Rolling control device and rolling control method

Abstract

The invention provides a rolling control device and a rolling control method, which can realize appropriate rolling of a rolled material. The rolling control device (130) is provided with: a weld rolling plan setting unit (132) for setting a weld rolling plan on the basis of a plate thickness setting value and a forward slip rate setting value; outputting a preceding material tail end plate thickness set value for setting the plate thickness of the tail end of the preceding material, namely the plate thickness of the tail end of the preceding material, a preceding material tail end forward slip rate set value for setting the forward slip rate of the tail end of the preceding material, and a subsequent material front end plate thickness set value for setting the plate thickness of the front end of the subsequent material, namely the plate thickness of the front end of the subsequent material; setting a forward slip rate set value of the front end of the follow-up material, which is the forward slip rate of the front end of the follow-up material; and a roller peripheral speed control unit (112) that controls the roller peripheral speed (VRi) in a joint section, which is a section between the leading end of the preceding material and the leading end of the following material, on the basis of each command value output by the weld rolling plan setting unit (132).

Description

Technical Field

[0001] The invention relates to a rolling control device and a rolling control method. Background Art

[0002] As background art in this technical field, the following Patent Documents 1 and 2 describe techniques for rolling a rolled material such as a steel plate.

[0003] Prior art literature

[0004] Patent Document 1: Japanese Patent Application Publication No. 2022-012423

[0005] Patent Document 2: Japanese Patent Application Publication No. 2022-072620 Summary of the invention

[0006] Problems to be solved by the invention

[0007] However, in the above-mentioned technology, it is desired to achieve more appropriate rolling of the rolled material.

[0008] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a rolling control device and a rolling control method capable of achieving appropriate rolling of a rolled material.

[0009] Means for solving problems

[0010] In order to solve the above-mentioned problems, the rolling control device of the present invention controls a plurality of rolling stands each having a working roll, wherein the working roll rolls a rolled material joined to a preceding material and a succeeding material at a joining portion, wherein the rolling control device comprises: a rolling plan setting unit, which calculates a plate thickness setting value and a forward slip rate setting value relative to the preceding material and the succeeding material in the plurality of rolling stands; and a welding portion rolling plan setting unit, which outputs a forward slip rate setting value for setting a plate thickness of the tail end of the preceding material, i.e., the plate thickness of the tail end of the preceding material, based on the plate thickness setting value and the forward slip rate setting value. a set value for the thickness of the tail end of the preceding material, a set value for the front slip rate of the tail end of the preceding material, a set value for the front thickness of the following material front end which sets the thickness of the front end of the following material, and a set value for the front slip rate of the following material front end which sets the front slip rate of the following material front end; and a roller circumferential speed control unit which controls the roller circumferential speed of the working rollers of each of the rolling stands, and controls the roller circumferential speed in the interval between the tail end of the preceding material and the front end of the following material, i.e., the joint, based on the set values ​​output by the rolling plan setting unit of the welding section.

[0011] Effects of the Invention

[0012] According to the present invention, it is possible to achieve appropriate rolling of a material to be rolled. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 : is a block diagram of the rolling system in the first comparative example.

[0014] Figure 2 This is a diagram showing an example of the changing state of various physical quantities and the like in the first comparative example.

[0015] Figure 3 This is a diagram showing another example of the changing state of various physical quantities and the like in the first comparative example.

[0016] Figure 4 It is a block diagram of the rolling system according to the first embodiment.

[0017] Figure 5 This is a diagram showing an example of the changing states of various physical quantities and the like in the first embodiment.

[0018] Figure 6 It is a diagram showing the simulation results for the first comparative example.

[0019] Figure 7 It is a diagram showing simulation results for the first embodiment.

[0020] Figure 8 It is a block diagram of a computer. DETAILED DESCRIPTION

[0021] [Prerequisites of implementation method]

[0022] Generally, in a cold continuous rolling process using a tandem mill equipped with a plurality of rolling stands, the tail end of a preceding rolled material (hereinafter referred to as "preceding material") is joined to the front end of a succeeding rolled material (hereinafter referred to as "following material") by welding or the like and continuously supplied to the tandem mill. Thus, a plurality of plates can be continuously rolled without stopping the tandem mill. In such a cold continuous rolling process, rolled materials of different specifications are sometimes continuously rolled in the preceding material and the following material.

[0023] In this case, the pressing position (also called "roll gap") and the roller peripheral speed, which are the control object values ​​in rolling control, need to be set to values ​​corresponding to the product specifications. Therefore, FGC (Flying Gauge Change; dynamic plate thickness change processing, hereinafter also referred to as "dynamic change"), which changes the control object value in each rolling mill without stopping the rolling mill, is performed at the joint of the preceding material and the following material. In addition, the joint is also called "joining point", "welding point", "dynamic plate thickness change point", and "dynamic change point".

[0024] <First Comparative Example>

[0025] Figure 1It is a block diagram of the rolling system 200 in the first comparative example. The rolling system 200 includes a continuous rolling mill 150 and a rolling control device 230. The continuous rolling mill 150 includes a plurality of (n) rolling stands 10-1 to 10-n. In addition, in the following description, a plurality of components, information, etc. having the same or similar functions and meanings are sometimes expressed by marking the same symbols with "-" and English numbers, such as "rolling stands 10-1 to 10-n". However, when it is not necessary to distinguish between these multiple components, etc., "-" and English numbers are sometimes omitted for expression, such as "rolling stand 10". In addition, with respect to the rolling stand 10-i (where 1≤i≤n), n is referred to as the number of stands, and i is referred to as the stand number.

[0026] Each rolling stand 10-1 to 10-n includes a pressing position cylinder 11-1 to 11-n, a roller peripheral speed control unit 13-1 to 13-n, and a roller group 20-1 to 20-n. Here, the roller group 20-1 to 20-n includes a pair of upper and lower working rollers 22-1 to 22-n, a pair of upper and lower relay rollers 24-1 to 24-n, and a pair of upper and lower auxiliary rollers 26-1 to 26-n. The pressing position cylinder 11 applies a pressing force to the roller group 20. The roller peripheral speed control unit 13 controls the roller peripheral speed of the roller group 20.

[0027] A rolled material 30 is inserted between a pair of working rollers 22 in each rolling stand 10. The rolled material 30 is rolled and conveyed in the direction of the hollow arrow (no symbol), that is, the right direction. Here, the rolled material 30 includes a preceding material 32X and a following material 32Y, which are joined (for example, welded) at a joint 36. In addition, the tail end of the preceding material 32X, that is, the boundary point between the preceding material 32X and the joint 36 is referred to as the preceding material tail end 32α. In addition, the front end of the following material 32Y, that is, the boundary point between the following material 32Y and the joint 36 is referred to as the following material front end 32β.

[0028] The rolling control device 230 includes a rolling plan setting unit 101 , a tracking unit 107 , a change pattern calculation unit 108 , a depression position change amount calculation unit 109 , a depression position control unit 110 , a roll peripheral speed change amount calculation unit 111 , and a roll peripheral speed control unit 112 .

[0029] The rolling plan setting unit 101 outputs the following setting values ​​(all not shown) corresponding to the rolling stands 10 - 1 to 10 - n respectively, based on the product specifications of the rolled material 30 .

[0030] ·Set the thickness of the preceding material 32X to the preceding material thickness setting value hX*-1 to hX*-n

[0031] · Set the thickness of the subsequent material 32Y to set the subsequent material thickness setting value hY*-1 to hY*-n

[0032] ·Set the preceding material pressing position setting values ​​SX*-1 to SX*-n for the pressing position of the preceding material 32X

[0033] · Setting the subsequent material pressing position setting values ​​SY*-1 to SY*-n for the pressing position of the subsequent material 32Y

[0034] ·Set the preceding material forward slip rate setting value fX*-1 to fX*-n for the forward slip rate of the preceding material 32X

[0035] ·Set the following material forward slip rate setting value fY*-1 to fY*-n for the forward slip rate of the following material 32Y

[0036] The tracking unit 107 tracks, that is, detects and analyzes the position of the joint 36. The change pattern calculation unit 108 outputs an FGC reference signal FCGS (not shown) used for changing the pressing position and speed during the FGC period. The FGC reference signal FCGS is a ramp signal with a fixed rate.

