Control device for rolling apparatus, rolling facility, control program for rolling apparatus, and control method for rolling apparatus

Abstract

This control device for a rolling apparatus includes N rolling stands F1 to FN (where N ≥ 2) arranged along a traveling direction of a metal plate, the control device comprising: a pre-stage leveling correction amount acquisition unit configured to acquire a leveling correction amount ΔSn of an n-th rolling stand Fn (where n ≥ 1) from the upstream side among the N rolling stands; a later-stage leveling correction amount acquisition unit configured to acquire a leveling correction amount ΔSi of each of at least one rolling stand Fi (where i ≥ n + 1) on the downstream side of the rolling stand Fn, on the basis of the leveling correction amount ΔSn; and a leveling adjustment unit configured to adjust the leveling of each of the rolling stand Fn and the at least one rolling stand Fi corresponding to the respective leveling correction amounts, on the basis of the leveling correction amount ΔSn and the leveling correction amount ΔSi. The later-stage leveling correction amount acquisition unit is configured to calculate the leveling correction amount ΔSi, on the basis of a differential tension Δεi-1, i between the rolling stand Fi and a rolling stand Fi-1 immediately before the rolling stand Fi, and a leveling correction amount ΔSi-1 of the rolling stand Fi-1. The differential tension is a value indicating a difference in tension in the traveling direction acting on the metal plate between both ends in the width direction of the metal plate.

Description

Control device for rolling mill, rolling mill equipment, control program for rolling mill, and method for controlling a rolling mill

[0001] This disclosure relates to a control device for a rolling mill, a rolling mill, a control program for a rolling mill, and a method for controlling a rolling mill.

[0002] In a rolling facility (tandem rolling mill) where multiple rolling stands (rolling mills) are arranged in the rolling direction (direction of travel) of the rolled material (metal sheet, etc.), leveling control may be performed in each rolling mill to prevent meandering of the rolled material and ensure that it passes through properly.

[0003] For example, Patent Documents 1 and 2 describe controlling the leveling of multiple rolling stands using a value that indicates the difference in tension in the rolling direction acting on the rolled material at both ends in the width direction of the plate (hereinafter also referred to as differential tension).

[0004] More specifically, Patent Document 1 describes obtaining the tension distribution in the width direction from the torque distribution in the width direction at the exit side of each rolling stand, and using the first-order component of the polynomial expression of the tension distribution to determine the leveling correction amount for each rolling stand.

[0005] Furthermore, Patent Document 2 describes determining the leveling correction amount for each rolling stand based on the widthwise deviation of tension at the entry side of each rolling stand (the difference in tension at both ends in the plate width direction).

[0006] International Publication No. 2023 / 037409, Japanese Patent Publication No. 2023-177918

[0007] Incidentally, in a rolling mill where multiple rolling stands are arranged in the rolling direction of the rolled material, the leveling adjustment at one rolling stand affects the tension distribution and shape of the rolled material as it passes through that stand. This can lead to a problem where the amount of leveling control at downstream rolling stands becomes large, making it difficult to stabilize the control. This problem is likely to occur when the tail end of the metal sheet (rolled material) loses tension and is prone to meandering, that is, when the tail end of the metal sheet passes through multiple stands. In other words, the part of the tail end that is particularly problematic is the part where the tension from the upstream stands is not acting.

[0008] In view of the above circumstances, at least one embodiment of the present invention provides a control device for a rolling mill, a rolling facility, a control program for a rolling mill, and a control method for a rolling mill, which can stably perform leveling control at each rolling stand even when the trailing end of a metal plate (rolled material) passes through a plurality of rolling stands.

[0009] A control device for a rolling mill according to at least one embodiment of the present invention is a control device for a rolling mill including N rolling stands F １ ~F Ｎ arranged along the traveling direction of the metal plate (where N≧2), and a leveling correction amount acquisition unit configured to acquire a leveling correction amount ΔS ｎ of the n-th rolling stand F ｎ from the upstream side among the N rolling stands (where n≧1), a subsequent leveling correction amount acquisition unit configured to acquire a leveling correction amount ΔS ｎ of at least one rolling stand F ｎ downstream of the rolling stand F ｉ (where i≧n + 1) based on the leveling correction amount ΔS ｉ , and a leveling adjustment unit configured to adjust the leveling of the rolling stand F ｎ and the at least one rolling stand F ｉ corresponding to each leveling correction amount based on the leveling correction amount ΔS ｎ and the leveling correction amount ΔS ｉ . The subsequent leveling correction amount acquisition unit is configured to calculate the leveling correction amount ΔS ｉ based on a differential tension Δε ｉ between the rolling stand F ｉ－１ and the rolling stand F ｉ－１，ｉ immediately before the rolling stand F ｉ－１ , and the leveling correction amount ΔS ｉ－１ of the rolling stand F ｉ . The differential tension is a value indicating the difference in the tension in the traveling direction acting on the metal plate at both ends in the width direction of the metal plate.

[0010] Furthermore, the rolling equipment according to at least one embodiment of the present invention includes N rolling stands F arranged along the direction of travel of the metal sheet. １ ~F Ｎ The system comprises a rolling mill (where N≧2), and the above-described control device configured to control the rolling mill.

[0011] Furthermore, the control program for a rolling mill according to at least one embodiment of the present invention includes N rolling stands F arranged along the direction of travel of the metal sheet. １ ~F Ｎ A program for controlling a rolling mill (where N≧2), wherein the computer controls the N rolling stands F １ ~F Ｎ The nth rolling stand F from the upstream side ｎ (However, the leveling correction amount ΔS for n≧1) ｎ The procedure for obtaining the leveling correction amount ΔS ｎ Based on the rolling stand F ｎ At least one rolling stand F downstream ｉ (where i ≥ n + 1) the leveling correction amount ΔS ｉ A procedure for obtaining a subsequent leveling correction amount, and the leveling correction amount ΔS ｎ and the leveling correction amount ΔS ｉ Based on this, the rolling stand F corresponding to each leveling correction amount ｎ and the at least one rolling stand F ｉ The procedure for adjusting the leveling of each of the rolling stand F is configured to perform the procedure for obtaining the subsequent leveling correction amount, and in the procedure for obtaining the subsequent leveling correction amount, the rolling stand F ｉ and the rolling stand F ｉ Rolling stand F immediately before ｉ－１ The difference in tension between and Δε ｉ－１，ｉ , and the rolling stand F ｉ－１ Leveling correction amount ΔS ｉ－１ Based on this, the leveling correction amount ΔS ｉ The difference tension is calculated and represents the difference between the tension acting on the metal plate in the direction of travel at both ends of the metal plate in the width direction.

[0012] Furthermore, a control method for a rolling mill according to at least one embodiment of the present invention involves N rolling stands F arranged along the direction of travel of the metal sheet. １ ~F Ｎ A method for controlling a rolling mill including N units of rolling stands F (where N ≥ 2), wherein N units of rolling stands F １ ~F Ｎ The nth rolling stand F from the upstream side ｎ (However, the leveling correction amount ΔS for n≧1) ｎ The steps of obtaining the leveling correction amount ΔS ｎ Based on the rolling stand F ｎ At least one rolling stand F downstream ｉ (where i ≥ n + 1) the leveling correction amount ΔS ｉ A subsequent step to acquire the leveling correction amount, and the leveling correction amount ΔS ｎ and the leveling correction amount ΔS ｉ Based on this, the rolling stand F corresponding to each leveling correction amount ｎ and the at least one rolling stand F ｉ The rolling stand F is equipped with a step to adjust the leveling of each of the following, and in the step to acquire the amount of the subsequent leveling correction, the rolling stand F ｉ and the rolling stand F ｉ Rolling stand F immediately before ｉ－１ The difference in tension between and Δε ｉ－１，ｉ , and the rolling stand F ｉ－１ Leveling correction amount ΔS ｉ－１ Based on this, the leveling correction amount ΔS ｉ The difference tension is calculated and represents the difference between the tension acting on the metal plate in the direction of travel at both ends of the metal plate in the width direction.

[0013] According to at least one embodiment of the present invention, a control device for a rolling mill, a rolling mill, a control program for a rolling mill, and a control method for a rolling mill are provided that enable stable leveling control at each rolling stand even when the tail end of a metal sheet (rolled material) passes through multiple rolling stands.

[0014] This is a schematic diagram of a rolling mill according to one embodiment. This is a schematic diagram of a rolling stand according to one embodiment, viewed from the direction of metal plate travel. This is a schematic diagram of a control device according to one embodiment. This is a flowchart of a control method for a rolling mill according to one embodiment. This is a diagram illustrating a control method for a rolling mill according to one embodiment. This is a diagram illustrating a control method for a rolling mill according to one embodiment. This is a schematic diagram illustrating an example of a method for calculating meandering speed. This is a schematic diagram illustrating an example of a method for calculating meandering speed.

[0015] Hereinafter, several embodiments of the present invention will be described with reference to the attached drawings. However, the dimensions, materials, shapes, relative arrangements, etc., of the components described as embodiments or shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative examples.

