Preventing undulations when rolling metal strips

Abstract

A control device (3b) for a roll stand (1). During rolling of a metal strip (2) in the roll stand (1), the device receives measurement data (M) for a lateral position (y) of the metal strip (2) on the inlet side and/or outlet side of the roll stand (1). Taking into account parameters (P) of the stand regulator (3a) on the basis of the deviation in the lateral position (y) from a target position (y*), a stand regulator (3a) of the control device (3b) determines a tilt value (s) for the roll stand (1) and controls the roll stand (1) accordingly. The control device (3b) determines at least one variable (V1, V2, Q1, Q2) from which it is derived, for both strip edges (7, 8) of the metal strip (2), whether the metal strip (2) forms an undulation (9) in the region of the particular strip edge (7, 8). As soon as the metal strip (2) forms an undulation (9) in the region of one of the strip edges (7, 8), the control device (3b) varies at least one of the parameters (P) of the stand regulator (3a), such that the stand regulator (3a) determines the tilt value (s), starting from the variation in the at least one parameter (P), and taking into account the changed parameter (P).

Claims

1. A control method for a roll stand comprising: rolling a metal strip in the roll stand; providing a control device for the roll stand for receiving measurement data (M) for a lateral position (y) of the metal strip that exists on an entry side and/or on an exit side of the roll stand; operating a stand controller of the control device to take account of parameters (P) of the stand controller in taking a deviation in the lateral position (y) from a desired position (y*) as a basis for ascertaining a pivot value (s) for the roll stand; and actuating the roll stand accordingly, ascertaining by the control device at least one quantity (V1, V2, Q1, Q2) that reveals, for both strip edges of the metal strip, whether the metal strip is forming a wave in a region of one of the strip edges; and as soon as the metal strip forms the wave in the region of one of the strip edges, the control device varying at least one of the parameters (P) of the stand controller, such that the stand controller ascertains the pivot value (as) from the varying of the at least one parameter (P) onward in the light of the varied parameter (P).

2. The control method as claimed in claim 1, further comprising the control device varying the at least one of the parameters (P) such that the formation of the wave is prevented or an extent (h) to which the wave forms is limited to a predetermined degree.

3. The control method as claimed in claim 1, further comprising causing the control device to retain the varied parameter (P) until either the control device varies the parameter (P) again on the basis of a further formation of the wave in the metal strip or a tensile state (Z) of the metal strip changes or the metal strip has been completely rolled in the roll stand.

4. The control method as claimed in claim 1, further comprising operating the control device to supply the varied parameter (P) to a database (DB) in association with data (D) that are characteristic of the rolled metal strip, making the varied parameter (P) available as an initial value for the parameter (P) when a further metal strip having the same or sufficiently similar characteristic data (D) is rolled.

5. The control method as claimed in claim 1, further comprising: the measurement data (M) that the control device receives for the lateral position (y) of the metal strip comprise groups of images (B) of the metal strip that show the metal strip as it exits the roll stand and/or as it enters the roll stand, and referencing the images (B) of the groups each being referenced to a capture time that is consistent for the respective group.

6. The control method as claimed in claim 5, further comprising: determining the groups of images (B) such that they allow a three-dimensional determination of the surface of the metal strip.

7. The control method as claimed in claim 5 further comprising with the control device ascertaining the at least one quantity (V1, V2, Q1, Q2) that reveals, for both strip edges of the metal strip, whether the metal strip is forming the wave in the region of the respective strip edge, on the basis of the groups of the images (B) of the metal strip.

8. The control method as claimed in claim 7, further comprising: operating the control device to use the respective group of images (B) to ascertain a respective extent to which the metal strip forms the wave in the region of the respective strip edge; comparing the respective ascertained extent with a threshold value (SW); and ascertaining the at least one quantity (V1, V2) on the basis of the respective comparison as a respective Boolean variable (V1, V2).

9. The control method as claimed in claim 7, further comprising operating the control device to use the respective group of images (B) to quantitatively ascertain a respective extent to which the metal strip forms the wave in the region of the respective strip edge; and to use quantified values (Q1, Q2) as at least one quantity (Q1, Q2).

10. The control method as claimed in claim 9, further comprising, operating the control device to ascertain the quantified values (Q1, Q2) in I units.

11. The control method as claimed in in claim 1, further comprising leaving the metal strip in a relaxed state upstream and/or downstream of the roll stand while the control method is being performed.

