1、 SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23CHKD.K.Yoshioka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Japan 331EY46014 1/30 訂 製 95-03 REV.331EY46014ORDER NUMBER 1135-6792MANUFACTURE NUM
2、BER D7700585NUMBER RELATED DOCUMENTSNo. DRAWING NUMBER Sheet No. DOCUMENT NAMESYSTEM NAME LEVEL2 COMPUTERNAME OFDOCUMENT ADAPTIVE CONTROL SPECIFICATIONCUSTOMER Shougang Jingtang United Iron & Steel Co., Ltd.USE No.1 PL-TCM SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23CHKD.K.Yoshio
3、ka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Japan 331EY46014 2/30 訂 製 95-03 REV.331EY46014REVISIONSNo. DATE REVD CHKD APPD Sheet No. CONTENTS1 2007/03/23S.Unno K.YoshiokaK.KuribayashiAll sheets First Editi
4、on V1.02 07.07.25 R.Kou K.YoshiokaK.Kuribayashi9, 26 Revised by Basic design V1.1 SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23CHKD.K.Yoshioka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Ja
5、pan 331EY46014 3/30 訂 製 95-03 REV.331EY46014RELATED DOCUMENTSNo. Drawing No. NAME Ver./Rev.1 331EY45991 General Functional Specification Ver.1.02 331EY46013 Basic Setup Calculation Specification Ver.1.03 331EY46015 Equation List of Cold Rolling Mills Ver.1.04 331EY46016 Dynamic Setup Calculation Spe
6、cification Ver.1.05 331EY46017 Zeroing Calculation Specification Ver.1.0 SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23CHKD.K.Yoshioka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Japan 331EY
7、46014 4/30 訂 製 95-03 REV.331EY46014TABLE OF CONTENTS1 INTRODUCTION 81.1 GENERAL 81.2 CONDITION.81.3 OPTION82 TASK LINKAGE FLOW .93 PROCESSING CONFIGURATION104 DETAILED SPECIFICATION114.1 STEADY STATUS DETECTED 114.2 FGC COMPLETION (T/R ON).144.3 DEC COMPLETION FOR FGC (WELDING POINT FINAL WPD PASSAG
8、E) .155 ADAPTIVE COEFFICIENT CALCULATION PROCEDURE165.1 CALCULATION FLOW .165.2 ACTUAL THICKNESS OF #1 STAND ENTRY AND EACH STAND DELIVERY.175.3 FORWARD SLIP 175.4 REDUCTION PERCENT.175.5 ROLL GAP ERROR185.5.1 OIL FILM185.5.2 CALCULATION OF ROLL GAP ERROR .185.6 ACTUAL TENSION.195.6.1 BACK UNIT TENS
9、ION .195.6.2 FRONT UNIT TENSION.195.7 YIELD STRESS205.8 ROLLING FORCE215.8.1 COEFFICIENT OF FRICTION .215.8.2 TENSION EFFECT215.8.3 ROLLING FORCE (REVERSE CALCULATION FROM ACTUAL) .215.8.4 DEFORMED WORK ROLL RADIUS225.9 ROLLINIG TORQUE.235.9.1 LOSS TORQUE 235.9.2 MOTOR TORQUE 235.9.3 SYM. REVISIONS
10、DATE REVD. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23CHKD.K.Yoshioka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Japan 331EY46014 5/30 訂 製 95-03 REV.331EY46014TENSION TORQUE.245.9.4 ROLLING TORQUE.245.9.5 ROLLING
11、 FORCE (REVERSE CALCULATION FROM ACTUAL) .245.10 CALCULATION OF ADAPTIVE COEFFICIENT255.10.1 ROLLING FORCE255.10.2 ADAPTIVE COEFFICIENT 255.10.3 MEAN VALUE .255.10.4 VARIANCE .255.10.5 FORWARD SLIP 265.10.6 ROLLING TORQUE.265.10.7 ROLLING TORQUE ADAPTIVE COEFFICIENT.265.10.8 ROLL GAP ADAPTIVE COEFFI
12、CIENT 265.11 ADAPTIVE COEFFICIENT OF REDUCTION BY DULL ROLL275.12 CALCULATION OF REVERSE VALUE (FOR ADJUSTMENT) 275.12.1 COEFFICIENT OF FRICTION .275.12.2 PARAMETER OF YIELD STRESS.286 TCD FORMAT .296.1 TCD FORMAT FOR RECEIPT296.2 TCD FORMAT FOR SENDING.29 SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.D