[0037] When FGC is performed in the roller group 20-i of the frame number i, the press position change amount calculation unit 109 outputs a press position change amount instruction value ΔS* based on the preceding material press position setting value SX*-i, the following material press position setting value SY*-i, and the FGC reference signal FCGS. The press position change amount instruction value ΔS* indicates the change amount of the press position.

[0038] The roll peripheral speed change amount calculation unit 111 outputs a roll peripheral speed change amount setting value ΔVR* based on the FGC reference signal FCGS, the preceding material plate thickness setting value hX*-i (plate thickness setting value), the preceding material front slip rate setting value fX*-i (front slip rate setting value), the following material plate thickness setting value hY*-i (plate thickness setting value), and the following material front slip rate setting value fY*-i (front slip rate setting value) in the roll group 20-i executing FGC. The roll peripheral speed change amount setting value ΔVR* sets the change speed of the roll peripheral speed of the roll group 20-i in the rolling stand 10-i executing FGC.

[0039] The pressing position control unit 110 outputs the pressing position setting values ​​S*-1 to S*-n (pressing positions) of the pressing position cylinders 11-1 to 11-n relative to the roller groups 20-1 to 20-n, thereby controlling the pressing positions S1 to S n (Figure omitted).

[0040] When any of the roll groups 20-1 to 20-n does not belong to the FGC period, the depression position control unit 110 sets the depression position setting values ​​S*-1 to S*-n according to the preceding material depression position setting values ​​SX*-1 to SX*-n or the subsequent material depression position setting values ​​SY*-1 to SY*-n. However, when a certain roll group 20-i belongs to the FGC period, the depression position control unit 110 changes the depression position setting value S*-i in the roll group 20-i according to the depression position change amount instruction value ΔS*. In addition, if the depression position setting value S*-i is within the range that the rolling stand 10 can follow, it can be considered that it is consistent with the depression position S*-i. i (Refer to Figure 2 ) are consistent.

[0041] The roll peripheral speed control unit 112 calculates the rotation speed command values ​​VRG*-1 to VRG*-n (not shown) of the motor (not shown) driving the rolls based on the roll diameters and gear ratios of the roll groups 20-1 to 20-n, and outputs the values ​​to the roll peripheral speed control devices 13-1 to 13-n. Thus, the roll peripheral speed control units 13-1 to 13-n in the rolling stands 10-1 to 10-n calculate the roll peripheral speeds VR1 to VRG*-n in the roll groups 20-1 to 20-n. n .

[0042] However, in the first comparative example, when the difference in plate thickness between the preceding material 32X and the following material 32Y before and after the joint 36 is large, the tension variation when the joint 36 passes through each rolling stand 10-1 to 10-n becomes large. Therefore, in the first comparative example, the preceding material 32X or the following material 32Y is prone to failure such as breakage or necking.

[0043] <Second Comparative Example>

[0044] Next, the second comparative example is described. The hardware structure of the second comparative example is similar to that of the first comparative example (see Figure 1 ), but the technique of Patent Document 1 is applied to further adjust the pressing position. That is, the pressing position control unit 110 in this comparative example calculates an intermediate pressing position setting value SC* (not shown) in addition to the preceding material pressing position setting value SX* and the following material pressing position setting value SY* in the roller group 20-i.

[0045] When the preceding material pressing position setting value SX* is applied to any roll group 20-i, the joint section 36 reaches the roll group 20-i. In this case, the pressing position control unit 110 sets the pressing position setting value S*-i of the roll group 20-i as the intermediate pressing position setting value SC* based on the plate thickness variation evaluation function. Then, when the joint section 36 passes through the roll group 20-i, the pressing position control unit 110 sets the pressing position setting value S*-i as the subsequent material pressing position setting value SY*.

[0046] <Third Comparative Example>

[0047] Next, the third comparative example is described. The hardware structure of the third comparative example is similar to that of the first comparative example (see Figure 1 ), but the technology of Patent Document 2 is applied to predict the tension change when the rolling of the preceding material 32X is transferred to the rolling of the subsequent material 32Y via the joint 36. In the joint 36, the preceding material pressing position setting value SX* that is the same as that of the preceding material 32X is applied.

[0048] <Problems of Each Comparative Example>

[0049] In the second and third comparative examples, the joint 36 passes through the roll group 20-i during the period from the end of FGC of the preceding material 32X to the start of FGC of the following material 32Y. In addition, in both the second and third comparative examples, there is a period during which the press-down position setting value S*-i is maintained at the previous value when the joint 36 passes through the roll group 20-i (this is referred to as the press-down position setting value maintaining period). In addition, the roll circumferential speed in each rolling stand 10-1 to 10-n is changed in conjunction with the press-down position setting values ​​S*-1 to S*-n so as not to disturb the balance of the mass flow rate, and therefore, the roll circumferential speed is not changed during the press-down position setting value maintaining period.

[0050] On the other hand, the speed of the entry plate in the roll set 20-i changes sharply at the junction 36. As a result, the speed of the entry plate does not match the circumferential speed of the rolls in the roll set 20-i, and thus the tension of the rolled material 30 fluctuates. In general, special steel has a higher hardness than ordinary steel, and the rolling load increases, so the reduction rate decreases. On the other hand, ordinary steel has a lower hardness, and the rolling load decreases, so the reduction rate increases.

[0051] As an example, consider the case where the preceding material 32X is special steel, the following material 32Y is ordinary steel, and the joint 36 passes through the roll group 20-i. In this case, the rolling load in the following material 32Y becomes small, so when the FGC of the preceding material 32X starts, the rolling position setting value S*-i moves in the opening direction. On the other hand, the rolling reduction rate of the following material 32Y becomes large, so the roller peripheral speed of the roll group 20-(i-1) which is the previous roll group of the roll group 20-i is reduced.

[0052] Figure 2 : is a diagram showing an example of the changing state of various physical quantities in the first comparative example. Figure 2 The following diagram shows the changing states of various physical quantities in the roller set 20 - i through which the joining portion 36 passes in the first comparative example.

[0053] exist Figure 2 In the embodiment, the period from time t0 to t2 is the preceding material period in which various controls are performed corresponding to the preceding material 32X. Next, the period from time t2 to t6 is the FGC period 34, and the period after time t6 is the following material period in which various controls are performed corresponding to the following material 32Y. Then, at time t4, the center position of the joint portion 36 passes through the roller group 20-i.

[0054] Entry side plate thickness h i-1 Before time t4, it is the base material thickness of the preceding material 32X, and after time t4, it is the base material thickness of the succeeding material 32Y. i The roller peripheral speed VR of the roller group 20-(i-1) at the front stage is approximately constant before reaching the time t4, and then decreases sharply at the time t4, and then gradually increases, and becomes approximately constant after the time t6. i-1 The speed is constant before time t2 and after time t6, and is decelerated in a ramp-like manner during the period from time t2 to t6.

[0055] For the inlet plate speed V of the roller set 20-i in，i , before time t2 and after time t6 are omitted in the figure, but the roller peripheral speed VR of the previous stage i-1 Also, the inlet plate speed V in，i It increases in a ramp shape during the period from time t2 to t4, decreases sharply at time t4, and increases in a ramp shape during the period from time t4 to t6. The depressed position setting value S*-i is a fixed value before time t2 and after time t6, and increases in a ramp shape during the period from time t2 to t6.