12. A control program product, comprising machine code stored on a non-transitory medium that can be executed by the control device for the roll stand of claim 1, to cause the control device of the roll stand of claim 1 to perform the control method as claimed in claim 1.

13. The control device for the roll stand of claim 1, wherein the control device for the roll stand of claim 1 is programmed for causing the control device of the roll stand of claim 1 to perform the control method as claimed in claim 1 during operation.

14. A roll unit, wherein the roll unit has the roll stand of claim 13 in which the metal strip is rolled, wherein the roll unit has the control device as claimed in claim 13, and wherein the roll stand is controlled by the control device as claimed in claim 13.

15. A rolling mill train, wherein the rolling mill train has multiple roll stands, the roll stands are arranged in succession as seen in a rolling direction (x), as a result of which they carry the same section of the metal strip one after the other, wherein at least one of the roll stands is in the form of the roll unit as claimed in claim 14.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The properties, features and advantages of this invention that are described above and the way in which they are achieved will become clearer and more distinctly comprehensible in connection with the description of the exemplary embodiments that follows, said exemplary embodiments being explained in more detail in conjunction with the drawings, in which, in a schematic representation:

(2) FIG. 1 shows a multi-stand rolling mill train,

(3) FIG. 2 shows a single roll stand with assigned components,

(4) FIG. 3 shows a flowchart,

(5) FIG. 4 shows a roll stand and a metal strip viewed from above,

(6) FIG. 5 shows a metal strip with a wave from the side, and

(7) FIGS. 6 to 9 show flowcharts.

DESCRIPTION OF THE EMBODIMENTS

(8) According to FIG. 1, a rolling mill train has multiple roll stands 1. Only the working rolls from the roll stands 1 are depicted in FIG. 1. Normally, the roll stands 1 additionally have at least support rolls, and in some cases additionally further rolls beyond the support rolls. For example, there may be intermediate rolls arranged between the working rolls and the support rolls. A metal strip 2 is being rolled in the rolling mill train. Each of the roll stands 1 is controlled by a respective stand controller 3a. The stand controllers 3a are part of a respective control device 3b for the respective roll stand 1. The control devices 3b can be coordinated by a higher-level coordination device 3c, although this is not absolutely necessary.

(9) The roll stands 1 are arranged in succession in a rolling direction x. The roll stands 1 therefore carry the same section of the metal strip 2 one roll stand after the other. The metal strip 2 can be made from steel or aluminum, for example. The rolling can be hot rolling, for example, in particular in a multi-stand production line of a hot rolling mill.

(10) FIG. 2 shows a single roll stand 1. A metal strip 2 is likewise being rolled in the roll stand of FIG. 2. The roll stand 1 can be one of the roll stands 1 of the rolling mill train of FIG. 1. Therefore, a further roll stand 1 of the rolling mill train is additionally shown in FIG. 2. This further roll stand 1 is depicted only in broken lines, however, since only the roll stand 1 depicted in solid lines matters for FIG. 2 and the other Figures. Therefore, the explanations that follow relate to this roll stand 1. Alternatively, a reversing stand may be involved, in which the metal strip 2 is rolled in reverse. In this case, the roll stand 1 may be the only roll stand in which the metal strip 2 is rolled. The roll stand 1, just like the roll stands 1 of FIG. 1, is controlled by a control device 3b with a stand controller 3a, whereby the control device 3b is able to have a coordination device 3c on a higher level.

(11) Each control device 3b is programmed with a control program 4. This is shown in FIG. 1 and FIG. 2 only for one of the control devices 3b. The control program 4 comprises machine code 5 that can be executed by the control device 3b. The execution of the machine code 5 by the control device 3b causes the control device 3b to control the roll stand 1 using a control method that is explained in more detail below. This first involves an explanation of a mode that also takes place in the prior art, and later a discussion of features according to the invention.

(12) The control device 3b receives measurement data M from a capture device 6 in FIG. 2. See also a step S1 in FIG. 3. The measurement data M are received while the metal strip 2 is being rolled in the roll stand 1. The measurement data M are characteristic of a lateral position y of the metal strip 2 that exists on the exit side of the roll stand 1 according to the depiction in FIG. 4. The control device 3b therefore ascertains the lateral position y of the metal strip 2 from the measurement data M in a step S2. It takes the deviation in the lateral position y from a desired position y* as a basis for ascertaining a pivot value s for the roll stand 1 in a step S3. As a starting point, the ascertainment involves the lateral position y of the metal strip 2 being brought closer to the desired position y*. The stand controller 3a actuates the roll stand 1 according to the ascertained pivot value s in a step S4.