13、WN. S.Unno 2007.03.23CHKD.K.Yoshioka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Japan 331EY46014 6/30 訂 製 95-03 REV.331EY46014NOMENCLATUREh : Delivery thickness at each stand mmh : Temporary delivery thickne
14、ss at each stand mmH : Entry thickness at each stand mmH1 : Entry thickness at #1 stand ( Mill entry thickness ) mmP : Rolling force kgK : Mill modules kg/mmtf : Front tension ( Unit tension ) kg/mm2tb : Back tension ( Unit tension ) kg/mm2r : Reduction - r : Temporary reduction - rb : Total reducti
15、on at entry - rf : Total reduction at delivery - rt : Total reduction - b : Width of strip mmv : Rolling speed mpmv0 : Strip speed mpm : Logarithmic strain - : Strain rate sec-1 : Friction coefficient - : Tension effect - ks : Static deformation resistance kg/mm2kp : Average deformation resistance o
16、f metals to deformation kg/mm2kb : Yield stress of entry side kg/mm2kf : Yield stress of delivery side kg/mm2f : Forward slip - R : Work roll radiusR : Deformed work roll radius mmX : Toque arm coefficient SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23CHKD.K.Yoshioka 2007.03.23APPD
17、. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Japan 331EY46014 7/30 訂 製 95-03 REV.331EY46014GR : Rolling torque kgmmGT : Tension torque kgmmGL : Loss torque kgmmGM : Motor torque kgmmV : Motor voltage VI : Motor current IHP
18、: Motor power KwS : Screw position ( Roll gap ) mmSZ : Screw position when roll gap calibration mm : Oil film thickness mmF : Rolling force including bending force kgQ : Bending force kgSuffix X i : # i standX F : Final stand ( #5 stand )X A : Actual value by adaptiveX CA : Calculated value by adapt
19、ive X Z : Values at roll gap calibration SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23CHKD.K.Yoshioka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Japan 331EY46014 8/30 訂 製 95-03 REV.331EY46
20、0141 INTRODUCTION1.1 GENERALAdaptive control calculates the adaptive coefficients from given actual data of tandem cold mills. The purpose of this function is compensation of Set up calculation value to achieve high quality products1.2 CONDITIONNo ITEM Before #1 #1-#2 #2 #2-#3 #3 #3-#4 #4 #4-#5 #5 A
21、fter1 Stand type 6Hi 6Hi 6Hi 6Hi 6Hi 2 WR shift 3 IMR shift 4 WR bender 5 IMR bender 6 X-RAY thickness meter 7 Strip speed meter 8 Rolling 9 Rolling force 10 Roll gap 11 Motor current 12 Motor voltage Fig 1.1 Condition of equipment and item of data gathering【Abbreviation】Hi : Hi millWR : Work RollIM
22、R : Intermediate Roll1.3 OPTIONFig 2.1 Option list No Name Select1Dynamic setup #1FF 2Dynamic setup #2-#F-1 FF 345 SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23CHKD.K.Yoshioka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE
23、SPECIFICATIONHitachi,Ltd.Tokyo Japan 331EY46014 9/30 訂 製 95-03 REV.331EY460142 TASK LINKAGE FLOW MODEL CONSTANT TABNeXUS/DlinkTCP/IACTUAL DATGHERINGSET UP DAT DISLY ENGIERINGLO LEVL1 COMPUTERACTUATOR* Engiering Log *Gauge 3.0 2.0 1.60 1.20 1.0 80* TCM SET UP SCREN *Rol Gapl SedDAT BASE MAKINGFED BAC
24、K TABLE DYNAMIC SET UPCLCULIONDYNAMIC ADPTIVECLCULTION LINE TRACKINGANLYZERPCZEROING TABLEZEROING CALCULATIONBASIC SET UPCLULAIONADPTIVECLCULATIONSet up dat Set up datActual dat Zeroing datSet up timingRe-st up timingctual datOPTIONFig2.1 Task linkage flow of adaptive control SYM. REVISIONS DATE REV
