Abstract
The paper is concerned with the justification of the task of a controller development for elastic modulus of the driver shaft (spindle) and the roll speed of the electromechanical system of a plate mill stand. The structure of the main line of the horizontal stand at the 5000 plate mill, PJSC “Magnitogorsk Iron and Steel Plant” (PJSC “MMK”), was considered. Oscillograph records are shown, which confirm the oscillating character of the elastic modulus on the spindle at the moment of gripping the metal by the rolls. It is shown that its amplitude is several times higher than the steady rolling torque. The model of a double-mass electromechanical system with an elastic coupling and an angular joint gap is analyzed. The recorded state-space equations are used to develop the controller of the second mass (roll) position and the elastic spindle torque by the following parameters of the first mass: the electric drive motor torque and velocity. The structure of the controller was presented, the main problem of adjustment is to provide the high rate of response to restore the transient processes in impact load mode. It was noted that the well-known controllers, which are coordinate calculators with complex algorithms, are not able to provide the necessary fast response. A new approach was proposed, the main idea of this approach is to simulate the processes using a model with further direct adjustment on the site. The research group carried out the analysis of transient processes of restored coordinates of the double-mass system during metal gripping by the rolls. The results were compared with the experimental oscillograph records obtained on the mill. The agreement of the processes with reasonable accuracy was confirmed. The paper presents the integrated results obtained in the process of analysis of the restored relationships and experimental oscillograph records of the elastic modulus in the process of rolling of slabs of various thickness. A conclusion was made about the significant influence of the slab thickness and the component defined by the elastic properties of the spindle on the torque amplitude on the spindle. It was recommended to apply the developed controller in closed-loop control systems of elastic modulus. It was noted that the necessary condition of effective operation of such systems provision of metal gripping at preset closed angular gaps.
Keywords
Rolling mill, electromechanical system, double-mass model, coordinates, controller, dynamic processes, restoration, oscillograph records, analysis, recommendations.
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