Limiting Dynamic Loads in the Main Line of a Rolling Mill through an Automated Drive

Khramshin, Vadim R.; Karandaev, A. S.; Gasiyarov, Vadim R.; Zinchenko, M. A.; Loginov, B. M.

doi:10.1109/rusautocon49822.2020.9208087

Cited by 5 publications

(4 citation statements)

References 7 publications

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“…As mentioned above, to preliminarily close the gap, it is recommended to perform biting in the roll acceleration mode [36,44,45]. Refs.…”

Section: Experimental Justification Of Preliminary Accelerationmentioning

confidence: 99%

“…The studies in [43] have shown that the shaft elastic properties characterized by the stand stiffness modulus C 12 and the damping ratio β (see Figure 2) affect the amplitude to a greater extent. In [44,52], to limit the dynamic torque, along with preliminary acceleration, short-term intensive drive braking immediately after the biting has been proposed. The negative dynamic torque arising in this case compensates (fully or partially) for the conditionally positive elastic torque on the spindle.…”

Section: Simulation and Experimental Studiesmentioning

confidence: 99%

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Developing Digital Observer of Angular Gaps in Rolling Stand Mechatronic System

et al. 2022

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Algorithms for monitoring the rolling mill mechatronic system state should be developed on the basis of modern digital technologies. Developing digital shadows (observers) of system state parameters in the periodic measurement mode is promising. This study relevance is defined by frequent emergency breakdowns of rolling stand mechanical transmissions. Most breakdowns are caused by worn end clutches (heads) of countershafts (spindles) transmitting rotation from the motor to the rolls. This is caused by elastic oscillations due to closing angular gaps when the metal enters the stand. The spindle joint angular gap increases over time with the mill operation. Therefore, it is an important diagnostic parameter that allows for an estimation of the transmission serviceability. In this regard, the problem of monitoring the angular gaps in the rolling stand mechatronic systems is relevant. The paper considers developing an observer of angular gaps in the spindle joints of the ‘electric drive-stand’ mechatronic system of the plate Mill 5000 of Magnitogorsk Iron and Steel Works PJSC (MMK PJSC). The monitored signal (angular gap) is calculated with the mathematical processing of the motor’s physical parameters (speed and electromagnetic torque), measured at a given frequency. The gap is determined indirectly by integrating the speed during its closing. To achieve this, the speed is controlled according to the triangular tachogram at no load. The stand’s electromechanical system modes have been studied using mathematical simulation. The observer’s practical use expediency has been reasoned. The structure of the observer-based angular gap monitoring information system is given. The system has been full-scale tested on Mill 5000, which has confirmed the developed algorithm efficiency. The study’s contribution is a justified and implemented concept of a relatively simple technical solution that can be commercially implemented without extra costs. The angular gap calculation algorithm does not involve complex mathematical techniques and can be implemented in industrial rolling mill controllers. Monitoring is automated without human involvement, which eliminates the human factor. The solution has a specific practical focus and is recommended for implementation at operating rolling mills.

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“…As mentioned above, to preliminarily close the gap, it is recommended to perform biting in the roll acceleration mode [36,44,45]. Refs.…”

Section: Experimental Justification Of Preliminary Accelerationmentioning

confidence: 99%

Section: Simulation and Experimental Studiesmentioning

confidence: 99%

Developing Digital Observer of Angular Gaps in Rolling Stand Mechatronic System

et al. 2022

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“…The result is attained by pre-closing the angular gaps in spindle joints. Limiting the elastic torque of the shaft by implementing short intensive braking after gripping has been additionally proposed in [35,36]. This was experimentally proven to improve dynamic readings.…”

Section: Problem Formulationmentioning

confidence: 99%

Development of an Automatic Elastic Torque Control System Based on a Two-Mass Electric Drive Coordinate Observer