25、D. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23CHKD.K.Yoshioka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Japan 331EY46014 10/30 訂 製 95-03 REV.331EY460143 PROCESSING CONFIGURATIONFig 3.1shows the calculation timin
26、g of adaptive control.Fig3.1 Activated timing of adaptive calculationSTARTSteady status detected4.14.24.3ENDFGC completionDeceleration completionfor FGC SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23CHKD.K.Yoshioka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO.
27、PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Japan 331EY46014 11/30 訂 製 95-03 REV.331EY460144 DETAILED SPECIFICATION4.1 STEADY STATUS DETECTED4.1.1 PROCESS INPUT(1) Task activationTable 4.1 Task activationTCD NAME FACTOR FORMAT FROMSteady status 1 Table 6.1.1 TCM data gatheri
28、ng(2) TableMLDTMLSTABFig4.1 MLDT table configuration for Adaptive calculation a a SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23CHKD.K.Yoshioka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Ja
29、pan 331EY46014 12/30 訂 製 95-03 REV.331EY460144.1.2 PROCESS EXPLANATIONFig 4.2 Adaptive calculation timingFig4.2 shows the adaptive calculation timing. The steady status means Mill speed holding status in top speed of rolling. At this timing, adaptive coefficients of top speed are calculated from giv
30、en actual data of Mill. The adaptive coefficients are fed to next coil. The following coefficients are calculated by adaptive calculation.1. Roll force2. Forward slip3. Torque arm4. Screw position5. Reduction of skin passROLLINGSPEEDCOIL-BCOIL-A COIL-CFGC completionSteady status detectedNN secondROL
31、LING SEQUENCEDEC completion for FGC SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23CHKD.K.Yoshioka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Japan 331EY46014 13/30 訂 製 95-03 REV.331EY46014F
32、ig4.3 Steady status calculation checkIt is better to be calculated adaptive coefficients by actual data at high speed. If one more steady status is detected in a same coil, Mill actual data gathering task checks if current speed is highest or not. If present speed is higher than previous one, adapti
33、ve calculation is executed again. If not, adaptive calculation is not executed.In Fig4.3 case, adaptive calculation is executed at Timing A and Timing B.4.1.3 PROCESS OUTPUT(1) Task activationTable 4.2 Task activationTASK TO BE ACTIVATEDTCD FACTORFORMAT TYPEPURPOSEBasic setup BCALT Table 6.2.1 Mill
34、set up data(2) TableMLDT (See Fig4.1)MLSTABML001S SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23CHKD.K.Yoshioka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Japan 331EY46014 14/30 訂 製 95-03 R
35、EV.331EY460144.2 FGC COMPLETION (T/R ON)4.2.1 PROCESS INPUT (1) Task activationTable 4.3 Task activationTCD NAME FACTOR FORMAT FROMFGC completion 2 Table 6.1.1 TCM data gathering(2) TableSame as 4.1.1.(2).4.2.2 PROCESS EXPLANATIONFig 4.4 Adaptive calculation timing FGC completionFig4.4 shows the ada
36、ptive calculation timing of “FGC completion”. At this timing, adaptive coefficients of low speed (top of coil) are calculated from given actual data of Mill. The adaptive coefficients of low speed are fed to next coil.4.2.3 PROCESS OUTPUT(1) Task activationNothing(2) TableSame as 4.1.3.(2).ROLLINGSP