[0056] The target entry tension value TS*-i in the roller group 20-i is a fixed value during the entire period shown in the figure. Moreover, the actual entry tension value TS-i is roughly consistent with the target entry tension value TS*-i before time t2 and after time t6. However, during the period from time t2 to t4, the actual entry tension value TS-i is greater than the target entry tension value TS*-i as time passes. Then, at time t4, the actual entry tension value TS-i drops sharply and falls below the target entry tension value TS*-i. Then, during the period from time t4 to t6, the actual entry tension value TS-i rises in a manner that gradually approaches the target entry tension value TS*-i.

[0057] Here, at time t2 to t6, the circumferential speed VR of the front roller isi-1 The slope of is negative, while the slope of the set value of the pressing position S*-i is positive, and the polarities of the two are opposite. As a result, the change in the actual value of the inlet tension TS-i at time t4, that is, when the joint 36 passes through the roller group 20-i, becomes larger. In addition, with the joint 36 as the boundary, the pressing rate (the thickness of the plate at the outlet) is i / Entry side plate thickness h i-1 ) changes in steps, pressing down position S i As a result, the amount of change in the actual value of the entry tension TS-i increases, and a long FGC period 34 has to be ensured.

[0058] In the first to third comparative examples, the automatic tension control (ATR: Auto Tension Regulator) is not applied during the period for the joint portion 36 in the FGC period 34. The reason is to ensure the stability of the control. Since it is clear that an excessive tension change occurs in an instant when passing through the welding point, when the ATR acts in the direction of suppressing the tension change, the separation between the set value and the actual value becomes larger, and after the completion of FGC, the time until the actual value of the entry tension TS-i converges to the target value of the entry tension TS*-i also becomes longer.

[0059] In the worst case, the difference between the actual entry tension value TS-i and the target entry tension value TS*-i becomes too large, and thus sometimes it becomes uncontrollable. On the other hand, if the tension variation during the FGC period 34 can be sufficiently suppressed, ATR can also be applied during the FGC period 34, and it is better to shorten the time until the set tension converges, which also helps to shorten the off-gauge length.

[0060] Thus, in the control methods of the first to third comparative examples, the inlet plate speed V in，i Roller peripheral speed VR with front frame i-1 The deviation becomes larger, so there is a problem of increasing tension fluctuation. Therefore, in the embodiment described below, a control method is provided for suppressing tension fluctuation even when the pressing position change amount instruction value ΔS* or the roller peripheral speed change amount setting value ΔVR* is greatly different between the preceding material 32X and the following material 32Y. This can prevent the rolling system from stopping and achieve an improvement in the yield rate.

[0061] Figure 3 This is a diagram showing another example of the changing state of various physical quantities and the like in the first comparative example.

[0062] However, in Figure 3 , an example is shown in which the preceding material 32X and the following material 32Y are made of the same material but have different thicknesses. Figure 3In the example, time t12 to t16 is the FGC period 34, and Figure 2 Likewise, during this period, the joint 36 of the roller set 20-i passes. Figure 3 The names of the parameters in the figure are Figure 2 The same, but the parameters vary continuously.

[0063] [First embodiment]

[0064] <Overview of First Embodiment>

[0065] Generally, in a continuous rolling mill, the tension follows Hooke's law. That is, the exit tension TG generated in the rolled material 30 in stand number i is based on the time t and the exit plate speed V of stand number i. out，i , the speed V of the entry plate of rack number i+1 in，i+1 , the distance L between frames, the plate cross-sectional area A, and the Young's modulus E are calculated by the following [Formula 1].

[0066] [Mathematical formula 1]

[0067]

[0068] In other words, the tension between the racks is proportional to the speed V of the outgoing plate of the rack according to Hooke's law. out，i and the speed V of the next rack entry plate in，i+1 Speed ​​difference (V in，i+1 ﹣V out，i ) is proportional to the integral of . Therefore, it is considered that reducing the speed difference (V in，i+1 ﹣V out，i ) and shortening the time it takes to produce a speed difference is related to suppressing tension changes.

[0069] Therefore, in the first embodiment, in the FGC performed corresponding to the joint portion 36, there is a preliminary dynamic change period 34X (see Figure 5 ), the joint period 34M and the subsequent dynamic change period 34Y. Thus, the change in the pressing position change amount when the joint 36 passes through the roller group 20-i is minimized, and the FGC period 34 corresponding to the joint 36 is shortened.

[0070] Since the rolling speed in FGC is low, the roll speed change setting value ΔVR* is small, and the response time of the rolling speed is sufficiently short compared to the case of changing the pressing position. Therefore, in the embodiment described below, the FGC time is determined as shown in the following [Mathematical Formula 2]. In [Mathematical Formula 2], the FGC time T is dynamically changed in advance. FGC，X , Joint FGC time T FGC，M And the subsequent dynamic change FGC time T FGC，Y Corresponds to Figure 5 The lengths of the preliminary dynamic change period 34X, the joint period 34M, and the subsequent dynamic change period 34Y are shown.

[0071] [Mathematical formula 2]

[0072]

[0073]

[0074]

[0075] In [Equation 2], the pressing position change amount ΔS i，X , ΔS i，M , ΔS i，Y The change speed of the pressing position corresponding to the prior dynamic change period 34X, the joint period 34M, and the subsequent dynamic change period 34Y in the rack number i. s The amount of change in the pressed position ΔS i，X , ΔS i，M , ΔS i，Y The conversion rate when converting to FGC time. "max() i＝1，…，n " represents the maximum value in parentheses of the rack number i from 1 to n (number of racks). In addition, the number of racks n is, for example, a value of about "5".

[0076] According to this embodiment, the pressing position when passing through the joint 36 is preset, and the plate thickness of the preceding material tail end 32α, the plate thickness of the following material front end 32β and the forward slip rate are calculated. Then, the peripheral speed of each roller is determined based on the calculated plate thickness and forward slip rate.

[0077] Thus, the inlet sheet speed that changes suddenly at the joint 36 is matched with the roller peripheral speed of each stand in the shortest time to suppress tension fluctuation. In this way, by suppressing sudden tension fluctuation, sheet shrinkage and equipment stop can be prevented to achieve improved yield.

[0078] <Structure of the First Embodiment>

[0079] Figure 4 1 is a block diagram of a rolling system 100 according to the first embodiment. Figure 1 ) are marked with the same symbols and their descriptions are omitted.

[0080] The rolling system 100 includes a tandem rolling mill 150 and a rolling control device 130 (rolling control method). The structure of the tandem rolling mill 150 is similar to that of the first comparative example (see Figure 1 ) are the same, so in Figure 4 The internal structure is omitted in the illustration.

[0081] The rolling control device 130 includes a rolling plan setting unit 101 (rolling plan setting process), a change mode calculation unit 108, a pressing position change amount calculation unit 109, a pressing position control unit 110, a roll peripheral speed change amount calculation unit 111, and a roll peripheral speed control unit 112 (roll peripheral speed control process). These functions are the same as those of the first comparative example.

[0082] The rolling control device 130 includes a welding section rolling plan setting unit 132, a position calculation unit 133, and a tracking unit 120. The tracking unit 120 includes a prior dynamic change interval tracking unit 122, a welding interval tracking unit 124, and a subsequent dynamic change interval tracking unit 126. These track the prior dynamic change point 32X1 and the joint 36, the joint 36, and the joint 36 and the subsequent dynamic change point 32Y1, respectively.

[0083] Figure 5 : is a diagram showing an example of the changing state of various physical quantities in the first embodiment. Figure 5 The following diagram shows how various physical quantities change in the roller group 20 - i through which the joint portion 36 passes in the first embodiment.

