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Article

On the Origin of Torsional Vibrations in Hot Rolling Mills and a Possible Remedy

[+] Author and Article Information
P. Belli

ABB, Via L. Lama 33, 20099 Sesto S. Giovanni (Mi), Italy

S. Bittanti, A. De Marco

Politecnico di Milano, Dip. di Elettronica e Informazione, Piazza Leonardo da Vinci 32, 20133 Milano, Italy

J. Dyn. Sys., Meas., Control 126(4), 811-823 (Mar 11, 2005) (13 pages) doi:10.1115/1.1850531 History: Received May 06, 2003; Revised December 09, 2003; Online March 11, 2005
Copyright © 2004 by ASME
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References

Grimble, M. J., and Hearns, G., 1999, “Advanced Control for Hot Rolling Mills,” Advance Control, Highlights of ECC’99, P. M. Frank (ed.), Springer, London, pp. 135–169.
Anbe,  Y., and Butter,  D. H. E., 1992, “Compensation of a Digitally Controlled Static Power Converter for a Damping of Rolling Mill Torsional Vibration,” IEEE Trans. Ind. Appl., 28(2), pp. 427–433.
Doi, K., 1987, “Analysis and Control Systems for Shaft Vibration in Steel Rolling Processes,” Kawasaki Steel Giho.
Evans,  P. R., and Vaughan,  N. D., 1996, “Dynamic Characterization of a Rolling Mill,” J. Syst. Control Eng.,210, pp. 259–271.
Kugi,  A., Novak,  R., and Schlacher,  K., 2001, “Non-Linear Control in Rolling Mills: A New Perspective,” IEEE Trans. Ind. Appl., 37(5), pp. 1396–1402.
Nakagawa, S., Miura, H., Fukushima, S., and Amasaki, J., December 1990, “Gauge Control System for Hot Strip Finishing Mill,” 29th Conference on Decision and Control, Honolulu, TA-8-2-10:40, pp. 1573–1578.
Carandente, M., and Piana, S., 1999, “Modellistica e controllo delle vibrazioni torsionali in un impianto di laminazione a caldo,” Politecnico di Milano.
Orowan,  E., 1943, “The calculation of Roll Pressure in Hot and Cold Flat Rolling,” Proc. Inst. Mech. Eng., 150, pp. 140–167.
Tselicov, A., 1967, Stress and Strain in Metal Rolling, Mir, Moscow.
Pawelski, O., and Rasp, W., 1987, “Chatter in Cold Rolling. Theory of Interaction of Plastic and Elastic Deformations,” Proc. of 4th International Steel Rolling Conference, Deuville, Vol. 2, pp. E11.1–E11.5
Ekelund, S., 1933, “Analysis of Factors Influencing Rolling Pressure and Power Consumption in the Hot Rolling of Steel,” Steel 93.
Ginzburg, V. B., 1989, Steel—Rolling Technology—Theory and Practice, Marcel Dekker, New York.
Belli, P., Bittanti, S., Carandente M., De Marco, A., and Piana, S., 2002, “A Feedback Interpretation of Vibration in Hot Rolling Mills,” IFAC 15th World Congress, Barcelona.

Figures

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Kinematic chain typical layout
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Kinematic chain model structure
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Interaction between kinematic chain and material in the roll bite
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Slip-sticking friction in the roll bite
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Rolling torque behavior due to a step variation of WR speed at time 0.1 s
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Block diagram of the complete process
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The basic feedback loop
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Open loop Bode diagrams of the basic feedback loop, presented in Fig. 9. Note that at ∼100 rad/s the gain is grater than 0 dB and the phase delay is greater than 180 deg.
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Open loop and closed loop eigenvalues
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Torsional torques at the spindles for a final strip thickness of 1.8 mm. Upper diagram: Top spindle, lower diagram: Bottom spindle.
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Simulation results of torque through the spindles torque through. Upper diagram: Top spindle, lower diagram: Bottom spindle
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Real part of the elements of the eigenvector of matrix A associated with the natural frequency 16.7 Hz
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Real part of the elements of the eigenvector of matrix A associated with the natural frequency 17.6 Hz
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Loop S nyquist diagram, with and without control system
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Loop D nyquist diagram, with and without control system
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Threading and rolling without_ active control: top diagram, motor speed; central diagram, top and bottom work roll speeds; bottom diagram, top and bottom torques at the spindles
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Threading and rolling with_ active control: top diagram, motor speed; central diagram, top and bottom work roll speeds; bottom diagram, top and bottom torques at the spindles

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