轧机传动系统扭振测量模型及实验研究
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摘要
轧机传动系统是轧机中的重要组成部分,承担着向轧辊输送转动机械能量的工作。随着轧制速度和强度的不断提高,轧机传动系统频繁出现异常扭振失稳现象,造成轧机部件疲劳损伤、使用寿命降低,进而影响轧制产品质量和生产效率。因此,轧机传动系统扭振有效抑制是实现轧机稳定运行的关键,准确的扭振测量模型是轧机传动系统扭振抑制的前提,本课题在国家十五重大技术装备研制项目“大型宽带钢冷连轧成套设备研制/轧机传动系统扭振关键技术问题的研究及应用(批准号:ZZ02-13B- 02-03-1)”的资助下,进行了轧机传动系统扭振测量模型的研究。课题在分析轧机传动系统扭振产生机理的基础上,从研究轧机传动系统动力学模型入手,建立了轧机传动系统扭振测量模型,并对测量模型进行了动态响应求解,通过实验验证了测量模型的有效性和可行性。
分析轧机传动系统扭振产生机理和轧制载荷等因素对扭振的影响规律,基于集中参数建模方法研究轧机单支直串式集中参数系统模型和多级分支式集中参数系统模型,运用达朗伯-拉格朗日动力学原理,建立轧机传动系统两自由度和多自由度系统动力学模型,求解系统的固有特性。
基于轧机传动系统扭振动力学模型,建立简化的轧机传动系统扭振线性测量模型,对突变载荷作用下和周期载荷作用下的测量模型进行研究。基于扭振线性测量模型,考虑典型非线性因素,建立轧机传动系统扭振非线性测量模型,构造李雅普诺夫函数分析非线性测量模型的稳定性,并运用参数摄动法对不同谐波激励下的非线性测量模型进行了研究。针对轧机传动系统结构复杂性和影响因素的复杂性等原因造成的某些关键点不可测的问题,建立轧机扭振软测量模型,实现不可测点的扭振测量。
建立轧机传动系统多自由度扭振测量模型,研究轧机扭振测量模型在不同边界条件下、典型工程载荷作用下以及考虑间隙作用下,系统外扰为时间函数、速度函数、位移函数的等形式下的动态响应,以揭示轧机传动系统扭振的演化机制,为轧机扭振测量奠定理论基础。
为了对测量信号进行有效特征提取,以实现对测量模型的验证,针对扭振测量信号具有的非线性和非平稳特性,研究基于经验模态分解(EMD)的扭振信号处理方法,给出EMD分解算法,分析EMD分解中噪声所引起的模态裂解现象和端点效应对分解效果的影响,研究中值滤波去噪算法、非线性小波阈值去噪算法和包络极值延拓算法,提高EMD分解效果的有效性。
设计扭振测量系统,在轧机扭振实验平台上完成系统的动态实验,对测量信号进行EMD分解和Hilbert变换,提取扭振信号的特征,验证测量模型的有效性和可行性。
The rolling mill’s drive system, which transmits the rotating mechanical energy to roller, is an important component of the rolling mill. With the continuous improvement of the rolling speed and intensity, the abnormal instability phenomenon offen occurs due to the torsional vibration of the rolling mill’s drive system. The torsional vibration causes fatigue damage and life reduction of the rolling parts. Further, the torsional vibration affects products quality and production efficiency. Torsional vibration suppression of the rolling mill’s drive system is the key to stable operation of rolling mill, and the accurate measuring model is the premise of torsional vibration suppression. The project is supported by the national major technologies and equipment development projects for 10th-5-year Plan of China (Development of the large broadband steel cold rolling complete sets of equipment/Research and application on the key technology of the rolling mill’s drive system torsional vibration.Grant No.ZZ02-13B-02-03-1). The theory and experiment of the rolling mill’s drive system measuring model were studied. On the basis of torsional vibration mechanism and drive system dynamics model, the rolling mill’s drive system measuring model was proposed. The dynamic response solution of the measuring model was obtained. The experimental results showed the effectiveness and feasibility of the measurement model.