[0084] exist Figure 5 In the example, the period before time t22 is a preceding material period in which various controls are performed corresponding to the preceding material 32X, the period from time t22 to t28 is an FGC period 34, and the period after time t28 is a subsequent material period in which various controls are performed corresponding to the subsequent material 32Y. Figure 5 , a schematic side view of the rolled material 30 is shown in a manner corresponding to the position corresponding to each time. The positions pressed down by the rolling stand 10-i at time t22 and time t28 are respectively referred to as a prior dynamic change point 32X1 and a subsequent dynamic change point 32Y1.

[0085] Furthermore, time t24 is the timing when the leading material tail end 32α passes through the roller group 20-i, time t25 is the timing when the center position of the joint portion 36 passes through the roller group 20-i, and time t26 is the timing when the trailing material front end 32β passes through the roller group 20-i. As described above, in this embodiment, the period from time t22 to t24 is called the prior dynamic change period 34X, the period from time t24 to t26 is called the joint portion period 34M, and the period from time t26 to t28 is called the post-dynamic change period 34Y, and FGC corresponding to each period is performed.

[0086] Return to Figure 4 The rolling plan setting unit 101 is different from the first comparative example (refer to Figure 1) Similarly, according to the product specifications of the rolled material 30, the leading material plate thickness setting values ​​hX*-1~hX*-n, the subsequent material plate thickness setting values ​​hY*-1~hY*-n, the leading material pressing position setting values ​​SX*-1~SX*-n, the subsequent material pressing position setting values ​​SY*-1~SY*-n, the leading material forward slip rate setting values ​​fX*-1~fX*-n, and the subsequent material forward slip rate setting values ​​fY*-1~fX*-n are output respectively corresponding to the rolling stands 10-1~10-n.

[0087] In the FGC of the first to third comparative examples described above, based on the entry side plate thickness h i-1 , that is, the base material thickness of the preceding material 32X and the base material thickness of the succeeding material 32Y are used to set the rolling plan, but the rolling plan before and after the joint 36 is not set. In contrast, the welding section rolling plan setting unit 132 in this embodiment sets the FGC corresponding to the joint 36, such as Figure 5 As shown, three sections are assumed: a prior dynamic change period 34X corresponding to the preceding material 32X, a joint period 34M corresponding to the joint 36, and a subsequent dynamic change period 34Y corresponding to the following material 32Y. Then, a rolling plan is determined corresponding to these three sections.

[0088] The welded portion rolling plan setting unit 132 sets the rolling position change amount ΔS in the joint portion 36 to i，M Calculate the following values ​​to zero or minimum.

[0089] The plate thickness setting value of the preceding material tail end 32α before the joint 36 passes through the rolling stand 10 - i , that is, the preceding material tail end plate thickness setting value hα* (plate thickness setting value);

[0090] The forward slip rate setting value of the leading material tail end 32α before the joint 36 passes through the rolling stand 10-i, that is, the leading material tail end forward slip rate setting value fα* (forward slip rate setting value);

[0091] · the set value of the pressing position of the leading material tail end 32α before the joint 36 passes through the rolling stand 10-i, that is, the set value of the pressing position of the leading material tail end Sα*;

[0092] The plate thickness setting value of the front end 32β of the subsequent material after the joint 36 passes through the rolling stand 10-i, that is, the plate thickness setting value hβ* (plate thickness setting value) of the front end of the subsequent material;

[0093] The forward slip rate setting value of the front end 32β of the subsequent material after the joint 36 passes through the rolling stand 10-i, that is, the forward slip rate setting value fβ* (the forward slip rate setting value) of the front end of the subsequent material;

[0094] The following material front end pressing position setting value Sβ* which is the pressing position setting value of the following material front end 32β after the joint portion 36 passes through the rolling stand 10 - i .

[0095] In addition, the pressing position setting value in the joint 36, i.e., the preceding material tail end pressing position setting value Sα* and the following material front end pressing position setting value Sβ*, may be the preceding material pressing position setting value SX*, the following material pressing position setting value SY*, an intermediate position between the two, or any position between the two. The welding section rolling plan setting unit 132 obtains hα*, fα*, hβ*, and fβ* such that the difference between Sα* and Sβ* becomes minimum or zero, and outputs the above-mentioned setting values ​​and command values, i.e., hα*, fα*, Sα*, hβ*, fβ*, Sβ*, and hX*, fX*, SX*, hY*, fY*, and SY*, to the position calculation unit 133, the pressing position change amount calculation unit 109, and the roll peripheral speed change amount calculation unit 111.

[0096] The position calculation unit 133 calculates the following values ​​corresponding to each rolling stand 10 - i.

[0097] · Change amount ΔS of the pressed position from the preceding material 32X to the preceding material tail end 32α i，X ;

[0098] · Change amount ΔS of the pressed position from the trailing end 32α of the preceding material to the leading end 32β of the following material i，M ;

[0099] · Amount of change in the pressed position ΔS from the following material front end 32β to the following material 32Y i，Y .

[0100] In addition, the position calculation unit 133 calculates the prior dynamic change FGC time T based on the above-mentioned [Formula 2] FGC，X , Joint FGC time T FGC，M And the subsequent dynamic change FGC time T FGC，Y .

[0101] Here, if Figure 5As shown, the section between the prior dynamic change point 32X1 and the joint 36 is referred to as the prior dynamic change section 30X. In addition, the section between the joint 36 and the subsequent dynamic change point 32Y1 is referred to as the subsequent dynamic change section 30Y. Furthermore, the position calculation unit 133 sets the prior dynamic change distance LX as the distance of the prior dynamic change section 30X based on the rolling speed during FGC so that the FGC of the prior dynamic change period 34X is completed before the FGC of the joint 36 starts. Similarly, the position calculation unit 133 sets the subsequent dynamic change distance LY as the distance of the subsequent dynamic change section 30Y so that the FGC of the subsequent dynamic change period 34Y is started after the FGC of the joint 36 is completed.

[0102] The position calculation unit 133 outputs the information to each unit of the tracking unit 120. Figure 5 That is, the prior dynamic change interval tracking unit 122 outputs the prior dynamic change FGC time T FGC，X The FGC start timing (time t22) of the dynamic change in advance is also output to the welding section tracking unit 124 as the joint FGC time T FGC，M The subsequent dynamic change FGC time T is output to the subsequent dynamic change section tracking unit 126. FGC，Y And then dynamically change the FGC start timing (time t26).

[0103] In order to execute FGC during the prior dynamic change period 34X, the joining period 34M, and the subsequent dynamic change period 34Y, the change mode calculation unit 108 outputs the respective fixed rate ramp signals, i.e., the FGC reference signals R34X, R34M, R34Y (reference signals, not shown) and the respective start timings (times t22, t24, t26) to the pressing position change amount calculation unit 109 and the roller peripheral speed change amount calculation unit 111.

[0104] The depression position change amount calculation unit 109 outputs the FGC reference signals R34X, R34M, and R34Y to the depression position control unit 110 .

[0105] In addition, the pressing position change amount calculation unit 109 calculates the following parameters based on the preceding material pressing position setting value SX*-i, the preceding material tail end pressing position setting value Sα*, the following material front end pressing position setting value Sβ*, and the following material pressing position setting value SY*-i output by the rolling plan setting unit 101 and the welding section rolling plan setting unit 132 for the target rolling stand 10-i, and outputs them to the pressing position control unit 110. In addition, these parameters indicate the change amount of the pressing position.

[0106] ·Preliminary dynamic change period 34X pressed position change amount command value ΔSX*;

[0107] · The pressing position change amount command value ΔSM* in the joint period 34M;

[0108] The pressed position change amount command value ΔSY* in the subsequent dynamic variation period 34Y.