[0016] (Configuration of the Rolling Mill) Figure 1 is a schematic diagram of a rolling mill according to one embodiment. As shown in Figure 1, the rolling mill 1 comprises a rolling device 2 including a plurality of rolling stands (rolling mills) 10 arranged along the direction of travel (rolling direction) of the metal sheet S (rolled material), and a control device 50 configured to control the rolling device 2. The plurality of rolling stands 10 consist of N rolling stands F arranged in this order along the direction of travel of the metal sheet S. １ ~F Ｎ (However, this includes N≧2). In the exemplary embodiment shown in Figure 1, the multiple rolling stands 10 are seven rolling stands F １ ~F ７ This includes (i.e., N=7), but the number of rolling stands 10 constituting the rolling mill 1 according to some embodiments is not limited to this, and may be two or more.

[0017] Figure 2 is a schematic diagram of a rolling stand 10 according to one embodiment, viewed from the direction of travel of the metal sheet S. In Figure 2, for explanatory purposes, a plate wedge Δh (= h) is placed on the metal sheet S at the position of the rolling stand 10 shown in the figure. １ -h ２ This shows a state where there is a difference in plate thickness at both ends of the metal plate S, but depending on the rolling conditions, the plate wedge Δh may be zero.

[0018] As shown in Figures 1 and 2, each of the plurality of rolling stands 10 includes a pair of work rolls 12, 14 (upper work roll 12 and lower work roll 14) for gripping a metal sheet S from above and below and applying a load to the metal sheet S. Each of the plurality of rolling stands 10 may also include a pair of backup rolls 16, 18 (upper backup roll 16 and lower backup roll 18) provided on the opposite side of the pair of work rolls 12, 14 from the metal sheet S. The work rolls 12, 14 are each rotatably supported by bearings housed in roll chocks 13, 15 (see Figure 2). The backup rolls 16, 18 are each rotatably supported by bearings housed in roll chocks 17, 19 (see Figure 2).

[0019] As shown in Figures 1 and 2, the rolling mill 2 is equipped with a plurality of reduction devices 20, each corresponding to a plurality of rolling stands 10. As shown in Figure 2, the reduction device 20 provided at each rolling stand 10 may include a pair of reduction cylinders 20A and 20B located on both sides in the width direction of the work rolls 12 and 14.

[0020] In the rolling mill 2, the metal sheet S is rolled by driving the work rolls 12 and 14 with a motor (not shown) or the like to move them in the reduction direction while the metal sheet S is reduced by the reduction device 20, and the thickness of the metal sheet S gradually decreases each time it passes through the rolling stand 10.

[0021] Here, the rolling stand (F ｉ The difference in the vertical direction between the positions (piston positions) of the pair of compression cylinders 20A and 20B is called leveling (or leveling amount) (S ｉ ) (see Figure 2). As will be described in more detail later, in some embodiments of the control device or control method, a leveling correction amount (leveling correction amount ΔS) is calculated for each of the rolling stands 10 to be controlled, and leveling adjustment is performed based on the calculated leveling correction amount.

[0022] The rolling equipment 1 may be equipped with a meandering detection unit 30 for detecting the amount of meandering of the metal sheet S at the entry side of the rolling stand 10. The amount of meandering of the metal sheet S refers to the amount of displacement between the center of the metal sheet S in the width direction and the center of the rolling device 2 (or the center of the rolling stand 10). As shown in Figure 1, the meandering detection unit 30 is located on the upstream side (entry side) of each of the multiple rolling stands 10, or on the rolling stand F ｉ And the rolling stand F just before it ｉ－１ They may be provided between them. The meandering detection unit 30 may include a camera capable of imaging an area including the widthwise end of the metal plate S at a position upstream of the rolling stand 10.

[0023] The rolling mill 1 may include a torque detection unit 32 for detecting torque corresponding to the tension in the rolling direction of the metal sheet S. The torque detection unit 32 may be configured to measure the distribution of the above-mentioned torque in the width direction of the metal sheet S. The torque detection unit 32 may include, for example, the shape meter described in Patent Document 1. As shown in Figure 1, the torque detection unit 32 is located between a pair of adjacent rolling stands 10 in the rolling direction (rolling stand F １ and F ２ Between them, rolling stand F ２ and F ３ They may be provided between them, etc.

[0024] Each meander detection unit 30 and / or each torque detection unit 32 may be electrically connected to the control device 50, and signals indicating the detection results from each meander detection unit 30 and / or each torque detection unit 32 may be sent to the control device 50.

[0025] Figure 3 is a schematic diagram of a control device 50 according to one embodiment. The control device 50 according to one embodiment includes a pre-stage leveling correction amount acquisition unit 54, a post-stage leveling correction amount acquisition unit 58, and a leveling adjustment unit 60. As shown in Figure 3, the control device 50 may further include a meandering speed acquisition unit 52, a differential tension acquisition unit 56, an in-side plate wedge acquisition unit 62, a correction amount calculation unit 64, a correction unit 66, and / or an out-side plate wedge acquisition unit 61.

[0026] The control device 50 includes at least one computer equipped with a processor (CPU, etc.), main memory (memory device; RAM, etc.), auxiliary memory, and an interface. The control device 50 is configured to receive signals indicating detection results from the meandering detection unit 30 and / or torque detection unit 32 via the interface. The processor is configured to process the signals thus received. The processor is also configured to process a program that is loaded into the main memory. This realizes the functions of the control device 50, including the preceding leveling correction amount acquisition unit 54, the subsequent leveling correction amount acquisition unit 58, and the leveling adjustment unit 60 described above.

[0027] The processing performed by the control device 50 is implemented as a program executed by the processor. The program may be stored, for example, in an auxiliary storage device. During program execution, these programs are loaded into main memory. The processor reads the program from main memory and executes the instructions contained within it. The program may also be stored in a storage medium.

[0028] The meandering speed acquisition unit 52, based on the meandering amount detection result of the meandering of the metal plate S by the meandering detection unit 30, uses the rolling stand F ｎ The system is configured to acquire the meandering speed of the metal sheet S at the inlet side of the rolling stand (the upstreammost of the multiple rolling stands 10 to be controlled, as described later) (i.e., the moving speed of the metal sheet S in the width direction, or the rate of change of the amount of meandering of the metal sheet S).

[0029] The pre-stage leveling correction amount acquisition unit 54 acquires the nth rolling stand F from the upstream side among the N rolling stands that make up the rolling mill 2. ｎ (However, the leveling correction amount ΔS for n≧1) ｎ It is configured to obtain [something].

[0030] Here, the nth rolling stand F from the upstream side. ｎ This consists of multiple rolling stands F １ ~F Ｎ Of these, the rolling stand 10 is the upstreammost control target of the control device and control method according to the embodiment.

[0031] In some embodiments, a plurality of rolling stands 10 located downstream of the trailing end Se (see FIG. 5) of the metal sheet S are control targets, and the most upstream rolling stand 10 among them is the rolling stand F ｎ is. Also, the rolling stand F ｎ rolling stands upstream of (rolling stand F ｎ－１ , F ｎ－２ ... etc.) are not control targets by the control device and control method according to the embodiment.

[0032] For example, in the example shown in FIG. 5, the trailing end Se of the metal sheet S is between the rolling stand F ２ and the rolling stand F ３ is located. In this case, the most upstream rolling stand 10 among the plurality of rolling stands 10 that are control targets is the rolling stand F ３ . Also, the most downstream rolling stand F ｍ among the plurality of rolling stands 10 that are control targets is the most upstream rolling stand F ｎ (for example, F ３ ) can be any of the rolling stands 10 downstream (for example, F ４ to F ７ ).

[0033] That is, the plurality of rolling stands 10 that are control targets are the rolling stands F ３ and F ４ , rolling stands F ３ to F ５ , rolling stands F ３ to F ６ , or rolling stands F ３ to F ７ . Note that the rolling stands F １ , F ２ are not control targets by the control device and control method according to the embodiment. Note that FIG. 5 is a schematic configuration diagram of the rolling equipment 1 similar to FIG. 1 and is a diagram for explaining the control method of the rolling device 2 according to some embodiments.

[0034] The pre-stage leveling correction amount acquisition unit 54 is based on the meandering speed of the metal sheet S acquired by the meandering speed acquisition unit 52, and the leveling correction amount ΔS ｎ of the rolling stand F ｎThe preceding leveling correction amount acquisition unit 54 may be configured to acquire the rolling stand F such that the meandering speed described above is reduced. ｎ Leveling correction amount ΔS ｎ It may be configured to calculate the following.

[0035] The differential tension acquisition unit 56 controls the difference between a pair of adjacent rolling stands 10 in the rolling direction (rolling stand F) among the multiple rolling stands 10 to be controlled. ｉ and the rolling stand F ｉ Rolling stand F immediately before ｉ－１ The difference tension Δε between (and) ｉ－１，ｉ It is configured to obtain the following: Here, differential tension is a value that indicates the difference between the tension acting on the metal plate S in the rolling direction (direction of travel) at both ends of the metal plate S in the width direction.