Firstly, the torsional vibration mechanics of rolling mill’s drive system was studied, and the influence of rolling load on torsional vibration was analyzed. Based on the lumped parameter modeling method, single straight string lumped parameter system model and multiple branch lumped parameter system model were studied. According to D’Alembert-Lagrange dynamic principle, the two degrees of freedom dynamic model and the multiple degrees of freedom dynamic model of the rolling mill’s drive system were established, and the inherent characteristics of system were known.
Secondly, on the basis of torsional vibration dynamic model, the torsional vibration linear measuring model of the simplified rolling mill’s drive system was established, and the measuring model under mutation loading and cyclic loading was studied. Based on the torsional vibration linear measuring model and typical nonlinear factors, the torsional vibration nonlinear measuring model of the rolling mill drive system was proposed. By constructing Lyapunov function, the stability of the nonlinear measuring model was analyzed. The nonlinear measuring model under different frequency forcing excitation was studied using the method of perturbation. For the key point unmeasured problem which was caused by the structure complicacy and infection factor complicacy, the soft measuring model was established and the torsional vibration measurement of the unmeasured point was realized.
Thirdly, the torsional vibration multiple degrees of freedom measuring model was established on rolling mill drive system. When the system disturbance forms are time function, velocity function and displacement function, the dynamic response of the measuring model under the different boundary conditions, the typical load and the space was studied. The torsional vibration evolution mechanism of the rolling mill drive system was revealed, and the theoretical foundation of the rolling mill’s torsional vibration measurement was established.
Fourthly, in order to certify the measuring model, the measured signal feature must be extracted effectively. For the nonlinear and nonstationary characteristics of the torsional vibration measured signal, the torsional vibration signal processing method based on Empirical Mode Decomposition (EMD) was studied. The EMD algorithm was given, and the mode fission phenomenon caused by noise signal and the influence of the end effect on decomposition results were analyzed. The medium filtering denoising algorithm, the nonlinear wavelet threshold denoising algorithm and the envelope extreme extension algorithm were studied. The validity of EMD was improved.
Finally, the torsional vibration measurement system was designed, and the dynamic experiment was finished on the torsional vibration analogue platform. The torsional vibration feature of the measurement signal was extracted by empirical mode decomposition and Hilbert trasnsform. The availability and feasibility of the measuring model was verified.
分析轧机传动系统扭振产生机理和轧制载荷等因素对扭振的影响规律,基于集中参数建模方法研究轧机单支直串式集中参数系统模型和多级分支式集中参数系统模型,运用达朗伯-拉格朗日动力学原理,建立轧机传动系统两自由度和多自由度系统动力学模型,求解系统的固有特性。
基于轧机传动系统扭振动力学模型,建立简化的轧机传动系统扭振线性测量模型,对突变载荷作用下和周期载荷作用下的测量模型进行研究。基于扭振线性测量模型,考虑典型非线性因素,建立轧机传动系统扭振非线性测量模型,构造李雅普诺夫函数分析非线性测量模型的稳定性,并运用参数摄动法对不同谐波激励下的非线性测量模型进行了研究。针对轧机传动系统结构复杂性和影响因素的复杂性等原因造成的某些关键点不可测的问题,建立轧机扭振软测量模型,实现不可测点的扭振测量。
建立轧机传动系统多自由度扭振测量模型,研究轧机扭振测量模型在不同边界条件下、典型工程载荷作用下以及考虑间隙作用下,系统外扰为时间函数、速度函数、位移函数的等形式下的动态响应,以揭示轧机传动系统扭振的演化机制,为轧机扭振测量奠定理论基础。
为了对测量信号进行有效特征提取,以实现对测量模型的验证,针对扭振测量信号具有的非线性和非平稳特性,研究基于经验模态分解(EMD)的扭振信号处理方法,给出EMD分解算法,分析EMD分解中噪声所引起的模态裂解现象和端点效应对分解效果的影响,研究中值滤波去噪算法、非线性小波阈值去噪算法和包络极值延拓算法,提高EMD分解效果的有效性。
设计扭振测量系统,在轧机扭振实验平台上完成系统的动态实验,对测量信号进行EMD分解和Hilbert变换,提取扭振信号的特征,验证测量模型的有效性和可行性。