[0109] The roller peripheral speed change amount calculation unit 111 calculates the following parameters based on the FGC reference signals R34X, R34M, and R34Y calculated by the change mode calculation unit 108, the preceding material plate thickness setting value hX*-i, the following material plate thickness setting value hY*-i, the preceding material front slip rate setting value fX*-i, and the following material front slip rate setting value fY*-i calculated by the rolling plan setting unit 101, and the preceding material tail end plate thickness setting value hα*, the following material front end plate thickness setting value hβ*, the preceding material tail end front slip rate setting value fα*, and the following material front end front slip rate setting value fβ* calculated by the welding section rolling plan setting unit 132. In addition, these parameters indicate the change amount of the roller peripheral speed.

[0110] ·Preliminary dynamic change period 34X roller peripheral speed change amount setting value ΔVRX*;

[0111] · Roller peripheral speed change amount setting value ΔVRM* in the joint section period 34M;

[0112] ·The roller peripheral speed change amount setting value ΔVRY* in the subsequent dynamic variation period 34Y.

[0113] The position calculation unit 133 calculates the position of the pressed position based on the pressed position change amount command values ​​ΔSX*, ΔSM*, ΔSY* and the pressed position change speed, that is, the pressed position change rate R. s , to decide Figure 5 The FGC time T shown in the previous dynamic change FGC，X , Joint FGC time T FGC，M And the subsequent dynamic change FGC time T FGC，Y .

[0114] The maximum change speed of the pressed position is the pressing position change rate R s The speed is limited by the mechanical structure of the tandem rolling mill 150, and is, for example, about 0.5 to 2 [mm / s] in a hydraulic pressure control device, and about 0.2 to 0.8 [mm / s] in an electric pressure control device.

[0115] The roller speed control unit 112 calculates the rotation speed command values ​​VRG*-1 to VRG*-n in each rolling stand 10-1 to 10-n based on the preceding material plate thickness setting values ​​hX*-1 to hX*-n, the subsequent material plate thickness setting values ​​hY*-1 to hY*-n, the preceding material front slip rate setting values ​​fX*-1 to fX*-n and the subsequent material front slip rate setting values ​​fY*-1 to fY*-n calculated by the rolling plan setting unit 101, and the preceding material tail end plate thickness setting value hα*, the subsequent material front end plate thickness setting value hβ*, the preceding material tail end front slip rate setting value fα* and the subsequent material front end front slip rate setting value fβ* calculated by the welding section rolling plan setting unit 132.

[0116] Thus, each roller peripheral speed control device 13-1 to 13-n (see Figure 1 ) Calculate the roller peripheral speeds VR1 to VR1 according to the roller diameter and gear ratio. n Since the roller diameter and the gear ratio are fixed values, it can be considered that the roller peripheral speed control unit 112 determines the roller peripheral speeds VR1 to VR2. n .

[0117] Normally, the roller peripheral speeds VR1 to VR2 of each rolling stand 10-1 to 10-n in the FGC are n The mass flow rate is changed according to the mass flow rate constant law according to the movement of the joint 36. That is, the roll peripheral speed VR of each rolling stand 10-i (1≤i≤n) is i It is obtained by the following [Math 3]. In [Math 3], f i 、f i+1 is the forward slip rate in rolling stand 10-i and rolling stand 10-(i+1), h i 、h i+1 is the plate thickness in the rolling stand 10-i and the rolling stand 10-(i+1).

[0118] [Mathematical formula 3]

[0119]

[0120] In the present embodiment, during the execution of FGC in the prior dynamic change period 34X and the subsequent dynamic change period 34Y, that is, during the execution of FGC in the same material, the roll peripheral speed control unit 112 changes the roll peripheral speeds VR1 to VR2 in each rolling stand 10-1 to 10-n in conjunction with the press position change amount command values ​​ΔSX* and ΔSY*. n . This can suppress Figure 2 The tension changes shown are produced.

[0121] On the other hand, in the first to third comparative examples described above, when the joint 36 passes through any rolling stand 10-i, the roller peripheral speed control unit 112 sets the entry plate speed V to 10-1 with the joint 36 as the boundary. in，i Therefore, the roll circumferential speed change setting value in the rolling stand 10-(i-1) and the entry side plate speed V in，i The difference becomes larger, resulting in large tension changes.

[0122] When the joint 36 passes through the rolling stand 10-i, it is also considered to maintain the pressing position in the rolling stand 10-i in order to suppress the tension fluctuation in the rolling stand 10-i. However, in this control method, since the pressing position is not changed, the circumferential speed of the rolls in the rolling stand 10-i and the rolling stand 10-(i-1) is not changed, and a difference occurs between the entry plate speed and the circumferential speed of the rolls at the joint 36, resulting in a large tension fluctuation.

[0123] In the present embodiment, during the joint period 34M in the rolling stand 10-i, the change pattern calculation unit 108 outputs, for example, the shortest change in the roll peripheral speed VR to the roll peripheral speed change amount calculation unit 111. i The rolling speed of the rolled material 30 during the FGC period 34 is low, so the roller peripheral speed VR i Therefore, the roller peripheral speed control unit 112 can change the roller peripheral speed VR in a short time. i .

[0124] Back to Figure 5 , entry side plate thickness h i-1 Before time t25, it is the base material thickness of the preceding material 32X, and after time t25, it is the base material thickness of the succeeding material 32Y. i The value is substantially constant before reaching time t25, decreases sharply at time t25, then gradually increases, and remains substantially constant after time t28. i-1 Before time t22 and after time t28, the roller peripheral speed VR at the front stage is constant. i-1 The pre-dynamic variation period 34X and the post-dynamic variation period 34Y increase in a ramp shape, and the junction period 34M drops sharply.

[0125] The speed V of the inlet plate in the roller group 20-i in，i Illustrations are omitted before time t22 and after time t28, but the roller peripheral speed VR of the previous stage i-1 Also, the inlet plate speed V in，iIt increases in a ramp shape during the period from time t22 to t25, decreases sharply at time t25, and increases in a ramp shape during the period from time t25 to t28. in，i The VR of the roller speed at the front section i-1 By approximating, the tension fluctuation acting on the rolled material 30 can be suppressed.

[0126] The pressing position setting value S*-i is a fixed value before time t22 and after time t28, and increases in a ramp shape in the prior dynamic change period 34X and the subsequent dynamic change period 34Y. However, the pressing position setting value S*-i is fixed in the joint period 34M.

[0127] Figure 5 The roller peripheral speed VR of the front section is shown i-1 The roller peripheral speed VR is the roller peripheral speed of the preceding rolling stand 10-(i-1), but the roller peripheral speed control unit 112 changes the roller peripheral speed VR in the same manner in the other rolling stands 10. Thus, when the joint 36 passes through any rolling stand 10, the roller peripheral speed control unit 112 changes the roller peripheral speed VR of each rolling stand 10 rapidly (for example, at a maximum rate within the mechanical upper limit).

[0128] The roller peripheral speed control unit 112 executes the above-mentioned ATR. That is, the roller peripheral speed VR in each rolling stand 10 is controlled so that the tension generated in the rolled material 30 in the interval between each rolling stand 10 becomes the set tension predetermined for each interval. Figure 5 As shown, the inlet plate speed V can be changed sharply at the joint 36. in，i The roller peripheral speed VR of the front section of each frame i-1 The change in tension is kept consistent over a short period of time, which can prevent large tension changes from occurring.

[0129] The roller peripheral speed change amount calculation unit 111 outputs a roller peripheral speed change amount setting value ΔVRM* corresponding to the acceleration of the roller peripheral speed VR applied to the joint period 34M to the roller peripheral speed control unit 112. The roller peripheral speed change amount setting value ΔVRM* is preferably consistent with the maximum acceleration that can be achieved with respect to the roller peripheral speed VR, that is, the maximum roller peripheral speed change rate ΔVRmax (not shown).

