高炉无料钟布料控制系统的研究
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摘要
无料钟炉顶是现代高炉的代表形式,无料钟炉顶控制系统是高炉控制系统的重要组成部分。随着钢铁工业的发展,各国对高炉精细操作要求越来越高,对高炉上部的调剂手段,特别是炉顶布料越来越重视。
本文来源于前进高炉自动化大改造工程,原有的高炉布料控制系统在工艺和控制模式上都存在很多问题,造成了原料的浪费和故障率的增加,严重影响了整个系统的自动化水平,高炉产量和质量受到很大的制约和影响,利用高炉布料规律和先进的计算机技术、控制方法、通讯技术等对原有的系统进行改造,对提高系统的自动化水平,提高高炉利用率具有重要意义。
为了达到控制要求,本文在对现有系统考察的基础上,提出了新的软硬件设计方案,针对目前普遍存在的布料溜槽定位不精确和PID参数不能在线自整定的问题,采用PLC分散控制系统和变频调速装置对溜槽倾角和旋转角进行控制,设计了模糊PID控制器,并通过MATLAB与常规PID控制进行仿真比较,验证了该方法的有效性;对料流调节阀的开度进行了自学习控制研究,实现了多环布料。
同时,本文在PLC内编写程序实现了模糊控制,通过调试验证了仿真结果的正确性,最后总结了调试过程中注意的问题。
The bell-less top BF is the representative form of modern Blast Furnace. And the bell-less top control system is an important part of Blast Furnace control system. With the development of iron industry, various countries are presenting a higher demand on the blast furnace fine operation and they are paying more attention to the upper part adjust means of BF, especially burden distribution.
This article originates from Qian Jin blast furnace automation reconstruction project. The original burden distribution control system existed many problems in the craft and the control method, which contributed to a waste of raw material, the high rate of failure and the low automated level of overall system seriously. It is very useful to raise the automation level and the using ratio of the BF system by using burden distribution rules, modern computer technology, control method and communication technology to rebuild the original system.
In order to meet the control requirements, this thesis proposes a new software and hardware design proposal based on the examination to the existing system.In view of the problems which are universal existing at present, that is burden distribution chute does not locate precisely and PID parameter cannot do self-regulating online, this thesis uses PLC distributed control system and variable frequency and adjustable speed installation to control the inclination angle and rotation angle. Sequentially, a Fuzzy PID controller is designed and compared with conventional PID controller through Matlab simulation environment.The result showes that Fuzzy PID method is better.
Then, the multi-loop burden distribution was realized by researching the open limit of dumping valve using self-study method.
At the same time, the Fuzzy PID program is realized in PLC, The accuracy of simulation result is confirmed through the debugging. The questions which should be payed attention to in the debugging process are summarized.
本文来源于前进高炉自动化大改造工程,原有的高炉布料控制系统在工艺和控制模式上都存在很多问题,造成了原料的浪费和故障率的增加,严重影响了整个系统的自动化水平,高炉产量和质量受到很大的制约和影响,利用高炉布料规律和先进的计算机技术、控制方法、通讯技术等对原有的系统进行改造,对提高系统的自动化水平,提高高炉利用率具有重要意义。
为了达到控制要求,本文在对现有系统考察的基础上,提出了新的软硬件设计方案,针对目前普遍存在的布料溜槽定位不精确和PID参数不能在线自整定的问题,采用PLC分散控制系统和变频调速装置对溜槽倾角和旋转角进行控制,设计了模糊PID控制器,并通过MATLAB与常规PID控制进行仿真比较,验证了该方法的有效性;对料流调节阀的开度进行了自学习控制研究,实现了多环布料。
同时,本文在PLC内编写程序实现了模糊控制,通过调试验证了仿真结果的正确性,最后总结了调试过程中注意的问题。
The bell-less top BF is the representative form of modern Blast Furnace. And the bell-less top control system is an important part of Blast Furnace control system. With the development of iron industry, various countries are presenting a higher demand on the blast furnace fine operation and they are paying more attention to the upper part adjust means of BF, especially burden distribution.
