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Statistical Dynamics of the Rolling Mills

Paul V. Krot 1

Abstract Uncertainty of technology and equipment parameters is particular for the rolling mills dynamics. Contact friction produces a wide band stochastic impacts which cause chatter vibration in the middle and higher natural frequencies range (100-1000 Hz) of the mill. Strip elasto-plastic deformation as a nonlinear spring in the stand depends on random technology parameters (rolls bending, strip tensions, mill speed). The transfer functions were used for principal mode distribution and chatter vibrations control in the cold rolling mills. The second cause of uncertainty is wear (backlashes) which makes drive train an essentially nonlinear system. The backlashes gaps and rolling loads are always uncertain at the beginning of transient process in the hot rolling mills causing dynamic torques scattering in the multibody drive trains. The low frequency (10-20 Hz) torsional vibrations are investigated. The output dynamic load distribution parameters were obtained. Statistical aspects of the mill control and diagnostics are discussed.

1 Introduction
The plants subjected to random loadings and having uncertainty of parameters cover a wide area of scientific research and applications which number includes rolling mills and their drive trains. The rolling mills equipment is operated at a wide range of vibration impacts and the torsional torques. It causes excitation of the difficultly predicted chatter vibrations, rolls and costly gears failures since designers and maintenance staff not always know statistical parameters of loads and current wear of the elements as angular and radial backlashes. Numerous books are commonly known in dynamics of randomly loaded structures [1] also with elasto-plastic deformation [2]. These problems are characteristic for many kinds of heavy industry equipment, e.g., mining or drilling machines with the unpredictable material parameters and inclusions [3]. Different methods have been developed for random systems analysis: stochastic and fuzzy finite element techniques [4]; statistical energy analysis; random matrix theory and transfer matrixes [5] with the frequency response functions (FRF) analysis. Modal density parameter and statistical overlap factor are used for eigenvalues distribution [6]. Paul V. Krot Z.I. Nekrasov Iron and Steel Institute of Ukraine National Academy of Science, ac. Starodubov sq.1, 49050, Dnepropetrovsk, Ukraine, e-mail: paul_krot@mail.ru
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Statistical analysis of the dynamical systems has a close relation to a control theory. Modern strategies of the rolling mills control are based on adaptive models including fuzzy logic algorithms and adaptive neural nets for parameters prediction to meet very high demands on steel strips flatness, roughness and thickness tolerance (5 microns). Nevertheless two basic problems remain not solved to the end in the rolling mills dynamics. The first problem is chatter vibration in the high speed thin strip cold rolling mills where standard Hydraulic Automatic Gauge Control (HAGC) systems are not able to control high frequency friction oscillations (100-200 Hz) because the cut frequency of the control loops is much less (about 10-15 Hz). The tuned mass dampers are not quite reliable in the rolling mills because of stochastic parameters and natural modes variation. Therefore active vibration control is required for chatter suppression. An improved HAGC with the increased flow rate, fast switching valves and novel control method has been developed for chatter problem solving [7], [8]. Another approach is developing based on vibration monitoring of chatter for its early diagnostics and rolling parameters control [9]. Some recent works are known in the field of chaotic vibrations in a cold rolling [10], [11] and it is a subject for further developing. Chaotic vibrations in metals cutting were already studied [12] and methods of friction instability early detection (diagnostics) are developed for their active control [13]. The essential complexities arise with the analysis of adjacent stands interaction in the rolling mills due to regenerative mechanism of chatter. It was also considered but by the deterministic models with a constant time delay [14]-[16]. Strip elasto-plastic properties and its material damping ability were investigated in [17]-[22]. The second problem of the rolling mills dynamics is the transient torsional vibrations in the drive trains during strip capture by the rolls. State of art in the deterministic models of rolling mills had been outlined in [23]-[26]. Parametrical vibrations are considered in [27] due to periodic gear coupling stiffness variation. The fewer studies are known on statistical dynamics of the rolling mills because of difficulties of analytical description of the random loads and model parameters for the multibody systems with the essential nonlinearities. Basically it was carried out a durability calculation and loads spectrums identification [28], torque amplification factors (TAF) and damping [29], strips geometry spectral and correlation analysis [30]. Excitation of chaotic vibrations in torsional system with the backlashes under periodic loading is investigated in [31], [32]. Some methods of backlashes identification (diagnostics) in the transmissions and gearboxes were proposed [33]. Methods of model based control and intelligent observers were investigated to prevent friction instability in the hot rolling mills [34]. The above mentioned problems are described and partly solved from the statistical viewpoint in this article. In the first part the influence of the strip properties deviation is considered on the vertical vibration modes of the 4-high rolling stand. The principal mode deviation was obtained by the transfer functions. It helps to operate tandem mills depending on adjacent stands dynamics. In the second part it is considered the influence of the input loads statistical deviation on the transient torsional vibrations in the drive trains.

