连铸结晶器非正弦振动机构动力学分析
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摘要
结晶器振动技术是连铸技术的核心之一。其振动方式从矩形波、梯形波、正弦波到非正弦波不断发展成熟。根据不同的设计要求,结晶器振动装置也在不断改进和完善。常用的振动机构有四连杆机构、四偏心机构和电液振动机构等。对于机械式驱动的非正弦振动装置,目前还存在着一些尚未解决的问题。例如无法实现波形偏斜率可调性、无法应用于流间距较小铸机的改造等。生产实践表明,当采用非正弦振动后,尤其是机械非正弦,设备的冲击要远比正弦严重,而结晶器谐振技术就能够很好的减轻这个问题。
本文在分析德马克非正弦波形的基础上介绍了一种结构简单,波形偏斜率能在线自动调节,投资低廉的伺服电机非正弦振动系统,给出了非正弦波产生的基理,并介绍了德马克波形的实现方法。
文章将结晶器振动机构假设成刚体,采用复数矢量法分析了结晶器振动系统的运动学特性。根据某钢厂四连杆机构振动机构原理图采用Adams
建立了振动机构的仿真模型,进行了运动学仿真及误差分析;进一步进行了动力学仿真,详细讨论了结晶器谐振技术,分析了缓冲弹簧力、弹簧安装位置、结晶器振幅和波形偏斜率对各铰支力及驱动力矩的影响。建立了伺服电机驱动的结晶器非正弦振动系统动力学模型,推导了其运动微分方程,求解了其固有频率及振型,发现该系统的固有特性优于椭圆齿轮非正弦装置,更有利于结晶器非正弦振动的最佳振动模式的实现。
Mould oscillation was one of the key techniques in continuous casting. The oscillation mode experienced different stages, rectangular wave, trapezoidal wave, sine wave and non-sinusoidal wave appeared in succession. According to the different design requirements, the oscillation mechanism was gradually improved. The common oscillation mechanisms are four-bar-linkages mechanism, for-eccentric axes mechanism and electric hydraulic mould oscillating mechanism. There are many problems was unresolved in mechanical non-sinusoidal oscillation. For example, the modification ratio are not can be adjusted online, can’t be adopted in the caster if the strand is short. Production practice shows that when non-sinusoidal vibration, in particular non-sinusoidal mechanical equipment sine shock is far more serious, and mold can be a very good resonance techniques to alleviate this problem.
Based on the generating law of the DEMAG non-sinusoidal, This paper presents a simple structure, the modification ratio can be adjusted online, low investment in the non-sinusoidal oscillation mechanism driven by servomotor, gives its produce non-sine wave generated by the base management, and introduces the realizing method of the DEMAG non-sinusoidal waveform implementation.
The Complex vector method was adopted to analysis the kinematics of the mold oscillating mechanism by the hypothesis of multi- rigid body in the article. According to a steel four-bar linkage vibration body diagram established by Adams vibration body simulation model of the kinematic simulation and error analysis; the dynamic simulation further, detailed discussion of the crystal resonator technology, analysis of the buffer spring force, the spring installation location, amplitude and waveforms of mold deflection rate on the hinge of force and torque.
The dynamics model of the servomotor non-sinusoidal oscillation was established, and the kinematics differential function was deduced. From the nature frequency and the mode analysis, we can know that the nature characteristic of this equipment is better than that of the elliptic gear system, and is more easily to realize the optimal oscillation model.