This article originates from Qian Jin blast furnace automation reconstruction project. The original burden distribution control system existed many problems in the craft and the control method, which contributed to a waste of raw material, the high rate of failure and the low automated level of overall system seriously. It is very useful to raise the automation level and the using ratio of the BF system by using burden distribution rules, modern computer technology, control method and communication technology to rebuild the original system.
In order to meet the control requirements, this thesis proposes a new software and hardware design proposal based on the examination to the existing system.In view of the problems which are universal existing at present, that is burden distribution chute does not locate precisely and PID parameter cannot do self-regulating online, this thesis uses PLC distributed control system and variable frequency and adjustable speed installation to control the inclination angle and rotation angle. Sequentially, a Fuzzy PID controller is designed and compared with conventional PID controller through Matlab simulation environment.The result showes that Fuzzy PID method is better.
Then, the multi-loop burden distribution was realized by researching the open limit of dumping valve using self-study method.
At the same time, the Fuzzy PID program is realized in PLC, The accuracy of simulation result is confirmed through the debugging. The questions which should be payed attention to in the debugging process are summarized.
引文
[1]郝素菊,蒋武锋,方觉.高炉炼铁设计原理[M].北京:冶金工业出版社,2003.
[2]柳朝阳.唐钢1260高炉布料系统的控制与研究[D].东北大学,2005.
[3]曾进东.高炉多环布料自动控制及性能研究[D].东北大学,2002.
[4]孙刚.八钢高炉无钟炉顶装料制度的研究[D].西安建筑科技大学,2004.
[5]田仙仙.高炉布料仿真模型研究[D].中国农业大学,2005.
[6]刘祥官.高炉炼铁过程优化与智能控制系统[M].北京:冶金工业出版社,2005.
[7] L.A.Zadeh.Fuzzy Sets.Information and Control.1965,8(4):338一353.
[8] Mamdani EH.Application of fuzzy algorithms for simple dynamic plant.Proc.of IEE,Vol. 121,1974:1585一1588.
[9]伦长江.参数自整定模糊—复合控制的随动系统应用的研究[D].大连理工大学,2002.
[10]汪漩炫.模糊PID控制在工业过程控制中的应用研究[D].合肥工业大学,2005.
[11] Shuichi Yamamoto, Ryosuke Kimura, Hiroaki Miyahara.Automatic Knowledge Acquisition System for Blaster Furnace Burden Distribution Operation.IEEE Symposium on Emerging Technologies & Factory Automation.2004,Page(s):107-114.
[12] Yamamoto. Retal. Simulation Model of Burden Distribution for Bell-Less Top and its Application to Fukuyama No.2 BF[R].Nippon Koran Technical Report.1985,Page(s): 1-11.
[13]李传辉等.高炉无料钟炉顶布料规律探索与实践[J].钢铁,2006,41(5):6-10.
[14]刘启胜.5号高炉无料钟炉顶布料传动系统运动分析[J].武钢技术,1995,181(33):40-45.
[15]王传刚.750 m3高炉无料钟炉顶溜槽传动系统.山东冶金[J],1996,9 (18):6-10.
[16]经文波.无料钟高炉布料特性研究[J].江西冶金,2005,25(1): 1-3.
[17]谢建民.安钢7号380m3高炉无料钟炉顶布料规律研究[J].冶金设备,2005(2):8-10.
[18]刘元意,王子金.布料溜槽磨断事故的判断和处理[J].炼铁,2001,20(5): 41-42.
[19]刘云彩.高炉布料规律[M].北京:冶金工业出版社,1984.
[20]孙长顺,刘春平,程普昌.包钢4#高炉上料自动控制系统[J].包钢科技,1997(3): 111-115.
[21]林建华.基于PLC和模糊自整定参数的造纸烘干控制系统的开发[D].浙江大学,2006.