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2 Cold Rolling Mills Chatter Vibrations


2.1 Rolling stand design and its modal analysis Rolling stand design is described below (see fig. 1) so that to explain where stochastic and controllable stiffness change can appear during work. A 4-high cold rolling stand (quarto) consists of massive cast housing fixed by four feet, the top and bottom set of work rolls (WR) and backup rolls (BUR), placed with its necks into chocks with the roller bearings and hydrostatic sliding bearings accordingly. The chocks are placed into the housing where side backlashes appear (designated as 1 and 2 in fig. 1a) because of removable flat liners deterioration. Therefore stands are designed so that WR chocks are shifted forward (last stands) or backward (first stands) from BUR axis by a = 10-15 mm. There are four hydraulic blocks fitted to each rack of housing which contains 4 big cylinders for upper BUR balancing during stand maintenance (WR changing) and 8 or 16 (depending on stand design) smaller cylinders which are involved in strip flatness regulation by the positive or negative WR bending. Bending cylinders are regulated automatically in the last stand or manually in the previous stands depending on the WR wear and strip flatness. In general WR bending causes random contact stiffness deviations between the top and bottom WR and BUR.

Fig. 1. Design of stand quarto (a), spring-mass model (b) and vibration modes (c)

The two cylinders for rolling load creation and strip thickness regulation are placed between the upper cross-beam and BUR chocks. Some mills have HAGC cylinders at the bottom of stands. The small changes of stiffness occur due to HAGC oil column and rolls diameters after its changes. Deformation of every element has influence on the stand summary module (4-6 MN/mm). In order to obtain vibration response specific for different measuring points a detailed spring-

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mass model has been designed (see fig. 1b) where masses are (103 kg): m0 (80.0) upper cross-beam of housing with the HAGC units; m1 (26.7) - upper BUR chocks; m2 (45.0) - upper BUR; m3 (8.7) - upper WR with chocks; m4 (9.1) - bottom WR with chocks; m5 (45.0) - bottom BUR; m6 (24.3) - bottom BUR chocks. The stiffness parameters are (MN/mm): C07 (29.01) - housing racks and top crossbeam.; C01 (22.02) - HAGC cylinders and upper BUR chocks; C12 (87.99) - oil film of sliding bearings and upper BUR bending; C23 (19.89) - upper WR and BUR contact; C34 (20.00) - WR bending with the contact indentation and strip deformation; C45 (18.89) - lower WR and BUR contact; C56 (87.99) - oil film of the sliding bearings and lower BUR bending; C67 (38.95) - lower BUR chock and rolling line tuning jack; C 17 (25.00) upper BUR weight balancing cylinders; C 37 = C47 (15.00) - WR negative bending cylinders; C13 = C46 (15.00) - WR positive bending cylinders. Unlike all known models the WR bending and BUR balancing forces are included as stiffness instead of external forces. Such approach allows fulfilling a statistical analysis of the stand vibration under the variable operating schedules and helps to find methods for chatter active control. Stand vibration is assumed symmetrical for both operator and drive side (without skewness) because that is proved by measurements. Positive movement is assumed upward. The natural frequencies spectrum for the average values of stand parameters covers a band of 50600 Hz. It was shown in work [35] by the detailed FEM analysis that 4-high rolling stand cumulative mass fraction is about 0.80-0.85 for the first 4-9 modes. Also experimental modal analysis of the rolling stand was fulfilled in [36]. The modes of vibrations are represented in fig. 1c. It is commonly admitted that feedback loop which created in the rolling stands by the rolling load, strip thickness, tensions and speed interdependence is a main cause of instability [37][40]. Tandem mill chatter excitation by this mechanism can occurs only due to symmetrical modes near the strip plane with the opposite phases of the upper and lower pairs of WR and BUR motion. Chatter excitation through the strip thickness variation (h=20-50 microns) can only be initiated by the modes with the several masses movement near the strip plane. The WR out of phase movement cause only strip or BUR periodic defects (Ra=2-3 microns). Vibration measurements on the four rolls chocks have shown that for the thick strips (h1>0.8 mm) chatter is not exciting because vibration node is note in the WR gap [16]. The results of the statistical calculations show that newly introduced parameters of stiffness (13 , 46 , 37 , 47) change natural frequencies and mode shapes. Some of frequencies change more: 3, 6 or less (see fig. 2a). In practice first mode does not appear. Node displacement of the principal vibration mode (~118 Hz) can be achieved due to the HAGC stiffness decreasing by 25% from the nominal value or increasing by 50% the rolling level tuning unit stiffness at the bottom of stand. Both actions can be done only before rolling process during mill set-up procedure. Bending system of the WR influences on stand principal mode frequency not significantly (1 in fig. 2a). But bending stiffness variation can move node from the masses 2 and 3 interval into the masses 3 and 4 gap (see fig. 2b). Therefore it can be used for chatter active control not only by the high frequency periodical