[0130] In this case, the maximum roller peripheral speed change rate ΔVRmax depends on the performance of the roller peripheral speed control unit 112, but is preferably set to about 50 to 500 mpm / s (meters per minute per second). Furthermore, the maximum roller peripheral speed change rate ΔVRmax is more preferably set to about 200±20 mpm / s, for example.

[0131] In addition, the pressing position change amount calculation unit 109 outputs a pressing position change amount instruction value ΔSM* that minimizes the pressing position change amount (preferably "0") when passing through the joint portion 36 to the pressing position control unit 110. As a result, the roller peripheral speed change amount calculation unit 111 outputs a roller peripheral speed change amount setting value ΔVRM* corresponding to the pressing position change amount instruction value ΔSM* to the roller peripheral speed control unit 112.

[0132] In addition, the pressing position control unit 110 can control the roller peripheral speed VR i The depression position setting value S*-i of the tail end 32α of the preceding material and the depression position setting value S*-i of the front end 32β of the subsequent material are set within the achievable range, and the depression position setting value S*-i of the joint 36 is set at any position between the depression position setting value S*-i of the tail end 32α of the preceding material and the depression position setting value S*-i of the front end 32β of the subsequent material.

[0133] At this time, it is preferred that the pressing position control unit 110 sets the pressing position setting value S*-i of the joint portion 36 to the middle position between the pressing position setting value S*-i of the trailing end 32α of the preceding material and the pressing position setting value S*-i of the leading end 32β of the following material. Figure 5 As shown, it is more preferable to set the pressing position setting value S*-i in the preceding material tail end 32α, the following material front end 32β and the joint 36 to the same value. Figure 5 The roller peripheral speed VR of the leading material tail end 32α, the trailing material front end 32β and the front section of the joint 36 is i-1 Here, the front roller peripheral speed VR i-1 Other roller circumferential speeds VR1~VR n Also with roller speed VR i-1 Therefore, all roller circumferential speeds VR1 to VR n The preceding material tail end 32α, the succeeding material front end 32β, and the joint portion 36 have different values.

[0134] As described above, according to the present embodiment, the pressing position change amount command value ΔSM* in the joint period 34M corresponding to the joint 36 is set to zero, or is set to the minimum value of the pressing position change amount command value in the FGC period 34. Then, the rolling control device 130 calculates the entry side plate thickness h before and after the joint 36 based on these values. i-1 , Side plate thickness h i , forward slip rate, roller peripheral speed change amount setting value ΔVRX*, ΔVRM*, ΔVRY*, etc., to change the roller peripheral speed. In this way, the inlet plate speed V that changes sharply near the joint 36 can be in，i The roller peripheral speed VR of each rolling stand 10-i iIt is consistent in a short time and suppresses tension fluctuations.

[0135] 〈Simulation results〉

[0136] Next, the results of verification using a rolling simulator will be described while comparing the effect of tension variation suppression in the present embodiment with the effect of the first comparative example.

[0137] The simulation environment applies a motor drive speed control system and a hydraulic pressure control system to the rolling model using the Hill type. The number of stands n of the rolling stand 10 is not particularly limited, but is set to "5" here, assuming a cold rolling mill. The conditions of the rolling simulation are as follows: the preceding material 32X is a high-tensile steel with a base plate thickness of 2 mm, the subsequent material 32Y is a normal steel with a base plate thickness of 4 mm, the plate width is 1200 mm, and ATR is applied in FGC.

[0138] Figure 6 It is a diagram showing the simulation results for the first comparative example.

[0139] Right now, Figure 6 : is a diagram showing a control method of a simulation during the execution of FGC in the joint unit 36 ​​in the first comparative example. Figure 6 In each graph, the horizontal axis is time, and the vertical axis is the tension [N / mm 2 ]. Graphs #1#2, #2#3, #3#4 and #4#5 respectively represent the tension deviations acting on the rolling stands 10-1, 10-2, 10-2, 10-3, 10-3, 10-4 and 10-4, 10-5. Here, "tension deviation" refers to the difference between the maximum value of the tension variation generated each time the joint 36 passes through each rolling stand 10 and the set tension.

[0140] in addition, Figure 7 It is a diagram showing simulation results for the first embodiment.

[0141] Figure 7 The meaning of the charts #1#2, #2#3, #3#4 and #4#5 and the meaning of the FGC period 34-1 to 34-5 Figure 6 same.

[0142] exist Figure 6 In the example shown, the maximum value of the tension deviation is about 50% to 70%. Figure 7 In the example shown, the maximum value of the tension deviation is about 15% to 35%. Figure 7 In the example, Figure 6 Thus, it can be seen that according to the first embodiment, the tension deviation can be significantly reduced compared to the first comparative example.

[0143] Thus, according to the FGC control of this embodiment, even when the amount of change in the pressing position and the amount of change in the roller peripheral speed are greatly different between the preceding material 32X and the following material 32Y, the tension variation can be suppressed. Figure 5 As shown, in this embodiment, the FGC period 34 is divided into a pre-dynamic change period 34X, a joint period 34M, and a post-dynamic change period 34Y. However, the FGC period 34 may be divided into two parts, the pre-dynamic change period 34X and the joint period 34M, or may be divided into two parts, the joint period 34M and the post-dynamic change period 34Y. In addition, the change speed and change rate based on the pressing position control unit 110 and the roller peripheral speed control unit 112 are not limited to the values ​​exemplified above, but depend on the performance of the device.

[0144] 〈Computer Structure〉

[0145] Figure 8 is a block diagram of computer 980. Figure 1 and Figure 4 The rolling control devices 130 and 230 shown in the figure each include one or more Figure 8 Computer 980 is shown.

[0146] exist Figure 8 In the embodiment, the computer 980 includes a CPU 981, a storage unit 982, a communication I / F (interface) 983, an input / output I / F 984, and a medium I / F 985. Here, the storage unit 982 includes a RAM 982a, a ROM 982b, and a storage device 982c. The communication I / F 983 is connected to a communication circuit 986. The input / output I / F 984 is connected to an input / output device 987. The medium I / F 985 reads and writes data from a recording medium 988.

[0147] ROM982b stores IPL (Initial Program Loader) and the like executed by the CPU. The storage device 982c or RAM982a stores control programs, various data, and the like. CPU981 implements various functions by executing control programs and the like read from the storage device 982c to RAM982a or control programs and the like pre-stored in RAM982a. Figure 1 and Figure 4 The interior of the rolling control devices 130 and 230 shown mainly shows functions realized by control programs and the like as modules.

[0148] [Effects of Embodiment]

[0149] As described above, according to the above-mentioned embodiment, the rolling control device 130 includes: a rolling plan setting unit 101, which calculates the plate thickness setting value (hX*-i, hY*-i) and the forward slip rate setting value (fX*-i, fY*-i) for the preceding material 32X and the following material 32Y in the plurality of rolling stands 10; and a welding section rolling plan setting unit 132, which outputs the tail end of the preceding material 32X, i.e., the tail end of the preceding material, according to the plate thickness setting value (hX*-i, hY*-i) and the forward slip rate setting value (fX*-i, fY*-i). The preceding material tail end plate thickness setting value (hα*) for setting the plate thickness in 32α, the preceding material tail end front slip setting value (fα*) for setting the front slip rate in the preceding material tail end 32α, the subsequent material front end plate thickness setting value (hβ*) for setting the plate thickness in the front end of the subsequent material 32Y, i.e., the subsequent material front end 32β, the subsequent material front end front slip setting value (fβ*) for setting the front slip rate in the subsequent material front end 32β; and the roller peripheral speed control unit 112, which controls the roller peripheral speed VR of the working roller 22 in each rolling stand 10 i , and based on the various command values ​​output by the welding section rolling plan setting unit 132, the roller peripheral speed VR of the section between the leading material tail end 32α and the following material front end 32β, i.e., the joint (36) is controlled. i .