37、EEDCOIL-BCOIL-A COIL-CFGC completionSteady status detectedNN secondROLLING SEQUENCEDEC completion for FGC SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23CHKD.K.Yoshioka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICA
38、TIONHitachi,Ltd.Tokyo Japan 331EY46014 15/30 訂 製 95-03 REV.331EY460144.3 DEC COMPLETION FOR FGC (Welding point final WPD passage)4.3.1 PROCESS INPUT (1) Task activationTable 4.4 Task activationTCD NAME FACTOR FORMAT FROMDEC completion for FGC 2 Table 6.1.1 TCM data gathering(2) TableSame as 4.1.1.(2
39、).4.3.2 PROCESS EXPLANATIONFig 4.5 Adaptive calculation timing DEC completion for FGCFig4.4 shows the adaptive calculation timing of “DEC completion for FGC”. At this timing, adaptive coefficients of low speed (bottom of coil) are calculated from given actual data of Mill. The adaptive coefficients
40、of low speed are fed to next coil.4.3.3 PROCESS OUTPUT(1) Task activationNothing(2) TableSame as 4.1.3.(2).ROLLINGSPEEDCOIL-BCOIL-A COIL-CFGC completionSteady status detectedNN secondROLLING SEQUENCEDEC completion for FGC SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23CHKD.K.Yoshiok
41、a 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Japan 331EY46014 16/30 訂 製 95-03 REV.331EY460145 ADAPTIVE COEFFICIENT CALCULATION PROCEDURE5.1 CALCULATION FLOWFig 5.1 Flow chart of adaptive calculationSTARTRead
42、 setupatRead actualatAdaptive calulationof screw positAdaptive calulationof rol forceAdaptive calulationof torqeCalculatin f actual forward slipRevrse calulationof riction coeficetRevrse calulation fdeformation resitaceAdaptive calulationof orward slipEND SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.DW
43、N. S.Unno 2007.03.23CHKD.K.Yoshioka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Japan 331EY46014 17/30 訂 製 95-03 REV.331EY460145.2 ACTUAL THICKNESS OF #1 STAND ENTRY AND EACH STAND DELIVERYEntry thickness of
44、#1 stand and delivery thickness of #1,#4 and #5 stand can be got through X-ray gauge measuring devices. Delivery thickness of #2,#3 stand shall be calculated by mass flow.5.3 FORWARD SLIPActual forward slip can be calculated from actual rolling speed and actual strip speed at each stand.(5.1)5.4 RED
45、UCTION PERCENT(5.2)Here fAi : Actual forward slipvAi : Actual delivery strip speed of #i standvrAi : Actual rolling speed of #i standHAi : Actual entry thickness of #i standhAi : Actual delivery thickness of #i standAiivrfAiAiHhrAiivh1 SYM. REVISIONS DATE REVD. CHKD. APPD.REGD.DWN. S.Unno 2007.03.23
46、CHKD.K.Yoshioka 2007.03.23APPD. K.Kuribayashi 2007.03.23TITLE OMIKA WORKS DWG. NO. PAGEAdaptive control specificationSPE SPECIFICATIONHitachi,Ltd.Tokyo Japan 331EY46014 18/30 訂 製 95-03 REV.331EY460145.5 ROLL GAP ERROR5.5.1OIL FILMA i = 0 + 1 vri (5.3)Here A i : Oil film thickness 0 : Constant 1 : Co
47、nstantvri : Actual rolling speedThe zero point of roll gap undergoes a change due to thermal expansion of the roll during the rolling and its shrinkage caused by coolant after rolling.The zero point drift is considered as a function of time elapsed after zero point adjustment and start of rolling operation