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impacts but also due to comparatively slow stiffness control in the stands. It does not require oil pumping station with a high flow rate and fast switching valves to produce quick control impacts of large amplitude.

Fig. 2. Natural frequencies (Hz) scattering (a) and principal mode (~118 Hz) deviation (b)

BUR balancing cylinders usually have constant stiffness and less influence on nodes movement even with the more summary force (1600 KN) in comparison with the WR bending force (960 KN negative and 460 KN positive). The only problem which has to be solved is a WR initial profile design so that to fulfill high demands on strip flatness. So other additional channels for chatter control are required. 2.2 Strip Elasto-Plastic Deformation The rolled strip elasto-plastic properties play a main role in the mill vibration. By the various estimations, the rigid-plastic theory can serve until the fraction of external energy to the whole energy of elastic deformation of a material, at least, not less than three. It becomes important in cold rolling of thin strips where elastic restoring of strip thickness (h1-he) is comparable with an absolute reduction (h1-h 0) especially in the last stands of the tandem mills. Strip deformation scheme is represented in fig. 3a. In a modern rolling theory the strip properties are described by the nonlinear formulae including an initial yield stress, tensions, strain and strain rate with other rolling parameters (see [41]). Statistical deviations of the strip properties and rolling parameters as a rule are not taken into account. It does not allow reliable predicting the dynamic phenomena of chatter vibrations in the rolling mills. The strip stiffness Ks and its viscous damping Cs are described with the fraction derivatives of a rolling load deviation by the strip thickness reduction and its deformation rate. Also dynamics sensitivity factor is introduced to estimate strip deformation rate: KS = P h1 ; (2.1) CS = P & h1 ; (2.2) = lg( d / dt ) (2.3)

Stand and strip stiffness graphs are represented in fig. 3b. An initial nonlinear stand deformation b due to backlashes is eliminated by the stand preloading P0. There is a variety of operation points around a mill set-up load value P* and thickness h1 because of rolling parameters variation. Curve (1) corresponds to back and/or front tensions increasing; curve (2) to a less input thickness; curve (3)

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to the working point of mill set-up; curve (4) to an increment in the output thickness and curve (5) to a possible increment in the friction coefficient and in the average yield stress or a decrement in the back and/or in the front tensions. It can be seen from fig. 3b that random rolling parameters can change strip stiffness significantly (tangent of inclination angle at a working point) and hence natural frequencies and modes.

Fig. 3. Strip and WR contact scheme (a); stand and strip deformation diagram (b)

It is known that a quick jump up of factor appears when d/dt > 103 s-1. It is particular for the material hardening properties. Strip deformation conditions in the 5-stand tandem mill 2030 (length of WR) are given in Table 2.1.
Table 2.1. Strip rolling parameters in the 5-stand tandem cold rolling mill 2030 Rolling parameters Strip exit thickness h1, mm Rolls and strip contact length Ld , mm Strip linear velocity V1, m/s Strip relative deformation =h/h0, % Strip stiffness Ks , N/mm Strip damping Cs, MN s Stand 1 1.400 15 6.5 30 20 0.092 Stand 2 0.840 0.560 16 10.8 40 21 0.044 Stand 3 0.546 0.294 12 16.6 35 41 0.025 Stand 4 0.382 0.164 10 23.8 30 73 0.017 Stand 5 0.363 0.019 10 25.0 5 628 0.096

Strip absolute deformation h=h0-h1, mm 0.600

Time (freq.) of deformation Ld/V1, ms (Hz) 2.30(435) 1.48(676) 0.72(1389)0.42(2381)0.40(2500)

Deformation velocity d/dt, s-1 130 270 486 714 125 Notes: 1) Deformation zone length Ld is calculated with taking into account WR contact indentation. 2) Initial strip thickness is h0 =2mm. 3) Stands loads are assigned equal P1-5 =12N.