本文在分析德马克非正弦波形的基础上介绍了一种结构简单,波形偏斜率能在线自动调节,投资低廉的伺服电机非正弦振动系统,给出了非正弦波产生的基理,并介绍了德马克波形的实现方法。
文章将结晶器振动机构假设成刚体,采用复数矢量法分析了结晶器振动系统的运动学特性。根据某钢厂四连杆机构振动机构原理图采用Adams
建立了振动机构的仿真模型,进行了运动学仿真及误差分析;进一步进行了动力学仿真,详细讨论了结晶器谐振技术,分析了缓冲弹簧力、弹簧安装位置、结晶器振幅和波形偏斜率对各铰支力及驱动力矩的影响。建立了伺服电机驱动的结晶器非正弦振动系统动力学模型,推导了其运动微分方程,求解了其固有频率及振型,发现该系统的固有特性优于椭圆齿轮非正弦装置,更有利于结晶器非正弦振动的最佳振动模式的实现。
Mould oscillation was one of the key techniques in continuous casting. The oscillation mode experienced different stages, rectangular wave, trapezoidal wave, sine wave and non-sinusoidal wave appeared in succession. According to the different design requirements, the oscillation mechanism was gradually improved. The common oscillation mechanisms are four-bar-linkages mechanism, for-eccentric axes mechanism and electric hydraulic mould oscillating mechanism. There are many problems was unresolved in mechanical non-sinusoidal oscillation. For example, the modification ratio are not can be adjusted online, can’t be adopted in the caster if the strand is short. Production practice shows that when non-sinusoidal vibration, in particular non-sinusoidal mechanical equipment sine shock is far more serious, and mold can be a very good resonance techniques to alleviate this problem.
Based on the generating law of the DEMAG non-sinusoidal, This paper presents a simple structure, the modification ratio can be adjusted online, low investment in the non-sinusoidal oscillation mechanism driven by servomotor, gives its produce non-sine wave generated by the base management, and introduces the realizing method of the DEMAG non-sinusoidal waveform implementation.
The Complex vector method was adopted to analysis the kinematics of the mold oscillating mechanism by the hypothesis of multi- rigid body in the article. According to a steel four-bar linkage vibration body diagram established by Adams vibration body simulation model of the kinematic simulation and error analysis; the dynamic simulation further, detailed discussion of the crystal resonator technology, analysis of the buffer spring force, the spring installation location, amplitude and waveforms of mold deflection rate on the hinge of force and torque.
The dynamics model of the servomotor non-sinusoidal oscillation was established, and the kinematics differential function was deduced. From the nature frequency and the mode analysis, we can know that the nature characteristic of this equipment is better than that of the elliptic gear system, and is more easily to realize the optimal oscillation model.
引文
1陈雷.连续铸钢.北京:冶金工业出版社,2000:1-10
2 Lewis, D.M.. The Princeples of Continuous Casting of Metalas . Metallurgical Reviews,1956:312-368
3 Wolf, M.M.. History of Continuous Casting . Steelmaking Conference Proceedings. ISS-AIME,1992,75:83-137
4 Harter. Continuous Casting of Steel . AISE Yearly Proceedings,1956:258-262
5 Savage, J., Pritchard, W.H. The Problem of the Rupture of Billet in the Continuous Casting of Steel . Journal of the Iron and Steel Institute,1954,178(11): 269-277
6蔡开科.连续铸钢.北京:科学出版社,1990:5-23
7《连续铸钢译文集编译》组.连续铸钢译文集(3).北京:冶金工业出版社,1976:1-10
8史宸兴.实用连铸冶金技术.北京:冶金工业出版社,1998:4-22 89-112
9杨菊娣.90年代板坯连铸技术发展趋势.特殊钢出版社,1994,5:13-16
10蔡开科,程士富.连续铸钢原理与工艺.北京:冶金工业出版社,2002:120-232
11苏天森.近终形连铸连轧技术及钢铁工业新技术简介(一).冶金信息,2000,9 (3):15-20