(13) When ascertaining the pivot value s, the stand controller 3a takes account of not only the deviation in the lateral position y from a desired position y*, but additionally also at least one parameter P, and usually multiple parameters P. Parameters P are somewhat different than a variable. A variable is a quantity that changes in each cycle of the stand controller 3a. Typical variables are the desired value y*, the actual value y and the manipulated quantity s. Parameters P, on the other hand, are values that are normally prescribed for the stand controller 3a only once and then constantly retained throughout the control operation, that is over a multiplicity of cycles. In the case of a conventional PI controller, for example, the parameter P can be a proportional gain or an integration time constant. For a stand controller 3a, as is used in the present case and known from the aforementioned EP 3 202 502 A1, for example, the parameters P can declare for example a maximum permissible value for the pivot value s or a maximum value for the change in the pivot value s from cycle to cycle of the stand controller 3a. The maximum permissible value for the pivot value s can be declared separately for the two pivot directions if necessary.

(14) To the extent explained above, the operation of the control device 3b corresponds to normal strip position control as is known generally and also as explained in detail in EP 3 202 502 A1, for example. This approach forms the basis for the present invention.

(15) This is because, according to the invention, in a step S5, the control device 3b ascertains at least one quantity V1, V2, Q1, Q2 that reveals, for both strip edges 7, 8 of the metal strip 2 (see FIG. 4), whether the metal strip 2 is forming a wave 9 (see FIG. 5) in the region of the respective strip edge 7, 8. In a step S6, the control device 3b uses the at least one quantity V1, V2, Q1, Q2 to check whether and if necessary at which strip edge 7, 8 the metal strip 2 is forming a wave 9.

(16) If the check in step S6 has a negative outcome, that is no wave 9 is detected, a step S7 is skipped. If the check in step S6 has a positive outcome, that is a wave 9 is detected, on the other hand, the control device 3b moves to step S7. In step S7, the control device 3b varies at least one of the parameters P of the stand controller 3a. From this time onward, that is from the varying of the at least one parameter P onward, the stand controller 3a ascertains the pivot value s in light of the varied parameter P.

(17) The control device 3b varies the parameter P such that the formation of the wave 9 is prevented or an extent h to which the wave 9 forms is limited to a predetermined degree. In particular, the control device 3b can vary the parameter P that declares the maximum permissible value for the pivot value s. In particular, the absolute value of this value can be reduced from its currently valid value. The varying can alternatively be carried out for both pivot directions or just for the pivot direction that is responsible for the wave 9 that has arisen.

(18) In contrast to the approach of the prior art, wherein the wave is not automatically taken into account, the present invention therefore involves the pivot value s being ascertained in light of the circumstance of whether the metal strip 2 is forming a wave 9 in the region of one of its strip edges 7, 8.

(19) The varied parameter P is retained by the control device 3b as time goes by until a specific event occurs on the basis of which the value of the applicable parameter P is varied again. If the absolute value of the parameter P is reduced for both pivot directions, a specific event of this kind is that another wave 9 is detected at one of the strip edges 7, 8 despite the variation of the parameter P that was just mentioned. If the absolute value of the parameter P is reduced for the respective pivot direction only, a specific event of this kind is that, despite the variation of the parameter P that was just mentioned, another wave 9 is detected at the same strip edge 7, as previously. Other specific events are a change in the rolling process.

(20) In particular, according to the depiction in FIG. 6, it is possible for the control device 3b to check, in a step S11, whether the tensile state Z of the metal strip 2 has changed. The tensile state Z changes in particular when there is a transition from rolling the metal strip 2 under tension to rolling the metal strip 2 without tension or, vice versa, a transition from rolling the metal strip 2 without tension to rolling the metal strip 2 under tension. A change from rolling the metal strip 2 without tension to rolling the metal strip 2 under tension generally occurs in particular when a strip head 11 of the metal strip 2 enters a downstream device, for example is threaded into the downstream roll stand 1 in the case of a multi-stand rolling mill train. Conversely, a change from rolling the metal strip 2 under tension to rolling the metal strip 2 without tension occurs when a strip tail of the metal strip exits an upstream device, for example is threaded out of the upstream roll stand of a multi-stand rolling mill train.

(21) Alternatively or additionally, the control device 3b can check, in a step S12, whether the metal strip 2 has been completely rolled in the roll stand 1. In this case, the parameters P can be declared again in a step S13.