Parameters combination gives minimal strip damping value in stands 3 and 4 which are most susceptible to chatter vibrations in practice. Deformation velocity is rising up to stand 4 and is close to critical value 10 3 s-1. The mill automatic monitoring systems or mill operators for chatter canceling commonly use rolling speed decreasing which is addressed to the strip deformation rate and its

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damping ability respectively. Beside it strip reduction schedule is proposed for chatter control due to more damping in the strip material in the last stands. It was tested in the stands 3 and 4 and approximately every step down by 1% of gave 20 m/min additional mill speed. Also strip specific tension reducing by 5 N/mm2 gives maximal speed increasing by 40-50 m/min [16]. 2.3 Horizontal work rolls vibration The chocks and stand housing wear give to WR an additional degree of freedom in the backlashes gap and makes it possible vertical and horizontal vibration modes interaction. WR and its chocks may start vibrate within stand housing gap under the random variation of the strip tensions difference T (tension rollers misbalance), rolling load P (rolls eccentricities, strip yield stress) and M (drive torque fluctuations and torsional vibrations). The measurements of horizontal forces were carried out in the tandem mill stands [42] and housing backlashes size was restricted in the maintenance rules. Some companies (SMS Demag, Asko and Dofasco) have patented the flat hydraulic cylinders for chocks pressing to the housing sides during rolling. But it was shown in [43] by experiments that critical rolling speed increases only by 10%. Also restriction of the WR chocks vertical motion worsens HAGC operating conditions. Possibly first probabilistic approach to chatter vibrations based on WR chocks horizontal instability in the tandem cold rolling mills has been done in [44]. Simplified empirical criterion was derived for chatter probability estimation (in original notations): i = E U Ci ei hi 0i f i Fi ; (2.4) i / i
i=1 n

1 n , (2.5)

where i dimensionless chatter probability factor; i stand number; E strip modulus (MPa); Uci = V1 / h0 mean deformation rate (s-1); e i summary WR and BUR eccentricity (mm); 0 i = init + m (100(H-hi-1 )/H)K yield stress at ith stand entry (MPa); init, m and K initial yield stress before rolling and material hardening constants; H, h0 and hi initial, entry and exit strip thickness (mm); fi contact friction factor; Fi chatter vibration main frequency (Hz, s-1); n number of stands. Condition (2.5) means chatter increased probability in ith stand if it more than 1/n value (equal for all stands probability). But only rolling load component and tensions differences are used in [44] for horizontal forces balance composition. Therefore new formula is proposed here for steady state condition (for one WR):
0< aP T M i +FKf R BUR + RWR 2 RWR , (2.6)

where P rolling load; a WR chocks displacement; RBUR and R WR BUR and WR radiuses; F and Kf summary bending force and friction factor in the WR chocks and piston contacts; T = T0 - T1 strip entry and exit tensions difference (T0 > T1 is assumed); M drive torque; i and - drive train gears ratio and effi-

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ciency (0.8-0.9). It was taken into account WR bending forces and reactions from drive torque at the WR chocks. Every component in equation (2.6) may be used for comparing with others. In practice a half difference of the strip tensions is used as a most scattered parameter:
T aP M i k < + F Kf 2 R BUR + RWR RWR , (2.7)

where k=1+Sdev, Sdev standard deviation obtained from measurements. 2.4 Contact friction force variation When any of the surface defects pass contact zone a stochastic wide band input disturbance appears which causes stand vertical vibration in the middle and higher frequency range (100-1000 Hz). The maximal bound of frequency is determined by the rolling speed and defect size along the strip in the rolling direction. Intensity of disturbances is dependable on the defect size across the strip including imperfection dots of the cooling liquid film. Contact friction stability is estimated in the rolling theory by the neutral angle (see fig. 3a) and strip slip forward which is determined by the strip and rolls velocities: S = (V 1 - VWR)/V WR. The both parameters S and are related by a simple formula: S = 2 R WR / h1. If to admit constant angle of contact, WR radius R and mean specific contact pressure p the condition of steady rolling process is as following:
T1 (t ) T0 (t ) 1 > 2 2 f (t ) 4 f (t ) p b R