et al. 2021

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Development of control system based on digital twins of physical processes is a promising area of research in the rolling industry. Closed-loop control systems are developed to control the coordinates of two-mass electromechanical systems in order to limit the dynamic loads on the equipment of main rolling lines. These control systems are based on observers (digital shadows) that indirectly detect (reconstruct) the roll speed and the elastic torque of the shaft (spindle) in real time. Notably, observers are required to work fast in order to reconstruct transients attributable to shock (impact) loads. Literature review shows that the known observers, which use complex algorithms to compute coordinates, do not respond fast enough. The paper analyzes the kinematic diagram of Mill 5000, a plate rolling mill. It presents oscillograms that prove that the elastic torque does oscillate as the rolls grip the strip dynamically. The authors hereof have developed an observer that reconstructs the coordinates of the uncontrolled mass (the shaft) and the spindle torque from the parameters of the controlled mass, namely the torque and speed of the motor. The paper further rationalizes an approach that consists of simulating the processes on a model to further directly configure them on the object. The authors analyze the transients of the reconstructed two-mass system coordinates, which are associated with the rolls gripping the strip. The paper compares data against oscillograms recorded on the mill itself. The accuracy is satisfactory. The proposed observer has been used to developed a three-loop automatic speed control system for the uncontrolled mass. Controller configurations are substantiated. The paper shows coordinates obtained by simulation modeling as functions of time. It further presents experiments run on Mill 5000; the conclusions are that the amplitude and oscillations of the elastic torque drop significantly. The paper concludes with recommendations on industrial adoption of the observer and the novel electric drive coordinate control system. Study presented herein substantiates and implements a concept of developing algorithms that solve specific problems and are readily implementable on the existing equipment without need for additional computing devices. The contribution of the paper consists of stating and solving the problem of developing and testing an automatic elastic torque control system for the shaft of a heavy-duty rolling mill. This system has been implemented in the form of algorithms that run in the software of the existing industrial controllers (PLCs). It is simple and performs well. It does not need additional sensors or computers to be implemented, nor does it rely on complex computational algorithms. Such algorithms are based on computational tables that require a priori data on numerous process parameters. In our literature review, we have not come across any industrial implementation of such algorithms on hot-rolling mills.

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“…Достижение поставленной цели обеспечивается за счет предварительного замыкания угловых зазоров в шпиндельных соединениях. В работах [14,15] дополнительно предлагается ограничение упругого момента вала за счет кратковременного интенсивного торможения после захвата. Экспериментально подтверждено, что это обеспечивает улучшение динамических показателей.…”

Section: постановка задачиunclassified

Regulating the Coordinates of the Electromechanical System of the Rolling Mill Based on the Elastic Torque Observer

Радионов¹,

Гасияров²,

Gartlib³

et al. 2021

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The paper considers the electromechanical system of the reversing stand of the plate rolling mill 5000 of PJSC “Magnitogorsk Metallurgical Plant” (PJSC “MMK”). The performed experimental studies of transient processes in the mode of gripping metal by rolls allowed establishing unacceptable dynamic loads of an oscillatory nature and a loss of controllability of the electric drive. This confirms the need for the development of control methods that limit the motor and spindle torques. It is noted that the known control systems for the speed modes of an electric drive, which decrease the elastic moment due to the preliminary closing of the angular gaps, are, in essence, open-loop speed control systems. This does not provide for the controlled regulation of coordinates in dynamic modes. The paper proposes the development of a closed system for automatic control of coordinates of a two-mass electromechanical system with an observer of the moment of the elastic shaft and the speed of the second mass. An observer of the unmeasurable parameters of a two-mass rolling mill system has been developed. It provides an indirect determination (recovery) of the roll speed and the spindle torque in on-line mode. It is based on a system of equations in the state space. By comparing the reconstructed and experimentally obtained transient processes, the satisfactory accuracy of the results has been confirmed. Based on the proposed observer, the authors developed an automatic control system (ACS) of the roll speed with subordinate contours of the elastic shaft moment, speed and engine torque. The setting of closed-loop regulators has been substantiated. Transient processes of moments and velocities are considered at impact application of a load with increased speed of the second mass speed control loop. The analysis of the LAFC and LPFC confirmed the stability of the developed system in the frequency range. The analysis of experimental data substantiated a conclusion about the influence of the angular gap on the accuracy of the elastic moment recovery in the mode of metal capture by rolls. Prospects for the introduction of developments at mill 5000 and other rolling mills operating with shock load are noted.

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Limiting Dynamic Loads in the Main Line of a Rolling Mill through an Automated Drive

Cited by 5 publications

References 7 publications

Developing Digital Observer of Angular Gaps in Rolling Stand Mechatronic System

Developing Digital Observer of Angular Gaps in Rolling Stand Mechatronic System

Development of an Automatic Elastic Torque Control System Based on a Two-Mass Electric Drive Coordinate Observer

Regulating the Coordinates of the Electromechanical System of the Rolling Mill Based on the Elastic Torque Observer

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