[22]廖常初.S7-300/400 PLC应用技术[M].北京:机械工业出版社,2004.
[23]黄道平.MATLAB与控制系统的数字仿真及CAD[M].北京:化学工业出版社,2004.
[24]陈伯时.电力拖动自动控制系统[M].北京:机械工业出版社,2005.
[25]李崇坚,王祥珩,李发海等.磁场定向控制交交变频器同步电机系统的数学模型[J].清华大学学报(自然科学版),1995,35(4):1-18.
[26]贲小进.网络控制系统及其在水电站的应用[D].河海大学,2006.
[27]马小亮,许勇,许慎琳等.数字式交-交变频器的仿真模型与分析[J].电力电子技术,2000(1):49-51.
[28]杜军红,沈建新,吕晓春等.无环流交-交变频仿真模型[J].电力电子技术,1998,32(1):11-13.
[29]李耀华,李发海.循环变流器的数学模型[J].清华大学学报(自然科学版),1994,34(4):69-75.
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[32]张红颖.模糊控制在软开关功率变换器中的研究[D].天津大学,2004.
[33]蔡自兴.智能控制基础与应用[M].北京:国防工业出版社,1998.
[34] Guangyang Wang, Zhiying Wang, Huiyi Zhang.Control Strategy of Hot Blast Stove's Combustion System Fuzzy Self-adaptive Control. Proceedings of the 5th World Congress on Intelligent Control And Automation. June 15-19, 2004.,Page(s):3907-3910.
[35]陶加富.高炉探尺模糊控制系统研究[D].天津大学,2004.
[36] Lam H.K,Leung.F.H.F.Stability analysis of fuzzy control systems subject to uncertain grades of membership.System, Man and Cybernetics.IEEE,2005,Vol.35,Page(s):1322-1325.
[37]陈永义,陈怡欣.从工程应用看模糊控制[J].模糊系统与数学,1999,13(2): 33-36.
[38] Dr.F.H.Ali,Maher M.F.Algreer. Fuzzy PID Control for Positioning Plants with Uncertain Parameters Variation[J].Information and Communication Technologies.2006(1):1428-1433.
[39] Mann G..K.I.,Hu B.G.,Gosine R.G..Analysis of direct action fuzzy PID controller structures.IEEE Trans.on Systems,Man and Cybernetics. 1999,Vo1.29, Page(s):371-388.
[40]刘金琨.先进PID控制及其Matlab仿真[M].北京:电子工业出版社,2003.
[41]印建安.高炉煤气余压发电装置中炉顶压力稳定性分析与控制试验研究[D].浙江大学,2003.
[42]李欣.基于模糊PID的步进电机定位系统[D].西北工业大学,2004.
[43]王三武,董金发.基于Matlab的模糊自整定PID参数控制器的设计与仿真[J].机电工程技术,2006,35(2):67-69.
[44]夏俭军.感应电机的模糊控制及数字实现技术研究[D].南京工业大学,2005.
[45] S.Z.He, S.Tan, P.Z.Wang. Fuzzy self-tuning PID controllers.Fuzzy Sets&Syst.1993,(56):37-46.
[46] J.H.Kim, K.C.Kim, K.P.Chong. Fuzzy precompensated PID controllers.IEEE Transactions on Control Systems Technology,1995(2):406-411.
[47] Seyedrasoul Saneifard. Fuzzy–Logic-Based Speed Control of Shunt DC Motor. IEEE Transactions on Education. Vol. 41, No. 2, MAY 1998:159-163.
[48]焦国宣.变频调速装置在攀钢四号高炉布料溜槽倾动控制中的应用实践[J].仪器仪表用户,2004,11(5):42-43.
[49] Hassan B.Kazemian. Development of an Intelligent Fuzzy Controller.IEEE International Fuzzy Systems Conference, Vol. 1, 2001, Page(s):517– 520.
[50] Kouji Tsumura. Modeling for Control of Blast Furnace. Control Applications Proceedings of the 1999 IEEE International Conference on 22-27 Aug,1999,Vol. 2,Page(s):1-6.
