Development and Practical Implementation of Digital Observer for Elastic Torque of Rolling Mill Electromechanical System

Abstract

The strategic initiative aimed at building “digital metallurgy” implies the introduction of diagnostic monitoring systems to trace the technical condition of critical production units. This problem is relevant for rolling mills, which provide the output and determine the quality of products of metallurgical companies. Making up monitoring systems requires the development of digital shadows and coordinate observers, the direct measurement of which is either impossible or associated with numerous difficulties. These coordinates include the spindle torque applied by the spring-transmitting torque from the motor to the rolling stand rolls. The development and research are conducted by the example of the electromechanical systems of the horizontal stand at the plate mill 5000. The stand electric drive characteristics are given, and the emergency modes that cause mechanical equipment breakdowns are analyzed that. The relevance of analyzing transient torque processes in emergency modes has been accentuated. The paper points to the shortcomings of the system for elastic torque direct measurement, including low durability due to the harsh operating conditions of precision sensors. It also highlights the need to install the measuring equipment after each spindle. The disadvantage of the previously developed observer is the function of calculating the electric drive speed derivative. This causes a decrease in noise immunity and signal recovery accuracy. The contribution of this paper is building a digital elastic torque observer that has advantages over conventional technical solutions, based on the theoretical and experimental studies. The technique for virtual observer adjustment was developed and tested in the Matlab-Simulink software package. For the first time, a comprehensive analysis was conducted for spindle elastic torques in emergency modes that caused equipment damage. An algorithm was developed for an emergency shutdown of a stand electric drive in the worst-case mode of strip retraction between work and backup rolls, due to the overlap of the strip on the roll. Further, the algorithm was tested experimentally. The criteria for diagnosing pre-emergencies was then justified. An adaptive motor-braking rate controller was developed. The developed observer and emergency braking system are in operation at the mill 5000. Long experimental research proved the efficiency of dynamic load monitoring and the reduction in the number of equipment breakdowns.