[0036] The differential tension acquisition unit 56 is located at the rolling stand F ｉ and rolling stand F ｉ＋１ The torque detection unit 32 located between the two points detects the torque distribution in the width direction of the metal plate S, and calculates the tension distribution in the width direction of the metal plate S from this torque distribution. The coefficient of the first-order term (hereinafter also called the first-order component) when this tension distribution is expressed as an approximate formula (polynomial) is used to determine the difference tension Δε. ｉ－１，ｉ It may also be used to obtain the differential tension. Alternatively, the differential tension acquisition unit 56 may be used with the rolling stand F ｉ and rolling stand F ｉ－１ The difference in the width direction between the two ends of a tension meter (not shown) used to detect tension between them is called the differential tension Δε. ｉ－１，ｉ Alternatively, the difference tension Δε can be obtained using the detected value from a load cell or similar device. ｉ－１，ｉ You may also obtain the differential tension Δε from the load cell's detected value. ｉ－１，ｉ As a method for obtaining this, one can, for example, refer to the descriptions in Japanese Patent Publication No. 47928 and Japanese Patent Publication No. 10-34220.

[0037] The subsequent leveling correction amount acquisition unit 58 acquires the leveling correction amount ΔS acquired by the preceding leveling correction amount acquisition unit 54. ｎ Based on this, rolling stand F ｎ At least one rolling stand F downstreamｉ (where i ≥ n + 1) the leveling correction amount ΔS ｉ It is configured to obtain [something].

[0038] More specifically, the subsequent leveling correction amount acquisition unit 58 is located at the rolling stand F ｉ and the rolling stand F ｉ Rolling stand F immediately before ｉ－１ The difference in tension between and Δε ｉ－１，ｉ , and rolling stand F ｉ－１ Leveling correction amount ΔS ｉ－１ Based on this, the leveling correction amount ΔS ｉ It is configured to calculate the difference tension Δε. ｉ－１，ｉ This may be obtained by the differential tension acquisition unit 56. Furthermore, the subsequent leveling correction amount acquisition unit 58 obtains the differential tension Δε mentioned above. ｉ－１，ｉ Typically, the above-mentioned differential tension Δε is used so that it falls within the acceptable range. ｉ－１，ｉ The leveling correction amount ΔS is set to zero. ｉ It may be configured to calculate the following.

[0039] The leveling adjustment unit 60 adjusts the leveling correction amount ΔS obtained by the preceding leveling correction amount acquisition unit 54. ｎ , and the leveling correction amount ΔS obtained by the subsequent leveling correction amount acquisition unit 58 ｉ Based on this, each leveling correction amount ΔS ｎ ΔS ｉ Rolling stand F corresponding to ｎ and at least one rolling stand F ｉ The system is configured to adjust the leveling of each (i.e., to adjust the positions of the pressure-reducing cylinders 20A and 20B).

[0040] The exit plate wedge acquisition section 61 is located at the rolling stand F ｉ Rolling stand F immediately before ｉ－１ The exit plate wedge Δh is a plate wedge of the metal plate S at the exit side. ｉ－１ The system is configured to acquire the following: The plate wedge of the metal plate S is the difference in plate thickness at both ends of the metal plate S in the width direction. The exit plate wedge acquisition unit 61 acquires the exit plate wedge Δh by measurement using a plate wedge gauge (not shown). ｉ－１Alternatively, you may obtain the following formula (F): Entry side plate wedge ΔH ｉ－１ Outer side plate wedge Δh ｉ－１ Δh may be estimated. ｉ = a ｉ ×C ｉ +b ｉ ×ΔH ｉ +α …(F) In the above formula (F), C ｉ is the rolling stand F ｉ This is the left-right difference in the gap between the upper and lower work rolls when a uniform load is applied (taking into account leveling, off-center, and left-right stiffness differences), a ｉ b is the coefficient of the transcription rate. ｉ is a coefficient related to heredity, and α is a term related to width and curvature of the board.

[0041] Furthermore, the upstream rolling stand (especially rolling stand F) １ In the case of the upstream rolling stand (for example, rolling stand F), the entry plate thickness is relatively thick, and in this case, the change in the gap between the upper and lower work rolls due to the reduction of the rolling mill is dominant, and the degree to which the entry plate wedge of the rolling stand affects the exit plate wedge is small. １ Even if the inlet wedge of the rolling stand (rolling stand F) is unknown or is zero, the impact on the estimated outlet wedge is small, and the outlet wedge can be estimated. Therefore, using the above formula (F), the downstream rolling stand (rolling stand F) can be estimated. ２ The entry and exit wedges (and subsequent ones) can also be estimated sequentially.

[0042] The entry side plate wedge acquisition section 62 is located at the rolling stand F ｉ The entry side plate wedge ΔH is a plate wedge of the metal plate S at the entry side. ｉ The system is configured to acquire the following: The entry side plate wedge acquisition unit 62 acquires the entry side plate wedge ΔH by measurement using a plate wedge gauge (not shown). ｉ You may obtain it by means of a computer, or you may obtain it by calculation, for example, as described below.

[0043] The entry side plate wedge acquisition section 62 is where the metal plate S is rolled stand F ｉ Rolling stand F immediately before ｉ－１The exit plate wedge Δh at a past point in time after passing through this point. ｉ－１ The metal plate S is rolled into the rolling stand F ｉ The current value of the entry plate wedge ΔH ｉ It may be configured to acquire as follows: That is, the entry side plate wedge acquisition unit 62 acquires the rolling stand F immediately before it. ｉ－１ Outer plate wedge Δh ｉ－１ By tracking the rolling stand F ｉ The entry side plate wedge ΔH ｉ You may obtain the following: Outlet plate wedge Δh ｉ－１ This may be obtained by the exit plate wedge acquisition unit 61 described above.

[0044] The correction amount calculation unit 64 calculates the input plate wedge ΔH obtained by the input plate wedge acquisition unit 62. ｉ Based on this, rolling stand F ｉ The inlet and outlet are made of wedge plates (inlet plate wedge: ΔH ｉ Outer plate wedge: Δh ｉ The plate wedge ratio, which is the ratio of ) to plate thickness (thickness on the inlet side: H, thickness on the outlet side: h), is maintained such that (i.e., ΔH ｉ / H = Δh ｉ Rolling stand F (such as / h) ｉ Leveling correction amount ΔS ｉ It is configured to calculate '.

[0045] The correction unit 66 calculates the leveling correction amount ΔS calculated by the correction amount calculation unit 64. ｉ Based on this, the leveling correction amount ΔS obtained by the subsequent leveling correction amount acquisition unit 58. ｉ The correction unit 66 is configured to correct the leveling correction amount ΔS acquired by the subsequent leveling correction amount acquisition unit 58. ｉ The leveling correction amount ΔS calculated by the correction amount calculation unit 64 ｉ By adding ', the leveling correction amount ΔS ｉ It may be possible to correct this.

[0046] (Control Flow of Rolling Mill) Next, with reference to Figures 4 to 8, control methods for the rolling mill 2 according to several embodiments will be described. In the following, the case in which the operation of the rolling mill 2 is controlled using the control device 50 described above will be described, but in some embodiments, some or all of the procedures described below may be performed manually.

[0047] Figure 4 is a flowchart showing a control method for a rolling mill 2 according to one embodiment. Figures 5 and 6 are schematic diagrams of a rolling mill 1 similar to Figure 1, and are also diagrams illustrating control methods for a rolling mill 2 according to several embodiments. In Figure 5, the tail end Se of the metal plate S is at the rolling stand F. ３ The upstream meandering detection unit 30 is located within the detection range ZD, while in Figure 6, the tail end Se of the metal plate S is at the rolling stand F ３ It is located outside the detection range ZD of the meandering detection unit 30 on the upstream side.

[0048] In the following, as shown in Figures 5 and 6, the rolling mill 2 has seven rolling stands F １ ~F ７ It includes the tail end Se of the metal plate S being at the rolling stand F ２ and rolling stand F ３ Control when positioned between the following will be explained. Furthermore, in the following, the rolling stand F immediately after the tail end Se of the metal plate S will be described. ３ and the rolling stand F downstream thereof ４ ~F ７ The following describes the case where the control target is the uppermost rolling stand F among the multiple rolling stands 10 that are the control target. ｎ Rolling stand F ３ And the downstream rolling stand F ｍ Rolling stand F ７ (That is the case.)

[0049] In one embodiment, first, the meandering speed acquisition unit 52, based on the meandering amount detection result of the meandering of the metal plate S by the meandering detection unit 30, uses the rolling stand F ３ (The upstream rolling stand F among the multiple rolling stands 10 to be controlled) ｎ ) the entry side (i.e., the rolling stand F ２and rolling stand F ３ The meandering velocity of the metal plate S at the position between (S2) is obtained.

[0050] Here, Figures 7 and 8 are schematic diagrams illustrating an example of a method for calculating meandering speed. The tail end Se of the metal plate S is at the rolling stand F. ｎ (For example, rolling stand F) ３ When the metal plate S is within the detection range ZD (see Figures 7 and 8) of the meandering detection unit 30 located upstream of the meandering detection unit 30 (for example, within the imaging range of the camera), the meandering velocity acquisition unit 52 may calculate the meandering velocity of the metal plate S based on the detection result of the meandering detection unit 30 as follows.