[0150] More specifically, in each rolling stand 10 where the joint 36 changes suddenly, the entry plate speed (V in，i ) relative to the roller peripheral speed VR i By approximating the tension in a short time, it is possible to suppress tension fluctuations. Furthermore, by suppressing rapid tension fluctuations, it is possible to prevent sheet shrinkage and equipment stoppage, thereby achieving an improvement in yield.

[0151] In addition, it is more preferable that the rolling control device 130 further includes a pressing position control unit 110 for controlling the pressing position (S*-i) in each rolling stand 10, and the rolling plan setting unit 101 further outputs a preceding material pressing position setting value (SX*-i) indicating the pressing position relative to the preceding material 32X in the plurality of rolling stands 10 and a subsequent material pressing position setting value (SY*-i) indicating the pressing position relative to the subsequent material 32Y in the plurality of rolling stands 10. Thus, the preceding material pressing position and the subsequent material pressing position in each rolling stand 10 can be set to appropriate values.

[0152] In addition, the rolling control device 130 further includes: a position calculation unit 133, which calculates the position of the preceding material 32X at which the predetermined dynamic thickness change process (FGC) is started, that is, the prior dynamic change point 32X1, the position of the following material 32Y at which the dynamic thickness change process (FGC) is finished, that is, the subsequent dynamic change point 32Y1, and the time from the prior dynamic change point 32X1 to the preceding material tail end 32α in any rolling stand 10, that is, the prior dynamic change FGC time (T FGC，X ), the time from the tail end 32α of the preceding material to the front end 32β of the following material, i.e., the joint FGC time (T FGC，M ), the time from the front end 32β of the following material to the subsequent dynamic change point 32Y1 of the rolled material 30, that is, the subsequent dynamic change FGC time (T FGC，Y ), the distance from the prior dynamic change point 32X1 to the tail end 32α of the preceding material, namely the prior dynamic change distance LX, the distance from the front end 32β of the following material to the subsequent dynamic change point 32Y1, namely the subsequent dynamic change distance LY; the prior dynamic change interval tracking unit 122, which tracks the interval from the prior dynamic change point 32X1 to the tail end 32α of the preceding material in the rolled material 30; and the subsequent dynamic change interval tracking unit 126, which tracks the interval from the tail end 32α of the preceding material to the subsequent dynamic change point 32Y1 in the rolled material 30. Thus, the prior dynamic change FGC time (T FGC，X )、Joint FGC time (T FGC，M ), and the subsequent dynamic change FGC time (T FGC，Y )wait.

[0153] In addition, it is more preferable that the roller peripheral speed control unit 112 changes the roller peripheral speed VR in any rolling stand 10 while the joint (36) passes through. i The pressing position control unit 110 can be controlled by the roller peripheral speed VR i The pressing position (S*-i) of the tail end 32α of the preceding material and the pressing position (S*-i) of the front end 32β of the following material are set within the range that can be realized. Thus, the pressing position (S*-i) of the tail end 32α of the preceding material and the pressing position (S*-i) of the front end 32β of the following material can be appropriately set.

[0154] In addition, it is more preferable that the pressing position control unit 110 sets the pressing position (S*-i) of the joint (36) at any position between the pressing position (S*-i) of the trailing end 32α of the preceding material and the pressing position (S*-i) of the leading end 32β of the following material. Thus, in the process from the trailing end 32α of the preceding material toward the leading end 32β of the following material, the pressing position can be monotonically decreased or monotonically increased, so that the pressing position can be stabilized.

[0155] In addition, it is more preferable that the pressing position control unit 110 sets the pressing position (S*-i) of the joint (36) at the center position between the pressing position (S*-i) of the trailing end 32α of the preceding material and the pressing position (S*-i) of the leading end 32β of the following material. Thus, in the process from the trailing end 32α of the preceding material toward the leading end 32β of the following material, the pressing position can be linearly decreased or monotonically increased, so that the pressing position can be more stable.

[0156] In addition, it is more preferable that the pressing position control unit 110 sets the pressing position (S*-i) of the joint (36), the pressing position (S*-i) of the leading material tail end 32α, and the pressing position (S*-i) of the trailing material front end 32β to equal values. Thus, the pressing position can be made more stable.

[0157] In addition, it is more preferable that the roller peripheral speed control unit 112 controls the roller peripheral speed VR i The roller peripheral speed VR of the leading material tail end 32α, the joint (36) and the following material front end 32β is i Thus, the optimum roller peripheral speed VR can be set for the preceding material tail end 32α, the joint (36) and the following material front end 32β. i .

[0158] In addition, it is more preferred that the roller peripheral speed control unit 112 is based on the reference signal (R34X, R34M, R34Y) suitable for dynamic plate thickness change processing (FGC), the plate thickness setting values ​​(hX*-i, hY*-i, hα*, hβ*) of the preceding material 32X, the preceding material tail end 32α, the following material front end 32β and the following material 32Y, the forward slip rate setting values ​​(fX*-i, fY*-i, fα*, fβ*) of the preceding material 32X, the preceding material tail end 32α, the following material front end 32β and the following material 32Y, and the roller peripheral speed VR i The roll peripheral speed change setting value (ΔVR*, ΔVRX*, ΔVRM*) corresponding to the acceleration, the entry side plate speed (V in、i ) to change the roller peripheral speed VR i Thus, the plate thickness setting value (hX*-i, hY*-i, hα*, hβ*), the forward slip rate setting value (fX*-i, fY*-i, fα*, fβ*), the roller peripheral speed change setting value (ΔVR*, ΔVRX*, ΔVRM*, ΔVRY*) and the inlet plate speed (V in，i ) corresponds to the appropriate roller peripheral speed VR i .

[0159] In addition, it is more preferable that the pressing position control unit 110 makes the polarity of the change amount of the pressing position (S*-i) in the bonding portion (36) and the roller peripheral speed VR i The polarity of the change amount is equal. As a result, the pressing position (S*-i) of the joint (36) and the roller peripheral speed VR can be stably set. i .

[0160] Furthermore, it is more preferable that the roll speed control unit 112 executes automatic tension control (ATR) during the execution of the dynamic thickness change process (FGC). Thereby, the tension applied to the rolled material 30 can follow the set tension.

[0161] [Modifications]

[0162] The present invention is not limited to the above-mentioned embodiments, and various modifications are possible. The above-mentioned embodiments are exemplified in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to having all the structures described. In addition, other structures may be added to the structures of the above-mentioned embodiments, and a part of the structure may be replaced with other structures. In addition, the control lines and information lines shown in the figures represent lines that are considered necessary for the description, and are not limited to representing all the control lines and information lines necessary for the product. In fact, it can also be considered that almost all the structures are connected to each other. The following are examples of possible modifications to the above-mentioned embodiments.

[0163] (1) In the first embodiment described above, the pressing position control unit 110 sets the change amount of the pressing position setting value S*-i of the bonding unit 36 ​​to "0". However, when it is set to a value other than "0", the polarity of the pressing position setting value S*-i of the bonding unit 36 ​​may be changed to the roller peripheral speed VR. i The polarity of the change is equal.

[0164] (2) The hardware of the rolling control device 130 in the above embodiment can be implemented by a general computer, so the program for executing the above-mentioned various processes can be stored in a storage medium (a computer-readable recording medium recording the program) or distributed via a transmission path.

[0165] (3) The programs for executing the various processing described above are described in the above embodiments as software processing using the programs, but part or all of them may be replaced by hardware processing using ASIC (Application Specific Integrated Circuit) or FPGA (Field Programmable Gate Array).

[0166] (4) Various processes executed in the above-described embodiments may be executed by a server computer via a network (not shown), and various data stored in the above-described embodiments may be stored in the server computer.