[51] Bao-Gang Hu,George K.I.Mann,Raymond G.Gosine.A Systematic Study of Fuzzy PID Controllers Function-Based Evaluation Approach. IEEE Transactions on Fuzzy Systems.Vol.9, 2001,Page(s):699-712.
[52]范少泉.模糊控制在交流调速控制系统中的应用研究[D].东北电力大学,2006.
[53]汪美霞,陈号.基于PLC及PROFIBUS现场总线的炼铁高炉集中监控系统.山东建筑工程学院报,2004,19(2):33-34.
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[2]柳朝阳.唐钢1260高炉布料系统的控制与研究[D].东北大学,2005.
[3]曾进东.高炉多环布料自动控制及性能研究[D].东北大学,2002.
[4]孙刚.八钢高炉无钟炉顶装料制度的研究[D].西安建筑科技大学,2004.
[5]田仙仙.高炉布料仿真模型研究[D].中国农业大学,2005.
[6]刘祥官.高炉炼铁过程优化与智能控制系统[M].北京:冶金工业出版社,2005.
[7] L.A.Zadeh.Fuzzy Sets.Information and Control.1965,8(4):338一353.
[8] Mamdani EH.Application of fuzzy algorithms for simple dynamic plant.Proc.of IEE,Vol. 121,1974:1585一1588.
[9]伦长江.参数自整定模糊—复合控制的随动系统应用的研究[D].大连理工大学,2002.
[10]汪漩炫.模糊PID控制在工业过程控制中的应用研究[D].合肥工业大学,2005.
[11] Shuichi Yamamoto, Ryosuke Kimura, Hiroaki Miyahara.Automatic Knowledge Acquisition System for Blaster Furnace Burden Distribution Operation.IEEE Symposium on Emerging Technologies & Factory Automation.2004,Page(s):107-114.
[12] Yamamoto. Retal. Simulation Model of Burden Distribution for Bell-Less Top and its Application to Fukuyama No.2 BF[R].Nippon Koran Technical Report.1985,Page(s): 1-11.
[13]李传辉等.高炉无料钟炉顶布料规律探索与实践[J].钢铁,2006,41(5):6-10.
[14]刘启胜.5号高炉无料钟炉顶布料传动系统运动分析[J].武钢技术,1995,181(33):40-45.
[15]王传刚.750 m3高炉无料钟炉顶溜槽传动系统.山东冶金[J],1996,9 (18):6-10.
[16]经文波.无料钟高炉布料特性研究[J].江西冶金,2005,25(1): 1-3.
[17]谢建民.安钢7号380m3高炉无料钟炉顶布料规律研究[J].冶金设备,2005(2):8-10.
[18]刘元意,王子金.布料溜槽磨断事故的判断和处理[J].炼铁,2001,20(5): 41-42.
[19]刘云彩.高炉布料规律[M].北京:冶金工业出版社,1984.
[20]孙长顺,刘春平,程普昌.包钢4#高炉上料自动控制系统[J].包钢科技,1997(3): 111-115.
[21]林建华.基于PLC和模糊自整定参数的造纸烘干控制系统的开发[D].浙江大学,2006.
[22]廖常初.S7-300/400 PLC应用技术[M].北京:机械工业出版社,2004.
[23]黄道平.MATLAB与控制系统的数字仿真及CAD[M].北京:化学工业出版社,2004.
[24]陈伯时.电力拖动自动控制系统[M].北京:机械工业出版社,2005.
[25]李崇坚,王祥珩,李发海等.磁场定向控制交交变频器同步电机系统的数学模型[J].清华大学学报(自然科学版),1995,35(4):1-18.
[26]贲小进.网络控制系统及其在水电站的应用[D].河海大学,2006.
[27]马小亮,许勇,许慎琳等.数字式交-交变频器的仿真模型与分析[J].电力电子技术,2000(1):49-51.