[0051] As an example, the meandering velocity v of a metal plate S ｙ This can be calculated from the following formula (A) using the difference between the amount of meandering of the metal plate S at the current time tc and the amount of meandering of the metal plate at the first time point t1, a specified time (ΔT) prior to the current time tc (i.e., for example, the difference in the center position in the width direction of the metal plate S at the current time tc and the first time point t1), ΔYc, and the length of time from the first time point t1 to the current time tc (ΔT = (tc - t1)) (see Figure 7). ｙ = ΔYc / ΔT …(A) Note that the specified period ΔT may be, for example, the sampling period of the meandering amount by the meandering detection unit 30.

[0052] As another example, the meandering velocity v of a metal plate S ｙ This refers to the amount of meandering of the metal plate S at the current time tc and the position of the tail end Se of the metal plate S upstream of the current time tc (for example, the rolling stand F ｎ Rolling stand F immediately before ｎ－１ The difference between the amount of meandering of the metal plate S when it was at the specified position (i.e., for example, the difference in the center position in the width direction of the metal plate S at the current time tc and the second time t2) ΔYc, and the length of time from the second time t2 when the tail end Se of the metal plate S was at the specified position to the current time tc (tc - t2) can be used to calculate the following equation (B) (see Figure 8). ｙ =ΔYc / (tc-t2)...(B)

[0053] In this case, the calculation basis (reference position) for the meandering speed is fixed, which reduces the computational load.

[0054] Furthermore, the specified position upstream of the current point tc where the tail end Se of the metal plate S is located is, for example, at the rolling stand F in the rolling direction (direction of travel). ｎ It may also be located upstream by a specified distance L from the specified location.

[0055] In one embodiment, the meandering speed acquisition unit 52 is located on the rolling stand F ３ (F ｎ When the tension of the metal plate S at the entry side is released (for example, when the tail end Se of the metal plate S is at the rolling stand F) ３ (F ｎ Rolling stand F immediately before ) ２ (F ｎ－１ ) passing through rolling stand F ２ , F ３ Interval (F ｎ－１ , F ｎ The calculation of the meandering velocity (i.e., the execution of step S2) may be started after the tension in the middle disappears.

[0056] In this case, the rolling stand F ３ (F ｎ Since the calculation of the meandering velocity of the metal plate S begins after the tension in the metal plate S at the entry side of the circuit is released, computing resources are not used for calculating the meandering velocity while the tension is present, thus reducing the computational load.

[0057] Next, the pre-stage leveling correction amount acquisition unit 54 is located at the rolling stand F ３ (F ｎ ) Leveling correction amount ΔS ３ (ΔS ｎ ) is obtained (S4). In step S4, for example, based on the following formula (C), the rolling stand F ｎ Leveling correction amount ΔS ｎ You may also calculate v. ｙ = u ｎ ×ΔS ｎ …(C) When n=3, the rolling stand F is based on the following formula (C') ３ (F ｎ ) Leveling correction amount ΔS ３ (ΔS ｎ ) can be calculated. ｙ = u ３ ×ΔS３ …(C')

[0058] In the above formula (C), u ｎ This is a coefficient that is determined in advance based on the operating history of the rolling mill 2. The above formula (C) is for the rolling stand F ｎ Leveling amount ΔS ｎ The current meandering speed v ｙ This indicates that it is the cause of the rolling stand F. ｎ In this case, the leveling amount is -ΔS ｎ By only changing (correcting) the rolling stand F, ｎ－１ , F ｎ It is thought that the meandering velocity Vy of the metal plate S in between can be reduced (i.e., brought close to zero).

[0059] In step S2, the meandering speed acquisition unit 52 will determine if the position of the metal plate S in the rolling direction (direction of travel) is outside the detection range ZD of the meandering detection unit 30 (see Figure 6; for example, if the position of the tail end Se of the metal plate S is outside the detection range ZD of the meandering detection unit 30), and if the tail end Se of the metal plate S is outside the detection range ZD of the meandering detection unit 30, then the meandering speed acquisition unit 52 will determine if the tail end Se of the metal plate S is outside the rolling stand F ｎ Until it reaches that point, the meandering velocity calculated based on the amount of meandering of the metal plate detected by the meandering detection unit 30 just before the position of the metal plate S goes outside the detection range ZD is the current meandering velocity v ｙ You could also obtain it as follows:

[0060] In other words, in step S4, the pre-leveling correction amount acquisition unit 54 determines that if the position of the metal plate S in the rolling direction (direction of travel) is outside the detection range ZD of the meandering detection unit 30, the tail end Se of the metal plate S is at the rolling stand F ｎ The leveling correction amount ΔS is calculated based on the amount of meandering of the metal plate S detected by the meandering detection unit 30 just before the position of the metal plate S goes outside the detection range ZD until it reaches the target. ｎ It may be possible to retain it.

[0061] Next, the subsequent leveling correction amount acquisition unit 58 acquires the leveling correction amount ΔS acquired in step S4. ３ (Here, ΔS ｎ Based on ), rolling stand F ３ (F ｎ) at least one rolling stand F downstream ４ ~F ７ (Rolling stand F) ｉ ) Leveling correction amount ΔS ４ ~ΔS ７ (ΔS ｉ ) obtain (S6-S14).

[0062] More specifically, first, let i = n + 1, and the rolling stand F ３ (F ｎ ) Next rolling stand F ４ (F ｉ Regarding (step S6), the differential tension acquisition unit 56 is located at the rolling stand F ４ and the rolling stand F ４ (F ｉ Rolling stand F immediately before ) ３ (F ｉ－１ ) Differential tension Δε ３，４ (Δε ｉ－１，ｉ Step S8 is to obtain the rolling stand F. ３ (F ｉ－１ ) and rolling stand F ４ (F ｉ Based on the torque distribution in the width direction of the metal plate S detected by the torque detection unit 32 at the position between ) and ), the differential tension Δε ３，４ (Δε ｉ－１，ｉ You may obtain ).

[0063] Then, the difference tension Δε obtained in step S8 ３，４ (Δε ｉ－１，ｉ Using ), based on the following formula (D), the rolling stand F ４ (F ｉ Leveling correction amount ΔS for ) ４ (ΔS ｉ Calculate Δε (S10). ｉ－１，ｉ = d ｉ－１ ×ΔS ｉ－１ +u ｉ ×ΔS ｉ …(D) When i=4, the rolling stand F is based on the following formula (D') ４ (F ｉ ) Leveling correction amount ΔS ４ (ΔS ４ ) can be calculated. Note that ΔS３ This is a known value calculated in step S4. Δε ３，４ = d ３ ×ΔS ３ +u ４ ×ΔS ４ ... (D')

[0064] In the above formula (D), d ｉ－１ and u ｉ This is a coefficient that is determined in advance based on the operating history of the rolling mill 2. The above formula (D) is for the rolling stand F ｉ－１ Leveling amount ΔS ｉ－１ and rolling stand F ｉ Leveling amount ΔS ｉ The current difference tension Δε ｉ－１，ｉ This indicates that it is the cause of the rolling stand F. ｉ－１ The leveling amount is -ΔS ｉ－１ If you only want to change (correct) a known value, then use the rolling stand F. ｉ In this case, the leveling amount is -ΔS ｉ By only changing (correcting) the rolling stand F, ｉ－１ , F ｉ The difference in tension Δε between the metal plates S ｉ－１，ｉ It is thought that it can be reduced (i.e., brought closer to zero).

[0065] In other words, in step S10, the rolling stand F ｉ－１ , F ｉ The difference in tension Δε between the metal plates S ｉ－１，ｉ The leveling correction amount ΔS is set so that it falls within the acceptable range or becomes zero. ｉ You may also calculate it in this way.

[0066] Thus, the leveling correction amount ΔS when i = n + 1 ｉ (Here, ΔS ４ Once the result is calculated, increment i (i = i + 1; step S14) and proceed to the next stage rolling stand F ｉ (That is, here is the rolling stand F) ５ ~F ７ ) also involves the leveling correction amount ΔS in the procedure of steps S8 to S10. ｉ (i.e., ΔS) ５ ~ΔS７ The following will be calculated sequentially.

[0067] In addition, in the above formula (D) used in step S10, ΔS ｉ－１ This is ΔS calculated in step S10 of the previous calculation loop. ｉ Therefore, it is a known value.

[0068] In this way, the downstream rolling stand F of the rolling stands under control. ７ (F ｍ Leveling correction amount ΔS for ) ７ (ΔS ｍ Once the value is calculated (Yes in step S12), the rolling stand F to be controlled is １ ~F ７ (F ｎ ~F ｍ ) Among these, the difference in tension Δε between adjacent rolling stands in the rolling direction (direction of travel) ｉ－１，ｉ Determine whether it is within the acceptable range (S20). Differential tension Δε between each rolling stand ｉ－１，ｉ The permissible range may be predetermined based on operational history and equipment specifications.

[0069] Differential tension Δε between each rolling stand ｉ－１，ｉ If all of these are within the acceptable range (Yes in step S20), it can be determined that the risk of meandering during plate passage is low, and each rolling stand F １ ~F ７ (F ｎ ~F ｍ Without correcting the leveling of ), return to the first step S2.