, (2.8)

where contact arc angle; f(t) variable contact friction factor; T0(t), T1(t) entry and exit strip tensions (T0 > T1); p specific contact pressure; b strip width; R indented WR radius. It was noted in [16] that despite friction factor f(t) dependence on many rolling parameters the most critical for mill stability parameter is a WR temperature because it causes minimal point displacement in the friction and speed relation f=F(V) to the higher speeds while all other parameters shift lowest point of critical friction only up and down. But another mechanism exists of friction control by the vibration which is commonly used in ultrasound materials processing techniques. For the description of vibration influence on friction without contact loosing the effective friction factors were introduced in [45]:
f S = f (1 0 ; (2.9) ) f N
fs = f 1 (

0 2 ; (2.10) f N = f (1 0 ) , (2.11) ) N f N

where f initial friction factor without vibration; N normal load; 0 amplitude of periodical load =0 sin t; fS factor for tangent horizontal vibrations parallel to strip displacement (tensions vibration); fs factor for tangent horizontal vibrations normal to strip displacement (axial WR vibration); fN factor for vertical vibrations normal to strip displacement (vertical WR vibration). If to consider WR

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or BUR eccentricities then periodical force is: 0.= m0 e , where m0 e static misbalance, - frequency of rolls rotation. Under the stand rolling load vibration by 5% and tensions by 15% a friction factor nonlinearly (proportionally to 2) is decreasing (maximal drop is up to -30%) with a WR speed increasing. Beyond a certain limit of speed or rolling parameters deviations rolling process stability may be violated and then WR slipping with chatter appears. It is worth to note that term effective friction factor is not identified with a physical friction factor but it only formalizes friction dependence on vibration. Alternative approach to chatter excitation is developed in [46] based on distributed friction model. 2.5 Chatter detection and control The different methods are known for chatter detection and control in metal processing [47]. Some techniques may be suitable for rolling mills but are not yet applied anywhere. Taking into account the cold rolling process particularities the new methods of chatter control were proposed based on adjacent stands vibration analysis [48]. Strip material transition from elastic to plastic deformation is essential to rolling process and nonlinear strip stiffness will always influence on vibration spectrum. That is a physical basis for chatter early detection [16]. Chatter diagnostics is provided due to use of the commonly known physical phenomenon synchronization of the mechanical oscillatory systems due to elastic links between them. The rolling stands in tandem mill are synchronizing through the elastic strip. Synchronization is accompanied by the "grabbing" of close natural frequencies of adjacent stands and drift of their phases of vibration to certain current value, identical in all stands. It results in frequencies deviation decreasing from average value and the correlation coefficients increasing in each pair of stands. Vibration frequencies and phases begin to change even for insignificant exchange of energy between stands. The two main conditions for chatter early detection were derived as:
n min ; (2.12) K mean K max , (2.13)

where n current root mean square (RMS) deviation of the principal modes frequencies in the adjacent stands within a chatter frequency range (Hz); min minimal difference equal to spectrum frequency step (Hz). In the second condition Kmean mean correlation coefficient of vibration in the n-1 pairs of adjacent stands; n number of stands; Kmax maximal correlation coefficient for steady rolling without chattering (max < 0.2-0.3). Chatter is detecting by the 5-8 s earlier than by spectrum maximum amplitude alarming separately in every stand as it implemented in the known vibration monitoring systems.

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3 Hot Rolling Mills Torsional Vibrations


The hot rolling mills typical geared drive train includes (see fig. 4a): 1 strip; 2 WR; 3 spindles with the sliding bushes or cardan universal joints; 4 pinion stand; 5 root coupling; 6 one or two stages gearbox; 7 motor shaft coupling; 8 single or twin electric drives (5-12 MW). Quick wear causes angular and radial backlashes which characteristic with a dead zone see in fig. 4b. Backlash is opened before transient for uncertain part 1. Then coupling stiffness is tg().

Fig. 4. Geared drive train of the hot rolling mill (a) and backlashes characteristic (b)

The angular and radial backlashes make a drive train essentially nonlinear multi-body system. Drive train peak torque m produced by input static load Mst and corresponding torque amplification factor (TAF = Mmax / Mst) can be described by a polynomial function:
2 M max = a0 + a1 M st + a 2 M st (3.1)

where ai constants (vary in time of mill operation) describing drive train design and mill current technical condition; st rolling torque applied to WR. Constant a0 describes drive train losses, a1 summarize linear system design and a2 takes into account nonlinear properties. Coefficient a1 corresponds to TAF which for the linear systems is constant and only depends on the spring-mass parameters and input load rate (front edge profile and temperature of slabs). Damping principally influences on transient duration. The nonlinear functions Mmax=F(Mst) and TAF=F(Mst ) obtained from the hot rolling mill torques measurements are given in fig. 5 where discrete values correspond to certain Mst levels during mill operation.