[0167] Explanation of symbols

[0168] 10 rolling stands

[0169] 22 working rollers

[0170] 30Rolled material

[0171] 32X Preliminary Materials

[0172] 32Y follow-up materials

[0173] 32α Preceding material end

[0174] 32β follow-up material front end

[0175] 32X1 Pre-dynamic change points

[0176] 32Y1 Post-event dynamic change points

[0177] 36Pre-joining part, joining part

[0178] 101 Rolling plan setting department (rolling plan setting process)

[0179] 110 Press down position control unit

[0180] 112 Roller circumferential speed control unit (roller circumferential speed control process)

[0181] 122Pre-dynamic change interval tracking unit

[0182] 126 Post-event dynamic change interval tracking department

[0183] 130 Rolling control device (rolling control method)

[0184] 132 Welding Department Rolling Plan Setting Department

[0185] 133 Position calculation unit

[0186] LX advance dynamic change distance

[0187] LY post-event dynamic change distance

[0188] ATR automatic tension control

[0189] FGC dynamic thickness change processing

[0190] fα*Front slip rate setting value of the leading material tail end (front slip rate setting value)

[0191] fβ*Front slip rate setting value of the subsequent material front end (front slip rate setting value)

[0192] hα*Preceding material tail end plate thickness setting value (plate thickness setting value)

[0193] hβ*Front-end plate thickness setting value of subsequent material (plate thickness setting value)

[0194] S*-i Press down position setting value (press down position)

[0195] SX*-i Preliminary material pressing position setting value

[0196] SY*-i subsequent material pressing position setting value

[0197] VR i Roller speed

[0198] fX*-iPreceding material forward slip setting value (forward slip setting value)

[0199] fY*-iFollow-up material forward slip setting value (forward slip setting value)

[0200] hX*-iPreceding material thickness setting value (thickness setting value)

[0201] hY*-i subsequent material thickness setting value (plate thickness setting value)

[0202] R34X, R34M, R34Y FGC reference signal (reference signal)

[0203] ΔVR*, ΔVRX*, ΔVRM*, ΔVRY* are the set values ​​of the roller peripheral speed change.

Claims

1. A rolling control device for controlling a plurality of rolling stands, each of which has a working roll for rolling a material to be rolled having a preceding material and a succeeding material joined at a joining portion, characterized in that: The rolling control device comprises: a rolling plan setting unit that calculates a plate thickness setting value and a forward slip rate setting value for the preceding material and the succeeding material in the plurality of rolling stands; a welding section rolling plan setting section, which outputs, based on the plate thickness setting value and the front slip rate setting value, a preceding material tail end plate thickness setting value for setting the plate thickness of the preceding material tail end as the tail end of the preceding material, a preceding material tail end front slip rate setting value for setting the front slip rate of the preceding material tail end, a subsequent material front end plate thickness setting value for setting the plate thickness of the subsequent material front end as the front end of the subsequent material, and a subsequent material front end front slip rate setting value for setting the front slip rate of the subsequent material front end; as well as A roller circumferential speed control unit controls the roller circumferential speed of the working rollers of each of the rolling stands, and controls the roller circumferential speed in the section between the tail end of the preceding material and the front end of the following material, i.e., the joint section, based on the set values ​​output by the welding section rolling plan setting unit.

2. The rolling control device according to claim 1, characterized in that: The rolling control device further comprises: a pressing position control unit that controls the pressing position in each of the rolling stands. The rolling plan setting unit also outputs a preceding material pressing position setting value and a subsequent material pressing position setting value, wherein the preceding material pressing position setting value sets the pressing position relative to the preceding material among multiple rolling stands, and the subsequent material pressing position setting value sets the pressing position relative to the subsequent material among multiple rolling stands.

3. The rolling control device according to claim 2, characterized in that: The rolling control device further comprises: a position calculation section, which calculates the position of the preceding material at which a predetermined dynamic plate thickness change process is started, namely, the prior dynamic change point; the position of the subsequent material at which the dynamic plate thickness change process is ended, namely, the subsequent dynamic change point; the time from the preceding dynamic change point to the tail end of the preceding material in any of the rolling stands, namely, the prior dynamic change FGC time; the time from the tail end of the preceding material to the front end of the subsequent material, namely, the joint FGC time; the time from the front end of the subsequent material to the subsequent dynamic change point, namely, the subsequent dynamic change FGC time; the distance from the preceding dynamic change point to the tail end of the preceding material, namely, the prior dynamic change distance; and the distance from the front end of the subsequent material to the subsequent dynamic change point, namely, the subsequent dynamic change distance; A prior dynamic change section tracking unit that tracks a section of the rolled material from the prior dynamic change point to the tail end of the preceding material; as well as The subsequent dynamic change section tracking unit tracks a section of the rolled material from the tail end of the preceding material to the subsequent dynamic change point.

4. The rolling control device according to claim 3, characterized in that: The roller peripheral speed control unit changes the roller peripheral speed in any of the rolling stands while the joint portion passes through. The pressing position control unit sets the pressing position of the rear end of the preceding material and the pressing position of the leading end of the following material within a range that can be achieved by the roller peripheral speed.

5. The rolling control device according to claim 4, characterized in that: The pressing position control section sets the pressing position in the joining section to any position between the pressing position at the rear end of the preceding material and the pressing position at the front end of the succeeding material.

6. The rolling control device according to claim 5, characterized in that: The pressing position control section sets the pressing position in the joining section to a center position between the pressing position at the rear end of the preceding material and the pressing position at the front end of the following material.

7. The rolling control device according to claim 5, characterized in that: The pressing position control section sets the pressing position in the joint section, the pressing position at the rear end of the preceding material, and the pressing position at the front end of the following material to equal values.

8. The rolling control device according to claim 7, characterized in that: The roller peripheral speed control unit controls the roller peripheral speed so that the roller peripheral speeds at the tail end of the preceding material, the joint portion, and the front end of the following material are different.

9. The rolling control device according to claim 8, characterized in that: The roller peripheral speed control unit changes the roller peripheral speed based on the following conditions: A reference signal suitable for the dynamic plate thickness change processing; the plate thickness setting values ​​of the preceding material, the tail end of the preceding material, the front end of the following material, and the following material respectively; The forward slip rate setting values ​​of the preceding material, the trailing end of the preceding material, the leading end of the following material, and the following material respectively; a roller peripheral speed change amount setting value corresponding to the acceleration of the roller peripheral speed; and The entry side plate speed when the joint passes through any of the rolling stands.

10. The rolling control device according to claim 4, characterized in that: The pressing position control section makes the polarity of the change amount of the pressing position in the bonding section equal to the polarity of the change amount of the roller peripheral speed.

11. The rolling control device according to claim 3, characterized in that: The roller peripheral speed control unit performs automatic tension control during execution of the dynamic thickness changing process.

12. A rolling control method for controlling a plurality of rolling stands, each of which has a working roll for rolling a material to be rolled having a preceding material and a succeeding material joined at a joining portion, characterized in that: The rolling control method comprises: The rolling plan setting process calculates the plate thickness setting value and the forward slip rate setting value relative to the preceding material and the following material in the plurality of rolling stands; The process of setting the rolling plan for the joint portion outputs, according to the plate thickness setting value and the front slip rate setting value, a preceding material tail end plate thickness setting value for setting the plate thickness of the preceding material tail end as the tail end of the preceding material, a preceding material tail end front slip rate setting value for setting the front slip rate of the preceding material tail end, a subsequent material front end plate thickness setting value for setting the plate thickness of the front end of the subsequent material as the front end of the subsequent material, and a subsequent material front end front slip rate setting value for setting the front slip rate of the front end of the subsequent material; as well as The roller circumferential speed control process controls the roller circumferential speed of the working rollers of each of the rolling stands, and controls the roller circumferential speed in the interval between the tail end of the leading material and the front end of the following material, i.e., the joint, based on the set values ​​output by the joint rolling plan setting process.

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