[0070] On the other hand, the difference in tension between each rolling stand Δε ｉ－１，ｉ If any of the following is outside the acceptable range (No in step S20), each rolling stand F １ ~F ７ (F ｎ ~F ｍ Regarding the leveling correction amount ΔS calculated in step S4 and step S10, １ ~ΔS ７ (ΔS ｎ ~ΔS ｍ Based on the above, the corresponding rolling stand F １ ~F ７ (Fｎ ~F ｍ Adjust (correct) the leveling amount of (S22).

[0071] Furthermore, in order to stabilize the leveling control, each rolling stand F in step S22 １ ~F ７ (F ｎ ~F ｍ The actual leveling correction amount in step S4 and step S10 is the leveling correction amount ΔS １ ~ΔS ７ (ΔS ｎ ~ΔS ｍ ) (or, the leveling correction amount ΔS corrected in step S18 described later) １ ~ΔS ７ (ΔS ｎ ~ΔS ｍ )) may be multiplied by an adjustment gain (a value between 0 and 1.0, for example, 0.5).

[0072] Steps S16 and S18 in the flowchart of Figure 4 are optional procedures, and their details will be described later.

[0073] According to the control method of the above embodiment, the downstream rolling stand F ｉ (F ４ ~F ７ ) Leveling correction amount ΔS ｉ (ΔS ４ ~ΔS ７ ) at the rolling stand F immediately before (upstream) ｉ－１ (F ３ ~F ６ ) Leveling correction amount ΔS ｉ－１ (ΔS ３ ~ΔS ６ ) and the above-mentioned difference tension Δε ｉ－１，ｉ (Δε ３，４ ~Δε ６，７ Since the calculation is now performed using ), the downstream rolling stand F ｉ (F ４ ~F ７ Leveling correction amount ΔS ｉ (ΔS ４ ~ΔS ７ While reducing the load on each rolling stand F ｎ ~Fｍ (F ３ ~F ７ Appropriate leveling control can be achieved with the upstream rolling stand F. ｉ－１ Regarding the rolling stand F ｉ－１ A leveling correction amount ΔS that reduces disturbances such as differential tension and meandering that may occur immediately before the event. ｉ－１ In addition to calculating the downstream rolling stand F ｉ Regarding the upstream rolling stand F ｉ－１ Assuming that these disturbances are reduced by leveling correction, the leveling correction amount ΔS ｉ Since it is possible to calculate this, the downstream rolling stand F ｉ Leveling correction amount ΔS ｉ The (control amount) can be reduced. Therefore, according to the above embodiment, the tail end of the metal plate S (rolled material) is connected to a plurality of rolling stands 10 (rolling stand F １ ~F ７ Even when passing through (i.e., when meandering etc. is likely to occur), leveling control at each rolling stand 10 can be performed stably.

[0074] Furthermore, according to the above embodiment, the upstream rolling stand F ｉ－１ Leveling correction amount ΔS ｉ－１ The downstream rolling stand F ｉ Leveling correction amount ΔS ｉ Since the direction of control, which reflects the changes, coincides with the direction of movement of the metal plate S, the corrective operation is easy for the operator to understand.

[0075] In some embodiments, the correction amount calculation unit 64 controls the rolling stand F ｎ and F ｉ (i.e., rolling stand F) ｎ ~F ｍ For each of the following, the leveling correction amount ΔS of the rolling stand is such that the plate wedge ratio, which is the ratio of plate wedge to plate thickness, is maintained at the inlet and outlet of each rolling stand. ｎ 'and ΔS ｉ (ΔS ｎ '~ΔS ｍThe correction unit 66 may calculate the leveling correction amount ΔS calculated in step S16. ｎ 'and ΔS ｉ ' (ΔS ｎ '~ΔS ｍ Using the above, the leveling correction amount ΔS calculated in steps S4 and S10 ｎ and ΔS ｉ (ΔS ｎ ~ΔS ｍ ) may be corrected (S18). Then, in step S22, the leveling correction amount ΔS corrected in step S18 is corrected. ｎ and ΔS ｉ (ΔS ｎ ~ΔS ｍ Based on this, each rolling stand F ｎ and F ｉ (F ｎ ~F ｍ You may also adjust the leveling of ).

[0076] In step S16, the entry plate wedge ΔH is acquired by the entry plate wedge acquisition unit 62. ｉ Based on this, rolling stand F ｉ The inlet and outlet are made of wedge plates (inlet plate wedge: ΔH ｉ Outer plate wedge: Δh ｉ The plate wedge ratio, which is the ratio of ) to plate thickness (thickness on the inlet side: H, thickness on the outlet side: h), is maintained such that (i.e., ΔH ｉ / H = Δh ｉ Rolling stand F (such as / h) ｉ Leveling correction amount ΔS ｉ ' may be calculated. Also, as already mentioned, the entry side plate wedge acquisition section 62 is located immediately before the rolling stand F ｉ－１ Outer plate wedge Δh ｉ－１ By tracking the rolling stand F ｉ The entry side plate wedge ΔH ｉ You may obtain it.

[0077] The leveling correction amount ΔS mentioned above ｉ ' can be calculated, for example, as follows:

[0078] Rolling stand F ｉ－１Leveling correction amount ΔS ｉ－１ After rolling (rolling stand F) ｉ－１ Estimated wedge ratio of the output side (Δh ｉ－１ / h ｉ－１ ) (that is, rolling stand F ｉ Estimated wedge ratio of the entry side plate (ΔH ｉ / H ｉ )) vs. Rolling stand F ｉ The wedge ratio of the rolled sheet (Δh) ｉ / h ｉ The leveling correction amount ΔS is set so that the same values ​​are achieved. ｉ Calculate the value of the metal plate S, H. ｉ and h ｉ For this, a predetermined value based on the rolling conditions may be used, or a measured or calculated value may be used.

[0079] In the wedge ratio change formula for rolled plates shown in the following formula (E), if there is a difference in the wedge ratio, the rolling stand F ｉ Wedge Δh of rolled plate ｉ Adjust (adjustment amount: Δ(Δh) ｉ )) and make the ratio the same. (Note: Other values: h) ｉ Δh ｉ－１ / h ｉ－１ (This is known data.) (Δh ｉ / h ｉ ) - (Δh ｉ－１ / h ｉ－１ ) ... (E)

[0080] Here, rolling stand F ｉ The post-rolled plate wedge is expressed by the following formula (F): Δh ｉ = a ｉ ×C ｉ +b ｉ ×ΔH ｉ +α …(F) In the above formula (F), C ｉ is the rolling stand F ｉ This is the left-right difference in the gap between the upper and lower work rolls when a uniform load is applied (taking into account leveling, off-center, and left-right stiffness differences), a ｉ b is the coefficient of the transcription rate. ｉ is a coefficient related to heredity, and α is a term related to width and curvature of the board.

[0081] The above adjustment amount Δ(Δh) ｉ ) is C due to leveling correction ｉ Change ΔC ｉ This requires modification, and from the above equation (F), we obtain the following equation (F'): Δ(Δh ｉ ) = a ｉ ×ΔC ｉ …(F')

[0082] Leveling correction amount ΔS ｉ ' and ΔC ｉ (C due to leveling correction) ｉ The relationship between the change in A is expressed by the following equation (F''). Note that in the following equation (F''), A ｉ Rolling stand F ｉ This coefficient is determined by the specifications of the rolling mill. ΔC ｉ = A ｉ ×ΔS ｉ …(F'') Therefore, from the above equations (F') and (F''), the leveling correction amount ΔS is given by the following equation (F''''). ｉ ' is found. ΔS ｉ ' = Δ(Δh ｉ ) / (a ｉ ×A ｉ ) ... (F''')

[0083] In step S18, the leveling correction amount ΔS calculated in step S16 is used. ｎ 'and ΔS ｉ ' (ΔS ｎ '~ΔS ｍ By adding '), the leveling correction amount ΔS calculated in steps S4 and S10 is obtained. ｎ and ΔS ｉ (ΔS ｎ ~ΔS ｍ ) may be corrected. Alternatively, in step S18, the leveling correction amount ΔS calculated in step S16 may be corrected. ｎ 'and ΔS ｉ ' (ΔS ｎ '~ΔS ｍ By adding the result of multiplying the result by a coefficient (for example, between 0 and 1.0), the leveling correction amount ΔS calculated in steps S4 and S10 is obtained. ｎ and ΔS ｉ (ΔSｎ ~ΔS ｍ ) may be corrected.

[0084] According to the above embodiment, each rolling stand F ｉ (F ｎ ~F ｍ Regarding ) Rolling stand F ｉ Leveling correction amount ΔS such that the plate wedge ratio is maintained at the input and output sides. ｉ Calculate the leveling correction amount ΔS ｉ Based on the above, the difference tension Δε ｉ－１，ｉ Leveling correction amount ΔS based on this ｉ This is corrected. Therefore, the leveling correction amount ΔS corrected in this way. ｉ Each rolling stand F ｉ By controlling the leveling, the occurrence of meandering in the metal plate can be suppressed more effectively.