(22) It is possible to always declare the parameters P to have the same values. Preferably, the procedure from FIG. 6 is complemented by steps S21 to S24 in accordance with the depiction from FIG. 7, however.

(23) Step S21 is performed when the control device 3b varies the at least one parameter P. In this case, the control device 3b supplies the varied parameter P to a database DB (see FIG. 2) in association with data D that are characteristic of the rolled metal strip 2. This allows the control device 3b, prior to rolling a respective metal strip 2, to use characteristic data D for the new metal strip 2 to be rolled to check in step S22 whether parameters P are already stored in the database DB for such a metal strip 2 or a metal strip 2 having sufficiently similar characteristic data D. If such parameters P are stored, the control device 3b can retrieve these parameters P from the database DB as initial values in step S23. Otherwise, the control device 3b can calculate standard values for the parameters P in step S24.

(24) The measurement data M can be determined as required. The capture device 6 is also designed accordingly. Preferably, the capture device 6 is in the form of a single camera 7 or, as seen in FIG. 4, in the form of a group of cameras 10. In this case, the measurement data M are images B or groups of images B.

(25) It is possible for the groups of images B to each comprise just a single image B. In this case, the respective image B is referenced to a respective capture time. As already mentioned, the capture device 6 may also be in the form of a group of cameras 10, however. In this case, the cameras 10 each capture a separate image B. In this case, the individual cameras 10 each capture their respective image B at a consistent capture time. In this case, the images B of the respective group are thus referenced to a respective consistent capture time.

(26) Preferably, the control device 3b does not just use the groups of images B in step S2, that is when ascertaining the lateral position y of the metal strip 2. Instead, the control device 3b preferably also uses the groups of images B in step S5 to ascertain the at least one quantity V1, V2, Q1, Q2 that reveals, for both strip edges 7, 8 of the metal strip 2, whether the metal strip 2 is forming a wave 9 in the region of the respective strip edge 7, 8.

(27) As already mentioned, the groups of images B can each comprise more than one image B. For example, in accordance with the depiction in FIG. 4, there may be multiple cameras 10 present that each capture a separate image B. In this case, the control device 3b can preprocess the images B captured at a consistent capture time so that it ascertains the three-dimensional surface of the metal strip 2. In this case, the control device 3b uses the ascertained three-dimensional surface of the metal strip 2 in step S5. Similarly, there is also the possibility that, although only a single image B is captured per group of images B, the single image B already contains the required three-dimensional information. In this case, the applicable image B is a so-called depth image. In this case too, the control device 3b uses the three-dimensional surface of the metal strip 2 in step S5.

(28) To implement step S5, that is to ascertain the at least one quantity V1, V2, Q1, Q2 that reveals, for both strip edges 7, 8 of the metal strip 2, whether the metal strip 2 is forming a wave 9 in the region of the respective strip edge 7, 8, the control device 3b can, in a step S31, while evaluating the respective group of images B for one strip edge 7, 8 of the metal strip 2, ascertain an extent of a wave 9, to which the metal strip 2 forms the wave 9 in the region of the strip edge 7, 8, in accordance with the depiction in FIG. 8. For example, the control device 3b can ascertain the height h of the wave 9.

(29) To ascertain the extent of the wave 9, the control device 3b executes an algorithm in the broader sense. For example, the control device 3b can be programmed with a learning algorithm, machine learning algorithm, wherein a multiplicity of groups of images B are prescribed for the learning algorithm in a learning phase in advance, that is before performance of the control method from FIG. 3, and, in addition to the respective group of images B, the associated extent, for example the height h of the wave 9, is also communicated, as a result of which the control device 3b was able to learn the correct evaluation. As an alternative to the extent, a piece of Boolean information derived from the extent can also be supplied to the control device 3b. During later operation, during performance of the control method from FIG. 3, only the respective group of images B is then prescribed for the learning algorithm, and the control device 3b uses the learning algorithm to determine the associated extent or the Boolean information derived therefrom. Alternatively or additionally, a different piece of information can be supplied to the control device 3 as part of the learning process, for example control interventions by operators during the rolling of the metal strip 2. An example of a suitable learning algorithm is a neural network, in particular a DNN=deep neural network. The design and manner of training of a neural network of this kind are explained for example in the technical paper by Zhong-Qiu Zhao mentioned at the outset.

