24 of the rolling mill train. Figure 15 In the design scheme, the control value A, that is, the control value A obtained considering the measured variable M, is applied to the last rolling mill stand 1 of the rolling mill train. In this case, the second rolling mill stand 24 is not arranged between the sensor mechanism 6 and the first rolling mill stand 1. Figure 16 In the design scheme, the control value A, that is, the control value A obtained considering the measured variable M, acts on other rolling mill stands 1 of the rolling mill train, such as the second-to-last rolling mill stand immediately preceding the last rolling mill stand 24 of the rolling mill train. In this case, at least one of the second rolling mill stands 24, specifically at least the last rolling mill stand 24 of the rolling mill train, is arranged between the sensor mechanism 6 and the first rolling mill stand 1.

[0099] exist Figures 17 to 20 In the design scheme, the sensor mechanism 6 is arranged before the foremost rolling mill stands 1 and 24 of the rolling mill train. Figure 17 and 19 In the design scheme, the control value A, that is, the control value A obtained considering the measured variable M, is applied to the foremost rolling mill stand 1 of the rolling mill train. Therefore, in this case, the second rolling mill stand 24 is not arranged between the sensor mechanism 6 and the first rolling mill stand 1. Figure 18 and 20 In the design scheme, the control value A, that is, the control value A obtained taking into account the measured variable M, acts on other rolling mill stands 1 of the rolling mill train, for example, on the rolling mill stand 1 immediately following the first rolling mill stand 24 arranged in the rolling mill train. In this case, at least one of the second rolling mill stands 24, specifically at least the first rolling mill stand 24 of the rolling mill train, is arranged between the sensor mechanism 6 and the first rolling mill stand 1.

[0100] In addition, Figure 19 and 20 In the design scheme, another sensor mechanism 13 is arranged behind the last rolling mill stand 1, 24 of the rolling mill train, thereby enabling adaptive processing of the model 12. And... Figure 17 and 18 In the design scheme, the other sensor mechanism 13 is not present.

[0101] Figures 15 to 20 The design scheme described above is not the only possible design for a multi-stand rolling mill train. For example, it is possible that multiple second rolling stands 24 are arranged between the first rolling stand 1 and the sensor mechanism 6. In extreme cases, the sensor mechanism 6 can be arranged behind the last rolling stand 24 of the rolling mill train and act on the foremost rolling stand 1, or conversely, it can be arranged in front of the foremost rolling stand 24 and act on the last rolling stand 1. It is also possible to provide multiple sensor mechanisms 6 and / or multiple additional sensor mechanisms 13, for example, one sensor mechanism 6 and / or another sensor mechanism 13 before and / or after each individual rolling stand 1, 24 in the rolling mill train. It is also possible that such an arrangement is made among several rolling stands 1, 24, but not all of them. It is also possible that the control mechanism 9 acquires multiple control values ​​A based on the measurement variable M of a single sensor mechanism, and these control values ​​act on another first rolling stand 1. The specific design approach to be adopted depends on those skilled in the art.

[0102] Regardless of the specific design scheme adopted Figures 15 to 20 The corresponding operating mode of the rolling mill, as long as it relates to this invention, is in conjunction with the above. Figures 1 to 14 The same operating mode is explained for a reversible rolling mill with a single rolling stand 1, namely the first rolling stand 1.

[0103] This invention has many advantages. In particular, the processing method according to this invention can be easily integrated into the continuous operation of the rolling mill. For electrical steel sheets and for other steel grades, annealing after cold rolling or between two cold rolling steps is often no longer necessary or is only necessary to a limited extent. For AHSS and for the quality of martensite and bainite, the strip structure of material properties, the cause of which is found in the cooling in the cold section of the hot rolling mill, can be reduced or eliminated. As long as the control value A can be applied to the flat rolled piece 2 in a position-resolved manner along the width direction of the flat rolled piece 2 (especially for heat-affected materials), it may be possible to arrange multiple sensor mechanisms 6 side by side.