[0085] The contents described in each of the above embodiments can be understood, for example, as follows:

[0086] [1] A control device (50) for a rolling mill (2) according to at least one embodiment of the present invention comprises N rolling stands F arranged along the direction of travel of a metal sheet (S). １ ~F Ｎ A control device for a rolling mill (where N≧2), wherein the nth rolling stand F from the upstream side among the N rolling stands. ｎ (However, the leveling correction amount ΔS for n≧1) ｎ A pre-stage leveling correction amount acquisition unit (54) configured to acquire the leveling correction amount ΔS ｎ Based on the rolling stand F ｎ At least one rolling stand F downstream ｉ (where i ≥ n + 1) the leveling correction amount ΔS ｉ A subsequent leveling correction amount acquisition unit (58) configured to acquire the leveling correction amount ΔS ｎ and the leveling correction amount ΔS ｉ Based on this, the rolling stand F corresponding to each leveling correction amount ｎ and the at least one rolling stand Fｉ The rolling stand F is equipped with a leveling adjustment unit (60) configured to adjust the leveling of each of the following, and the subsequent leveling correction amount acquisition unit is equipped with the rolling stand F ｉ and the rolling stand F ｉ Rolling stand F immediately before ｉ－１ The difference in tension between and Δε ｉ－１，ｉ , and the rolling stand F ｉ－１ Leveling correction amount ΔS ｉ－１ Based on this, the leveling correction amount ΔS ｉ The system is configured to calculate the differential tension, and the differential tension is a value that represents the difference between the tension acting on the metal plate in the direction of travel at both ends of the metal plate in the width direction.

[0087] According to the configuration described in [1] above, the downstream rolling stand F ｉ Leveling correction amount ΔS ｉ The rolling stand F immediately before (upstream) ｉ－１ Leveling correction amount ΔS ｉ－１ and the above-mentioned difference tension Δε ｉ－１，ｉ Since the calculation is performed using the downstream rolling stand F ｉ Leveling correction amount ΔS ｉ While reducing the noise, appropriate leveling control can be performed at each rolling stand. That is, the upstream rolling stand F ｉ－１ Regarding the rolling stand F ｉ－１ A leveling correction amount ΔS that reduces disturbances such as differential tension and meandering that may occur immediately before the event. ｉ－１ In addition to calculating the downstream rolling stand F ｉ Regarding the upstream rolling stand F ｉ－１ Assuming that these disturbances are reduced by leveling correction, the leveling correction amount ΔS ｉ Since it is possible to calculate the leveling correction amount ΔS of the downstream stand, ｉ The (control amount) can be reduced. Therefore, according to the configuration of [1] above, leveling control at each rolling stand can be stably performed even when the tail end of the metal plate (rolled material) passes through multiple rolling stands (i.e., when meandering etc. is likely to occur).

[0088] Also, according to the configuration of [1] above, the leveling correction amount ΔS at the upstream rolling stand F ｉ－１ is reflected in the leveling correction amount ΔS ｉ－１ of the downstream rolling stand F ｉ . Since the direction of control to reflect is consistent with the traveling direction of the metal sheet, the correction operation is easy for the operator to understand. ｉ

[0089] [2] In some embodiments, in the configuration of [1] above, the post-stage leveling correction amount acquisition unit is configured to calculate the leveling correction amount ΔS such that the differential tension Δε ｉ－１，ｉ is within the allowable range. ｉ is calculated.

[0090] When the differential tension in the metal sheet is large, the metal sheet is likely to snake or have a shape defect. In this regard, according to the configuration of [2] above, the leveling correction amount ΔS ｉ－１，ｉ is calculated so that the above differential tension Δε ｉ is within the allowable range. Therefore, by adjusting the leveling at each rolling stand F ｉ based on the calculated leveling correction amount ΔS ｉ , each differential tension Δε ｉ－１，ｉ can be reduced. Thus, the snaking and shape defects of the metal sheet can be effectively suppressed.

[0091] [3] In some embodiments, in the configuration of [1] or [2] above, the control device includes a snaking detection unit (30) for detecting the amount of snaking of the metal sheet on the inlet side of the rolling stand F ｎ , and a snaking speed acquisition unit (52) configured to calculate the snaking speed of the metal sheet on the inlet side of the rolling stand F ｎ based on the detection result of the snaking detection unit. The pre-stage leveling correction amount acquisition unit is configured to calculate the leveling correction amount ΔS ｎ of the rolling stand F ｎ based on the snaking speed. ｎ

[0092] According to the configuration of [3] above, among the plurality of rolling stands to be controlled, the rolling stand F ｎCalculate the meandering speed of the metal plate on the inlet side, and based on the calculated meandering speed, calculate the leveling correction amount ΔS of the rolling stand F ｎ so that the leveling correction amount ΔS ｎ can be calculated, and the meandering of the metal plate on the inlet side of the rolling stand F ｎ can be effectively suppressed by the leveling correction amount ΔS ｎ that can be calculated.

[0093] [4] In some embodiments, in the configuration of [3] above, the meandering speed acquisition unit starts calculating the meandering speed after the tension of the metal plate on the inlet side of the rolling stand F ｎ disappears.

[0094] According to the configuration of [4] above, since the calculation of the meandering speed of the metal plate is started after the tension of the metal plate on the inlet side of the rolling stand F ｎ disappears, the calculation resources are not used for calculating the meandering speed while the tension exists, so the calculation load can be reduced.

[0095] [5] In some embodiments, in the configuration of [3] or [4] above, the meandering speed acquisition unit calculates the meandering speed based on the difference between the meandering amount of the metal plate at the current time and the meandering amount of the metal plate at a first time point a specified time before the current time, and the length of the time from the first time point to the current time.

[0096] According to the configuration of [5] above, based on the difference between the meandering amount of the metal plate at the current time (i.e., the amount of movement from the reference position in the width direction of the metal plate) and the meandering amount of the metal plate at a past first time point, and the length of the time from the first time point to the current time, the meandering speed (the moving speed in the width direction of the metal plate) of the metal plate can be appropriately calculated.

[0097] [6] In some embodiments, in the configuration of [3] or [4] above, the meandering speed acquisition unit calculates the meandering speed based on the difference between the meandering amount of the metal plate at the current time and the meandering amount of the metal plate when the trailing end of the metal plate was at a specified position upstream of the current time, and the length of the time from a second time point when the trailing end was at the specified position to the current time.

[0098] According to the configuration described in [6] above, the meandering speed of the metal plate can be appropriately calculated based on the difference between the amount of meandering of the metal plate at the present time and the amount of meandering of the metal plate at the second time point when the tail end of the metal plate was at the specified position, and the length of time from the second time point to the present time. Furthermore, since the basis (reference position) for calculating the meandering speed is fixed, the computational load can be reduced.

[0099] [7] In some embodiments, in any configuration of [3] to [6] above, the preceding leveling correction amount acquisition unit, when the position of the metal plate in the direction of travel is outside the detection range of the meandering detection unit, determines that the tail end of the metal plate is the rolling stand F ｎ Until it reaches that point, the leveling correction amount ΔS is based on the amount of meandering of the metal plate detected by the meandering detection unit just before the position of the metal plate goes outside the detection range. ｎ It is configured to hold.

[0100] According to the configuration of [7] above, if the position of the metal plate falls outside the detection range of the meandering detection unit, the tail end of the metal plate will move to the rolling stand F ｎ The leveling correction amount ΔS is based on the amount of meandering of the metal plate detected by the meandering detection unit just before the metal plate's position goes outside the detection range until it reaches that point. ｎ Therefore, even during periods when the position of the metal plate is outside the detection range of the meandering detection unit, the leveling correction amount ΔS is maintained. ｎ It can be calculated appropriately.

[0101] [8] In some embodiments, in any configuration of [1] to [7] above, the control device is the rolling stand F ｉ The entry side plate wedge ΔH is the plate wedge of the metal plate at the entry side. ｉ An entry-side plate wedge acquisition unit (62) configured to acquire the entry-side plate wedge ΔH ｉ Based on the rolling stand F ｉ The rolling stand F is such that the wedge ratio, which is the ratio of the wedge to the plate thickness, is maintained at both the inlet and outlet sides. ｉ Leveling correction amount ΔS ｉA correction amount calculation unit (64) configured to calculate ', and the leveling correction amount ΔS calculated by the correction amount calculation unit. ｉ Based on this, the leveling correction amount ΔS obtained by the subsequent leveling correction amount acquisition unit. ｉ The leveling adjustment unit comprises a correction unit (66) for correcting the leveling correction amount ΔS corrected by the correction unit. ｉ Based on the rolling stand F ｉ It is configured to adjust the leveling.

[0102] According to the configuration of [8] above, each rolling stand F ｉ Regarding rolling stand F ｉ Leveling correction amount ΔS such that the plate wedge ratio is maintained at the input and output sides. ｉ Calculate the leveling correction amount ΔS ｉ Based on the above, the difference tension Δε ｉ－１，ｉ Leveling correction amount ΔS based on this ｉ This is corrected. Therefore, the leveling correction amount ΔS corrected in this way. ｉ Each rolling stand F ｉ By controlling the leveling, the occurrence of meandering in the metal plate can be suppressed more effectively.