The rolling mill’s drive system, which transmits the rotating mechanical energy to roller, is an important component of the rolling mill. With the continuous improvement of the rolling speed and intensity, the abnormal instability phenomenon offen occurs due to the torsional vibration of the rolling mill’s drive system. The torsional vibration causes fatigue damage and life reduction of the rolling parts. Further, the torsional vibration affects products quality and production efficiency. Torsional vibration suppression of the rolling mill’s drive system is the key to stable operation of rolling mill, and the accurate measuring model is the premise of torsional vibration suppression. The project is supported by the national major technologies and equipment development projects for 10th-5-year Plan of China (Development of the large broadband steel cold rolling complete sets of equipment/Research and application on the key technology of the rolling mill’s drive system torsional vibration.Grant No.ZZ02-13B-02-03-1). The theory and experiment of the rolling mill’s drive system measuring model were studied. On the basis of torsional vibration mechanism and drive system dynamics model, the rolling mill’s drive system measuring model was proposed. The dynamic response solution of the measuring model was obtained. The experimental results showed the effectiveness and feasibility of the measurement model.
Firstly, the torsional vibration mechanics of rolling mill’s drive system was studied, and the influence of rolling load on torsional vibration was analyzed. Based on the lumped parameter modeling method, single straight string lumped parameter system model and multiple branch lumped parameter system model were studied. According to D’Alembert-Lagrange dynamic principle, the two degrees of freedom dynamic model and the multiple degrees of freedom dynamic model of the rolling mill’s drive system were established, and the inherent characteristics of system were known.
Secondly, on the basis of torsional vibration dynamic model, the torsional vibration linear measuring model of the simplified rolling mill’s drive system was established, and the measuring model under mutation loading and cyclic loading was studied. Based on the torsional vibration linear measuring model and typical nonlinear factors, the torsional vibration nonlinear measuring model of the rolling mill drive system was proposed. By constructing Lyapunov function, the stability of the nonlinear measuring model was analyzed. The nonlinear measuring model under different frequency forcing excitation was studied using the method of perturbation. For the key point unmeasured problem which was caused by the structure complicacy and infection factor complicacy, the soft measuring model was established and the torsional vibration measurement of the unmeasured point was realized.
Thirdly, the torsional vibration multiple degrees of freedom measuring model was established on rolling mill drive system. When the system disturbance forms are time function, velocity function and displacement function, the dynamic response of the measuring model under the different boundary conditions, the typical load and the space was studied. The torsional vibration evolution mechanism of the rolling mill drive system was revealed, and the theoretical foundation of the rolling mill’s torsional vibration measurement was established.
Fourthly, in order to certify the measuring model, the measured signal feature must be extracted effectively. For the nonlinear and nonstationary characteristics of the torsional vibration measured signal, the torsional vibration signal processing method based on Empirical Mode Decomposition (EMD) was studied. The EMD algorithm was given, and the mode fission phenomenon caused by noise signal and the influence of the end effect on decomposition results were analyzed. The medium filtering denoising algorithm, the nonlinear wavelet threshold denoising algorithm and the envelope extreme extension algorithm were studied. The validity of EMD was improved.
Finally, the torsional vibration measurement system was designed, and the dynamic experiment was finished on the torsional vibration analogue platform. The torsional vibration feature of the measurement signal was extracted by empirical mode decomposition and Hilbert trasnsform. The availability and feasibility of the measuring model was verified.
引文
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