[0104] Although the invention has been illustrated and described in detail with reference to preferred embodiments, the invention is not limited to the disclosed examples and other variations can be derived by those skilled in the art without departing from the scope of protection of the invention.

[0105] List of reference numerals in the attached diagram:

[0106] 1. 24 Rolling Stands

[0107] 2. Flat rolled pieces

[0108] 3. Upper working roll

[0109] 4. Lower working roll

[0110] 5. Winding machine

[0111] 6.13 sensor mechanism

[0112] 7 Excitation Elements

[0113] 8a to 8d sensor elements

[0114] 9. Control mechanism

[0115] 10 Control Procedure

[0116] 11 Program Code

[0117] 12 Models

[0118] 14 to 16 drive units

[0119] 17 Transmission Mechanism

[0120] 18 input axes

[0121] Output shafts 19 and 20

[0122] 21. Divide into blocks

[0123] 22 Intermediate transmission mechanism

[0124] 23, 23', 23” affect the organization

[0125] A control value

[0126] a1, a2 spacing

[0127] Thicknesses d1 and d2

[0128] E Expected value

[0129] F Rolling force

[0130] IA, IW current

[0131] Ia to Id sensor signal

[0132] k-model parameters

[0133] M, M' Measured variables

[0134] Steps from S1 to S18

[0135] Waiting times t1 and t2

[0136] Temperature

[0137] v, v1, v2 delivery speeds

[0138] circumferential velocity vO, vU

[0139] vO*, vU* target values

[0140] x is the direction of transport.

Claims

1. Rolling mill, having a first rolling stand (1) for rolling a flat rolling stock (2) composed of metal, - wherein a sensor device (6) is arranged before and / or after the first rolling stand (1), by means of which at least one measured variable (M) characterizing a material property of the flat rolling stock (2) can be detected, - wherein the sensor device (6) is connected to a control device (9) for the rolling mill in order to transmit the detected measured variable (M), - wherein the control device (9) is designed in such a way that it takes the transmitted measured variable (M) into account in the acquisition of a manipulated variable (A) for the first rolling stand (1), - wherein the manipulation of the first rolling stand (1) with the manipulated variable (A) influences the material property of the flat rolling stock (2), - wherein the first rolling stand (1) has an upper work roll (3) and a lower work roll (4), characterized in that the control device (9) is designed in such a way that the manipulated variable (A) acquired taking the measured variable (M) into account is the ratio of an upper peripheral speed (vO) used by the upper work roll (3) when rotating to a lower peripheral speed (vU) used by the lower work roll (4) when rotating, - wherein the sensor device (6) is arranged before the first rolling stand (1) and the control device (9) is designed in such a way that it outputs the manipulated variable (A) acquired taking the measured variable (M) into account to the first rolling stand (1) taking into account the displacement tracking of the flat rolling stock (2) from the sensor device (6) to the first rolling stand (1), - the control device (9) comprises a model (12) by means of which the control device (9) acquires the manipulated variable (A) for the first rolling stand (1) taking the measured variable (M) into account and furthermore acquires an expected value (E) for a material property of the flat rolling stock (2) after rolling in the first rolling stand (1) taking the manipulated variable (A) acquired taking the measured variable (M) into account, - a further sensor device (13) is arranged behind the first rolling stand (1), by means of which at least one further measured variable (M') characterizing a material property of the flat rolling stock (2) after rolling in the first rolling stand (1) can be detected, - the further sensor device (13) is connected to the control device (9) in order to transmit the detected further measured variable (M'), - the control device (9) is designed in such a way that it uses the further measured variable (M') for a point in time which the control device (9) acquires taking into account the displacement tracking of the flat rolling stock (2) from the first rolling stand (1) to the further sensor device (13), and - the manipulated variable (A) acquired taking the further measured variable (M') into account is output to the first rolling stand (1) taking into account the displacement tracking of the flat rolling stock (2) from the first rolling stand (1) to the further sensor device (13). - the control mechanism (9) is designed in such a way that it performs an adaptation process for the model (12) depending on a comparison of the further measured variable (M') with the desired value (E) of the material property.