Fig. 5. Nonlinear statistical relations of Mmax (a) and TAF (b) by the static load Mst

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Measurements have shown that input load st has normal distribution. Mean value st * and standard deviation st of the static load were determined by electrical motor current. A mean value of the output dynamic load m* can be described as:
* M max = M max P( M st ) d M st , (3.2)

where P(Mst ) normal density distribution function of st (for simplicity variable st is taken with a zero mean, that does not influence on generality of result). Then substituting m from (3.1) into (3.2) and integrating by st gives:
* M max

= (a 0 + a1 st +
0

2 a 2 st )

1 st 2

2 st 2 2 st

2 d st = a 0 + a 2 Mst (3.3)

Mean value of m linearly depends on dispersion 2st of input load st. It is similarly possible to show that a dispersion m also depends on a dispersion of the input load st :
2 2 4 M max = a1 Mst + 2 a 2 Mst (3.4)

Based on the above derived relations (3.3) and (3.4) the output loads statistical parameters can be estimated for every coupling along the drive trains. Obviously every coupling will have its own ai coefficients varying in time of mill operation. 3.1 Torsional vibration control and backlashes diagnostics Statistical analysis of the input loads allows improving continuous hot rolling mills control from the dynamics viewpoint. Spectrums of input loads in the five consecutive stands of a continuous hot rolling mill are represented in fig. 6 both for Mst and Mmax. The fields of scattering look like the discrete lines due to different rolled strip thickness. Input loads frequencies are calculated as a double time for strip biting in WR. Because of rolling speed is increasing due to strip elongation the input load frequencies shift to a higher band with a stand number. Also frequency response function (FRF) of the motor shaft is shown in fig. 6.

Fig. 6. Input loads spectrums for the five stands and the FRF of motor shaft

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Mill stands have almost equal lowest natural frequencies of the drive trains. So as it could be seen from fig. 6 the input load frequencies lay in the resonance bands of the stands 4 and 5. Therefore drive trains dynamics can be reduced by the strip reductions control in the stands in order to avoid loads scattering fields coinciding with the resonance bands in every stand. But output strip thickness should remain the same. Implementation of such control strategy in the continuous hot rolling mills requires backlash values which can be identified based on measurements data nonlinear regression because curves Mmax(Mst) and TAF(Mst ) inclination is proportional to backlash gap. The kurtosis and skewness of dynamic loads distribution may be used as the additional parameters for diagnostics.

Conclusions
The rolling mills dynamics is considered from viewpoint of the parameters uncertainty and input loads statistics. Strip material elasto-plastic properties statistical deviation and deformation rate change natural modes of the rolling stands. WR hydraulic bending system can be used for chatter vibrations control not only as the high frequency actuators but as a comparatively slow channel for the stand principal mode shape regulation so that to shift its node out of strip plane. Also WR bending system influences on chocks horizontal vibration within the housing backlashes gaps. It is taken into account in a new stability condition along with drive torque reactions in the work roll chocks. Strip damping ability can be increased in the last stands for chatter prevention not only by speed lowering but also due to reduction schedule and tensions control in the tandem mills. Contact friction stability in a deformation zone is dependable on stand vibration amplitude which is not accounted in the rolling theory now. The vibration signals measurement in the three directions allowing more accurate chatter prediction and neutral angle calculation based on effective friction factor. A new method is used for chatter detection and control in the tandem mills based on adjacent stands vibration statistical parameters analysis. Random input torsional loads in the rolling stands cause output peak torques and TAF scattering depending on angular backlashes. The formulae are obtained for the output dynamic loads statistical parameters calculation in the nonlinear drive trains. It is proposed an improved control strategy for the continuous hot rolling mills based on statistical loads and FRF analysis of the drive trains in order to reduce overall mill dynamics. The rolling mills equipment diagnostics can be fulfilled based on backlashes identification by the statistical relations of input loads and output dynamic torques.
Acknowledgments Author is thankful to colleagues from the Iron and Steel Institute and people from the industrial plants for assistance with the experimental measurements. Also author is appreciated to the IUTAM Symposium organizing committee for financial support which helped to represent this research.

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