[0103] [9] In some embodiments, in the configuration of [8] above, the control device is the rolling stand F ｉ Rolling stand F immediately before ｉ－１ The exit plate wedge Δh is a plate wedge of the metal plate at the exit side. ｉ－１ The outlet plate wedge acquisition unit (61) is configured to acquire the metal plate, and the inlet plate wedge acquisition unit is configured such that the metal plate is the rolling stand F ｉ－１ The exit plate wedge Δh at the third past point in time after passing through ｉ－１ The metal plate is the rolling stand F ｉ The current state of the inlet plate wedge ΔH ｉ It is configured to be acquired as follows:

[0104] According to the configuration of [9] above, the rolling stand F ｉ Rolling stand F immediately before ｉ－１Outer plate wedge Δh ｉ－１ In addition to obtaining the metal plate, the metal plate is rolled into stand F ｉ－１ The exit plate wedge Δh at the third point in the past after passing through ｉ－１ The metal plate is rolled into stand F ｉ The current value of the entry plate wedge ΔH ｉ Since it was set up to be acquired as rolling stand F ｉ The entry side plate wedge ΔH ｉ The input plate wedge ΔH obtained in this way can be appropriately determined. ｉ Based on this, rolling stand F ｉ The leveling correction amount ΔS described above is such that the plate wedge ratio is maintained at the inlet and outlet ends. ｉ It is possible to calculate ' appropriately.

[0105]

[10] A rolling mill (1) according to at least one embodiment of the present invention comprises N rolling stands F arranged along the direction of travel of the metal sheet. １ ~F Ｎ The rolling mill (2) includes (however, N≧2), and a control device (50) according to any one of the above [1] to [9] configured to control the rolling mill.

[0106] According to the configuration described in

[10] above, the downstream rolling stand F ｉ Leveling correction amount ΔS ｉ The rolling stand F immediately before (upstream) ｉ－１ Leveling correction amount ΔS ｉ－１ and the above-mentioned difference tension Δε ｉ－１，ｉ Since the calculation is performed using the downstream rolling stand F ｉ Leveling correction amount ΔS ｉ While reducing the noise, appropriate leveling control can be performed at each rolling stand. That is, the upstream rolling stand F ｉ－１ Regarding the rolling stand F ｉ－１ A leveling correction amount ΔS that reduces disturbances such as differential tension and meandering that may occur immediately before the event. ｉ－１ In addition to calculating the downstream rolling stand F ｉ Regarding the upstream rolling stand F ｉ－１Assuming that these disturbances are reduced by leveling correction, the leveling correction amount ΔS ｉ Since it is possible to calculate the leveling correction amount ΔS of the downstream stand, ｉ The (control amount) can be reduced. Therefore, according to the configuration of

[10] above, leveling control at each rolling stand can be stably performed even when the tail end of the metal plate (rolled material) passes through multiple rolling stands (i.e., when meandering etc. is likely to occur).

[0107] Furthermore, according to the configuration of

[10] above, the upstream rolling stand F ｉ－１ Leveling correction amount ΔS ｉ－１ The downstream rolling stand F ｉ Leveling correction amount ΔS ｉ The direction of the control, which reflects the changes, aligns with the direction of the metal plate's movement, making the correction operation easy for the operator to understand.

[0108]

[11] A control program for a rolling mill (2) according to at least one embodiment of the present invention is used for N rolling stands F arranged along the direction of travel of a metal sheet (S). １ ~F Ｎ A program for controlling a rolling mill (where N≧2), wherein the computer controls the N rolling stands F １ ~F Ｎ The nth rolling stand F from the upstream side ｎ (However, the leveling correction amount ΔS for n≧1) ｎ The procedure for obtaining the leveling correction amount ΔS ｎ Based on the rolling stand F ｎ At least one rolling stand F downstream ｉ (where i ≥ n + 1) the leveling correction amount ΔS ｉ A procedure for obtaining a subsequent leveling correction amount, and the leveling correction amount ΔS ｎ and the leveling correction amount ΔS ｉ Based on this, the rolling stand F corresponding to each leveling correction amount ｎ and the at least one rolling stand F ｉThe procedure for adjusting the leveling of each of the rolling stand F is configured to perform the procedure for obtaining the subsequent leveling correction amount, and in the procedure for obtaining the subsequent leveling correction amount, the rolling stand F ｉ and the rolling stand F ｉ Rolling stand F immediately before ｉ－１ The difference in tension between and Δε ｉ－１，ｉ , and the rolling stand F ｉ－１ Leveling correction amount ΔS ｉ－１ Based on this, the leveling correction amount ΔS ｉ The difference tension is calculated and represents the difference between the tension acting on the metal plate in the direction of travel at both ends of the metal plate in the width direction.

[0109] According to the configuration described in

[11] above, the downstream rolling stand F ｉ Leveling correction amount ΔS ｉ The rolling stand F immediately before (upstream) ｉ－１ Leveling correction amount ΔS ｉ－１ and the above-mentioned difference tension Δε ｉ－１，ｉ Since the calculation is performed using the downstream rolling stand F ｉ Leveling correction amount ΔS ｉ While reducing the noise, appropriate leveling control can be performed at each rolling stand. That is, the upstream rolling stand F ｉ－１ Regarding the rolling stand F ｉ－１ A leveling correction amount ΔS that reduces disturbances such as differential tension and meandering that may occur immediately before the event. ｉ－１ In addition to calculating the downstream rolling stand F ｉ Regarding the upstream rolling stand F ｉ－１ Assuming that these disturbances are reduced by leveling correction, the leveling correction amount ΔS ｉ Since it is possible to calculate the leveling correction amount ΔS of the downstream stand, ｉ The (control amount) can be reduced. Therefore, according to the configuration of

[11] above, leveling control at each rolling stand can be stably performed even when the tail end of the metal plate (rolled material) passes through multiple rolling stands (i.e., when meandering etc. is likely to occur).

[0110] Furthermore, according to the configuration of

[11] above, the upstream rolling stand Fｉ－１ Leveling correction amount ΔS ｉ－１ The downstream rolling stand F ｉ Leveling correction amount ΔS ｉ The direction of the control, which reflects the changes, aligns with the direction of the metal plate's movement, making the correction operation easy for the operator to understand.

[0111]

[12] A control method for a rolling mill (2) according to at least one embodiment of the present invention involves N rolling stands F arranged along the direction of travel of a metal sheet (S). １ ~F Ｎ A method for controlling a rolling mill including N rolling stands F (where N ≥ 2), wherein N rolling stands F １ ~F Ｎ The nth rolling stand F from the upstream side ｎ (However, the leveling correction amount ΔS for n≧1) ｎ Step (S4) to obtain the leveling correction amount ΔS ｎ Based on the rolling stand F ｎ At least one rolling stand F downstream ｉ (where i ≥ n + 1) the leveling correction amount ΔS ｉ A subsequent step (S10) to acquire the leveling correction amount ΔS ｎ and the leveling correction amount ΔS ｉ Based on this, the rolling stand F corresponding to each leveling correction amount ｎ and the at least one rolling stand F ｉ The step (S22) adjusts the leveling of each of the rolling stand F, and the subsequent step of acquiring the leveling correction amount is performed by the rolling stand F ｉ and the rolling stand F ｉ Rolling stand F immediately before ｉ－１ The difference in tension between and Δε ｉ－１，ｉ , and the rolling stand F ｉ－１ Leveling correction amount ΔS ｉ－１ Based on this, the leveling correction amount ΔS ｉ The difference tension is calculated and represents the difference between the tension acting on the metal plate in the direction of travel at both ends of the metal plate in the width direction.

[0112] According to the method described in

[12] above, the downstream rolling stand F ｉ Leveling correction amount ΔS ｉ The rolling stand F immediately before (upstream) ｉ－１ Leveling correction amount ΔS ｉ－１ and the above-mentioned difference tension Δε ｉ－１，ｉ Since the calculation is performed using the downstream rolling stand F ｉ Leveling correction amount ΔS ｉ While reducing the noise, appropriate leveling control can be performed at each rolling stand. That is, the upstream rolling stand F ｉ－１ Regarding the rolling stand F ｉ－１ Just before that, together with the raw, the downstream rolling stand F ｉ Regarding the upstream rolling stand F ｉ－１ Assuming that these disturbances are reduced by leveling correction, the leveling correction amount ΔS ｉ Since it is possible to calculate the leveling correction amount ΔS of the downstream stand, ｉ The (control amount) can be reduced. Therefore, according to the method in

[12] above, leveling control at each rolling stand can be stably performed even when the tail end of the metal sheet (rolled material) passes through multiple rolling stands (i.e., when meandering etc. is likely to occur).

[0113] Furthermore, according to the method described in

[12] above, the upstream rolling stand F ｉ－１ Leveling correction amount ΔS ｉ－１ The downstream rolling stand F ｉ Leveling correction amount ΔS ｉ The direction of the control, which reflects the changes, aligns with the direction of the metal plate's movement, making the correction operation easy for the operator to understand.

[0114] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above, and also includes modified forms of the embodiments described above, as well as forms that combine these forms as appropriate.