(30) In a step S32, the control device 3b checks whether the ascertained extent exceeds a predetermined threshold value SW. If this is the case, the control device 3b sets a Boolean variable V1 to the value TRUE in a step S33. Otherwise, the control device 3b sets the Boolean variable V1 to the value FALSE in a step S34.

(31) In steps S35 to S38, the control device 3b ascertains the value of a Boolean variable V2 for the other strip edge 8 in a totally analogous manner.

(32) In the procedure according to FIG. 8, the Boolean variables V1, V2 are thus the at least one quantity that reveals whether the metal strip 2 is forming a wave 9 in the region of the respective strip edge 7, 8. Instead of the two Boolean variables V1, V2, it would naturally also be possible to use one variable having at least three values. By way of example, the value +1 could be used for a wave 9 at one strip edge 7, the value 1 could be used for a wave 9 at the other strip edge 8 and the value 0 could be used for no wave 9.

(33) The procedure from FIG. 9 is similar to the procedure from FIG. 8. Steps S32 to S34 and S36 to S38 can be dispensed with, however. Instead, steps S41 and S42 are present. In step S41, the control device 3b ascertains a quantified value Q1 for the extent ascertained in step S31. In the simplest case, the control device 3b accepts the extent ascertained in step S31 in step S41. Preferably, however, the control device 3b uses the extent ascertained in step S31 as quantified value Q1 to ascertain the associated I unit of the metal strip 2 in the region of the strip edge 7, 8 in step S41.

(34) In an analogous manner, the control device 3b ascertains a quantified value Q2 for the extent ascertained in step S35 in step S42.

(35) In the case of the configuration according to FIG. 9, the quantified values Q1, Q2 thus represent the at least one quantity that reveals whether the metal strip 2 is forming a wave 9 in the region of the respective strip edge 7, 8. Instead of the two quantified values Q1, Q2, it would naturally also be possible to use a consistent variable that indicates the height h of the wave 9 at one strip edge 7 in the case of a positive value and the height h of the wave 9 at the other strip edge 8 in the case of a negative value, for example.

(36) In accordance with the depiction in FIG. 4, the images B show the metal strip 2 on the exit side of the roll stand 1 in a relaxed state. This is the case anyway if the roll stand 1 is configured as a pure reversing stand. If the roll stand 1 is configured as part of the multi-stand rolling mill train from FIG. 1, the situation arises for the time range in which although the strip head 11 of the metal strip 2 has already passed through the roll stand 1, it has not yet reached the further roll stand 1 shown in in broken lines. For example, if the roll stand 1 has coil boxes or similar devices arranged upstream and downstream of it, this applies in each case up to the time at which the strip head 11 reaches the respective coil box. Similar statements apply to the strip tail.

(37) At a reversing stand, the metal strip 2 is rolled in reverse. The exit side of the roll stand 1 therefore changes with each rolling pass. For a reversing stand, the term exit side is therefore not static, but rather dynamic with reference to the respective rolling pass. The same applies to the term entry side.

(38) The present invention has been explained above in conjunction with a capture of the lateral position y on the exit side of the roll stand 1. This is the norm for the present invention. Alternatively or additionally, however, it is likewise possible to carry out the procedure for the entry side of the roll stand 1.

(39) The present invention has many advantages. In particular, the approach according to the invention allows detection and correction of not only a fault in the strip path but also a fault when a wave 9 is produced. The detection of waves 9 as such in the captured images B can be implemented without any difficulty. The approach according to the invention can be used in particular for automated optimization of the operation when the metal strip 2 is threaded into a downstream roll stand 1 or in general when the metal strip 2 enters a downstream device. Additionally, the requisite hardware for capturing and using the images B is usually present anyway, which means that only the costs for the associated software are incurred.

(40) Although the invention has been illustrated and described more thoroughly in detail by the preferred exemplary embodiment, the invention is not restricted by the disclosed examples, and other variants can be derived therefrom by a person skilled in the art without departing from the scope of protection of the invention.

LIST OF REFERENCE SIGNS

(41) 1 Roll stand 2 Metal strip 3 Control device 3a Stand controller 3b Automation device 4 Control program 5 Machine code 6 Capture device 7, 8 Strip edges 9 Waves 10 Cameras 11 Strip head B Images D Data DB Database h Height M Measurement data P Parameter Q1, Q2 Quantified values S1 to S42 Steps SW Threshold value V1, V2 Boolean variable x Rolling direction y Lateral direction y* Desired position Z Tensile state s Pivot value