2. Rolling mill according to claim 1, characterized in that the rolling mill has at least one second rolling stand (24) and the second rolling stand (24) is not arranged between the sensor mechanism (6) and the first rolling stand (1) or the rolling mill has at least one second rolling stand (24) and at least one of the second rolling stands (24) is arranged between the sensor mechanism (6) and the first rolling stand (1).

3. Rolling mill according to claim 1 or 2, characterized in that the control mechanism (9) is designed in such a way that it obtains the ratio of the upper peripheral speed (vO) to the lower peripheral speed (vU) in such a way that the ratio is between 0.5 and 2.

0.

4. Rolling mill according to claim 1 or 2, characterized in that the upper work roll (3) is driven by an upper drive (14) and the lower work roll (4) is driven by a lower drive (15) which is different from the upper drive (14).

5. Rolling mill according to claim 1 or 2, characterized in that the upper work roll (3) and the lower work roll (4) are driven by a common drive (16) and between the common drive (16) on the one hand and the upper work roll (3) and the lower work roll (4) on the other hand a transmission mechanism (17) is arranged by means of which the ratio of the rotational speed of an upper output shaft (19) of the transmission mechanism (17) which is connected in a torsionally rigid manner to the upper work roll (3) to the rotational speed of a lower output shaft (20) of the transmission mechanism (17) which is connected in a torsionally rigid manner to the lower work roll (4) can be adjusted steplessly.

6. Rolling mill according to one of the above claims 1 or 2, characterized in that the control mechanism (9) is designed in such a way that it takes into account, when obtaining the manipulated variable (A), in addition to the transmitted measured variable (M), the temperature (T) of the flat rolling stock (2) before rolling of the flat rolling stock (2) in the first rolling stand (1) and / or the rolling force (F) when rolling of the flat rolling stock (2) in the first rolling stand (1) and / or the pass reduction when rolling of the flat rolling stock (2) in the first rolling stand (1).

7. Rolling mill according to one of the above claims 1 or 2, characterized in that - the sensor mechanism (6) comprises an excitation element (7) and a first sensor element (8a), - a basic signal is excited in the flat rolling stock (2) by means of the excitation element (7), - a first sensor signal (la) which is based on the excited basic signal is detected by means of the first sensor element (8a), and - the sensor device (6) acquires the transmitted measured variable (M) taking into account the first sensor signal (la) or the transmitted measured variable (M) comprises the first sensor signal (la).

8. Rolling mill according to claim 7, characterized in that - the sensor device (6) additionally comprises a number of second sensor elements (8b to 8d), - the respective second sensor element (8b to 8d) is arranged in front of or behind the first sensor element (8a) and / or offset laterally, viewed in the conveying direction (x) from the first sensor element (8a), - a respective second sensor signal (lb to Id) of the same kind as the first sensor signal (la) based on the excited basic signal is detected by means of the respective second sensor element (8b to 8d), and - the sensor device (6) acquires the transmitted measured variable (M) taking into account the respective second sensor signal (lb to Id) or the transmitted measured variable (M) comprises the respective second sensor signal (lb to Id).

9. Rolling mill according to claim 7, characterized in that the basic signal is an eddy current (IW) or an acoustic signal.

10. Rolling mill according to claim 7, characterized in that the line from the excitation element (7) to the first sensor element (8a) runs parallel to the conveying direction (x).

11. Rolling mill according to one of the above claims 1 or 2, characterized in that the material property is an electromagnetic property or a mechanical property of the rolled piece (2).

12. Rolling mill according to one of the above claims 1 or 2, characterized in that the rolling mill is a cold rolling mill.

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