[28]杜军红,沈建新,吕晓春等.无环流交-交变频仿真模型[J].电力电子技术,1998,32(1):11-13.
[29]李耀华,李发海.循环变流器的数学模型[J].清华大学学报(自然科学版),1994,34(4):69-75.
[30]胡寿松.自动控制原理[M].北京:科学出版社,2001.
[31]任廷志,金昕,景奉儒.无钟溜槽结构参数对高炉布料的影响[J].钢铁,2003,38(11):9-11.
[32]张红颖.模糊控制在软开关功率变换器中的研究[D].天津大学,2004.
[33]蔡自兴.智能控制基础与应用[M].北京:国防工业出版社,1998.
[34] Guangyang Wang, Zhiying Wang, Huiyi Zhang.Control Strategy of Hot Blast Stove's Combustion System Fuzzy Self-adaptive Control. Proceedings of the 5th World Congress on Intelligent Control And Automation. June 15-19, 2004.,Page(s):3907-3910.
[35]陶加富.高炉探尺模糊控制系统研究[D].天津大学,2004.
[36] Lam H.K,Leung.F.H.F.Stability analysis of fuzzy control systems subject to uncertain grades of membership.System, Man and Cybernetics.IEEE,2005,Vol.35,Page(s):1322-1325.
[37]陈永义,陈怡欣.从工程应用看模糊控制[J].模糊系统与数学,1999,13(2): 33-36.
[38] Dr.F.H.Ali,Maher M.F.Algreer. Fuzzy PID Control for Positioning Plants with Uncertain Parameters Variation[J].Information and Communication Technologies.2006(1):1428-1433.
[39] Mann G..K.I.,Hu B.G.,Gosine R.G..Analysis of direct action fuzzy PID controller structures.IEEE Trans.on Systems,Man and Cybernetics. 1999,Vo1.29, Page(s):371-388.
[40]刘金琨.先进PID控制及其Matlab仿真[M].北京:电子工业出版社,2003.
[41]印建安.高炉煤气余压发电装置中炉顶压力稳定性分析与控制试验研究[D].浙江大学,2003.
[42]李欣.基于模糊PID的步进电机定位系统[D].西北工业大学,2004.
[43]王三武,董金发.基于Matlab的模糊自整定PID参数控制器的设计与仿真[J].机电工程技术,2006,35(2):67-69.
[44]夏俭军.感应电机的模糊控制及数字实现技术研究[D].南京工业大学,2005.
[45] S.Z.He, S.Tan, P.Z.Wang. Fuzzy self-tuning PID controllers.Fuzzy Sets&Syst.1993,(56):37-46.
[46] J.H.Kim, K.C.Kim, K.P.Chong. Fuzzy precompensated PID controllers.IEEE Transactions on Control Systems Technology,1995(2):406-411.
[47] Seyedrasoul Saneifard. Fuzzy–Logic-Based Speed Control of Shunt DC Motor. IEEE Transactions on Education. Vol. 41, No. 2, MAY 1998:159-163.
[48]焦国宣.变频调速装置在攀钢四号高炉布料溜槽倾动控制中的应用实践[J].仪器仪表用户,2004,11(5):42-43.
[49] Hassan B.Kazemian. Development of an Intelligent Fuzzy Controller.IEEE International Fuzzy Systems Conference, Vol. 1, 2001, Page(s):517– 520.
[50] Kouji Tsumura. Modeling for Control of Blast Furnace. Control Applications Proceedings of the 1999 IEEE International Conference on 22-27 Aug,1999,Vol. 2,Page(s):1-6.
[51] Bao-Gang Hu,George K.I.Mann,Raymond G.Gosine.A Systematic Study of Fuzzy PID Controllers Function-Based Evaluation Approach. IEEE Transactions on Fuzzy Systems.Vol.9, 2001,Page(s):699-712.
[52]范少泉.模糊控制在交流调速控制系统中的应用研究[D].东北电力大学,2006.
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