[0115] In this specification, expressions describing relative or absolute arrangements such as "in a certain direction," "along a certain direction," "parallel," "orthogonal," "center," "concentric," or "coaxial" shall not only describe such arrangements strictly, but also describe states of relative displacement with tolerances or angles or distances sufficient to achieve the same function. For example, expressions describing things being in an equal state such as "identical," "equal," and "homogeneous" shall not only describe states of being strictly equal, but also describe states where tolerances or differences exist to the extent that the same function is achieved. Furthermore, in this specification, expressions describing shapes such as quadrilaterals or cylindrical shapes shall not only describe geometrically precise quadrilaterals or cylindrical shapes, but also describe shapes including concave and concave parts, chamfered parts, etc., to the extent that the same effect is achieved. In addition, in this specification, expressions such as "equipment," "includes," or "possesses" a component are not exclusive expressions that exclude the existence of other components.

[0116] 1 Rolling equipment 2 Rolling machine 10 (F １ ~F ７ ) Rolling stand 12 Upper work roll 13 Roll chock 14 Lower work roll 15 Roll chock 16 Upper backup roll 17 Roll chock 18 Lower backup roll 19 Roll chock 20 Rolling device 20A Rolling cylinder 20B Rolling cylinder 30 Meandering detection unit 32 Torque detection unit 50 Control device 52 Meandering speed acquisition unit 54 Pre-stage leveling correction amount acquisition unit 56 Differential tension acquisition unit 58 Post-stage leveling correction amount acquisition unit 60 Leveling adjustment unit 61 Outer plate wedge acquisition unit 62 Inner plate wedge acquisition unit 64 Correction amount calculation unit 66 Correction unit S Metal plate Se Tail end ZD Detection range

Claims

1. A control device for a rolling mill including N rolling stands F arranged along the traveling direction of a metal plate １ ~F Ｎ (where N ≥ 2), wherein, among the N rolling stands, the leveling correction amount ΔS ｎ of the n-th rolling stand F ｎ from the upstream side (where n ≥ 1) is obtained by a front-stage leveling correction amount acquisition unit configured to obtain the leveling correction amount ΔS ｎ Based on the leveling correction amount ΔS ｎ at least one rolling stand F ｉ downstream of the rolling stand F ｉ (where i ≥ n + 1) is obtained by a rear-stage leveling correction amount acquisition unit configured to obtain the leveling correction amount ΔS ｎ And based on the leveling correction amount ΔS ｉ and the leveling correction amount ΔS ｎ A leveling adjustment unit configured to adjust the leveling of the rolling stand F ｉ corresponding to each leveling correction amount and the at least one rolling stand F ｉ The rear-stage leveling correction amount acquisition unit is configured to calculate the difference tension Δε ｉ between the rolling stand F ｉ－１ and the rolling stand F ｉ－１，ｉ immediately before the rolling stand F ｉ－１ and based on the leveling correction amount ΔS ｉ－１ of the rolling stand F ｉ calculate the leveling correction amount ΔS. The differential tension is a value indicating the difference in the tension in the traveling direction acting on the metal plate at both ends in the width direction of the metal plate. A control device for a rolling mill.

2. The subsequent leveling correction amount acquisition unit acquires the differential tension Δε ｉ－１，ｉ The leveling correction amount ΔS is set so that it falls within the acceptable range. ｉ A control device for a rolling mill according to claim 1, configured to calculate a value.

3. The rolling stand F ｎ A meandering detection unit for detecting the amount of meandering of the metal plate at the entry side, and the rolling stand F based on the detection result of the meandering detection unit. ｎ The rolling stand F comprises a meandering speed acquisition unit configured to calculate the meandering speed of the metal plate at the entry side, and the preceding leveling correction amount acquisition unit calculates the meandering speed based on the meandering speed. ｎ Leveling correction amount ΔS ｎ A control device for a rolling mill according to claim 1 or 2, configured to calculate a value.

4. The meandering speed acquisition unit is located at the rolling stand F ｎ A control device for a rolling mill according to claim 3, configured to start calculating the meandering speed after the tension of the metal plate at the entry side is released.

5. The control device for a rolling mill according to claim 3, wherein the meandering speed acquisition unit is configured to calculate the meandering speed based on the difference between the amount of meandering of the metal plate at the present time and the amount of meandering of the metal plate at a first time point a specified time before the present time, and the length of time from the first time point to the present time.

6. The control device for a rolling mill according to claim 3, wherein the meandering speed acquisition unit is configured to calculate the meandering speed based on the difference between the amount of meandering of the metal plate at the present time and the amount of meandering of the metal plate when the tail end of the metal plate was at a specified position upstream of the present time, and the length of time from the second time point when the tail end was at the specified position to the present time.

7. The preceding leveling correction amount acquisition unit, when the position of the metal plate in the direction of travel falls outside the detection range of the meandering detection unit, determines that the tail end of the metal plate is located at the rolling stand F ｎ Until it reaches that point, the leveling correction amount ΔS is based on the amount of meandering of the metal plate detected by the meandering detection unit just before the position of the metal plate goes outside the detection range. ｎ A control device for a rolling mill according to claim 3, configured to hold a 8. The rolling stand F ｉ The entry side plate wedge ΔH is the plate wedge of the metal plate at the entry side. ｉ An entry-side plate wedge acquisition unit configured to acquire the entry-side plate wedge ΔH ｉ Based on the rolling stand F ｉ The rolling stand F is such that the wedge ratio, which is the ratio of the wedge to the plate thickness, is maintained at both the inlet and outlet sides. ｉ Leveling correction amount ΔS ｉ A correction amount calculation unit configured to calculate ', and the leveling correction amount ΔS calculated by the correction amount calculation unit. ｉ Based on this, the leveling correction amount ΔS acquired by the subsequent leveling correction amount acquisition unit. ｉ The leveling adjustment unit comprises a correction unit for correcting the leveling correction amount ΔS corrected by the correction unit. ｉ Based on the rolling stand F ｉ A control device for a rolling mill according to claim 1 or 2, configured to adjust the leveling of a rolling mill.

9. The rolling stand F ｉ Rolling stand F immediately before ｉ－１ The exit plate wedge Δh is a plate wedge of the metal plate at the exit side. ｉ－１ The outlet plate wedge acquisition unit is configured to acquire the metal plate, and the inlet plate wedge acquisition unit is configured such that the metal plate is the rolling stand F ｉ－１ The exit plate wedge Δh at the third past point in time after passing through ｉ－１ The metal plate is the rolling stand F ｉ The current state of the inlet plate wedge ΔH ｉ A control device for a rolling mill according to claim 8, configured to acquire as 10. N rolling stands F arranged along the direction of travel of the metal sheet. １ ~F Ｎ A rolling mill comprising: a rolling mill (where N ≥ 2); and a control device according to claim 1 or 2 configured to control the rolling mill.

11. N rolling stands F arranged along the direction of travel of the metal sheet. １ ~F Ｎ A program for controlling a rolling mill (where N≧2), wherein the computer controls the N rolling stands F １ ~F Ｎ The nth rolling stand F from the upstream side ｎ (However, the leveling correction amount ΔS for n≧1) ｎ The procedure for obtaining the leveling correction amount ΔS ｎ Based on the rolling stand F ｎ At least one rolling stand F downstream ｉ (where i ≥ n + 1) the leveling correction amount ΔS ｉ A procedure for obtaining a subsequent leveling correction amount, and the leveling correction amount ΔS ｎ and the leveling correction amount ΔS ｉ Based on this, the rolling stand F corresponding to each leveling correction amount ｎ and the at least one rolling stand F ｉ The procedure for adjusting the leveling of each of the rolling stand F is configured to perform the procedure for obtaining the subsequent leveling correction amount, and in the procedure for obtaining the subsequent leveling correction amount, the rolling stand F ｉ and the rolling stand F ｉ Rolling stand F immediately before ｉ－１ The difference in tension between and Δε ｉ－１，ｉ , and the rolling stand F ｉ－１ Leveling correction amount ΔS ｉ－１ Based on this, the leveling correction amount ΔS ｉ A control program for a rolling mill that calculates the difference tension, where the difference tension is a value representing the difference between the tension acting on the metal plate in the direction of travel at both ends of the metal plate in the width direction.

12. N rolling stands F arranged along the direction of travel of the metal plate. １ ~F Ｎ A method for controlling a rolling mill including N rolling stands F (where N ≥ 2), wherein N rolling stands F １ ~F Ｎ The nth rolling stand F from the upstream side ｎ (However, the leveling correction amount ΔS for n≧1) ｎ The steps of obtaining the leveling correction amount ΔS ｎ Based on the rolling stand F ｎ At least one rolling stand F downstream ｉ (where i ≥ n + 1) the leveling correction amount ΔS ｉ A subsequent step to acquire the leveling correction amount ΔS ｎ and the leveling correction amount ΔS ｉ Based on this, the rolling stand F corresponding to each leveling correction amount ｎ and the at least one rolling stand F ｉ The rolling stand F is equipped with a step to adjust the leveling of each of the following, and in the step to acquire the amount of the subsequent leveling correction, the rolling stand F ｉ and the rolling stand F ｉ Rolling stand F immediately before ｉ－１ The difference in tension between and Δε ｉ－１，ｉ , and the rolling stand F ｉ－１ Leveling correction amount ΔS ｉ－１ Based on this, the leveling correction amount ΔS ｉ A method for controlling a rolling mill, wherein the differential tension is a value that represents the difference between the tension acting on the metal plate in the direction of travel at both ends of the metal plate in the width direction.

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