12 R O’Malley, et al. Thin Slab Casting Practice Development at Armco’s Mansfield Operations. Proceedings of 7th International Continuous Casting Conference of VAI,1996,1:97-102
13 L. Bruno, H. H?dl, K. M?rward. Technological Package For High Performance Slab Casting. MPT International,1998,2:64-67
14 D.Currey. Optimization of Casting Speed for Higher Productivity on Do-Fasco’s No.1 Continuous Caster. Steelmaking Conference Proceedings,1995:286-288
15张兴中,那贤昭,倪满森.高效连铸基本问题的介绍与评价.钢铁,2000,4:62-64
16刘青.高效连铸的重要技术.钢铁研究,2000,1:54-58
17 R. Heard, N. Kaell. Technological Developments for High Speed. Canadian Metallurgical Quarterly,1999,38(5):331-335
18胡宗仁.高速连铸技术的开发.炼钢,1997,10:40-46
19张洪波.实现高速连铸的三项关键技术.钢铁,1997,3:25-28
20王新华.高速连铸的几项关键技术.炼钢,1995,8:21-29
21焦志明.连铸结晶器振动方式的探讨.炼钢,1997,8:30-33
22潘毓淳.炼钢设备.北京:冶金工业出版社,1992:114-119
23 I. Rossi. Method for the Continuous Casting of Steel. United States Patent 2, May 01,1956: 473-494
24 I. M. D. Halliday. Continuous Casting at Barrow. Journal of the Iron and Steel Institute, 1959,191:121-163
25李宪奎,张德明.连铸结晶器振动技术.北京:冶金工业出版社,2000:30-58,68-88
26 J. K. Brimacombe, I. V. Samarasekera. The challenge of thin slab casting. Iron and Steelmaker, 1994,(11):29
27 Suzuki M. Development of a new mold oscillation mode for high speed continuous casting of steel slabs. ISIJ International, 1991,31(3):245-261
28 Edward S. Szekeres. Overview of Mold Oscillation in Continuous Casting. Iron and Steel Engineer, 1996,(7):29-37
29 S.ITOYAMA. Effect of Casting Conditions on Oscillation Mark Depth. CAMP-ISIJ, 1992,5:1,225-228
30 D. H. Miller, T. E. Dancy. Continuous Casting-Past, Present and Future. Continuous and Pressure Casting, AISE, Pittsburgh, PA, 1964:9-21
31 REN Tingzhi, LIU Cai. Theoretical study of an oscillation waveform function and parameters for controlling the oscillation of a mold. Chinese Journal of Mechanical Engineering, 2004, 17(4):606-608
32 Thomas, B.G., J. Sengupta, and C. Ojeda, Mechanism of Hook and Oscillation Mark Formation In Ultra-Low Carbon Steel. Second Baosteel Biennial Conference, 25-26, 2006, Shanghai, PRC, 2006,1:112-117
33 Itoyama S. Control of Early Solidification in Continuous Casting by Horizontal Oscillation in Synchronization with Vertical Oscillation of the Mould. ISIJ International, 1998,38(5):461-468
34 YIN Rui-yu. Development of Continuous Casting in China in the 21st Century. Journal of iron and steel research international,2008,10:1-12
35本书编辑委员会.炼钢-连铸新技术800问.北京:冶金工业出版社,2003,(9):213-215
36蔡开科.连铸结晶器.北京:冶金工业出版社,2008:234-239,248-251
37田志恒,田立,周永辉,等.结晶器非正弦振动系统的开发与应用.钢铁,2004,(supp1):623-626
38 Becker E H, H von wyl, Lohse D A et al. Resonance Mould System in Continuous Casting. Ironmaking and Steelmaking, 1997,(2):174
39 Otto A. Schmidt, Dietmar Lohse, Edmund Bechker, et al. New Developments in Continuous Casting Machines for Slabs. The Second International Conference on Continuous Casting of Steel, Wuhan,1997,407-421
40杨红普.椭圆齿轮结晶器非正弦振动技术研究.[燕山大学工学博士学位论文].2007: 14-73,113-149
41张兴中.连铸结晶器非正弦振动理论谐振技术及动力学特性研究.[燕山大学工学博士学位论文].2005:12-40
42 Kwon O D. Optimization of Mold Oscillation Pattern for the improvement of Surface Quality and Lubrication in Slab Continuous Casting. Steelmaking Conference Proceedings, 1991:561-568
43郑志强.新型结晶器非正弦振动装置的研究与设计.[燕山大学工学硕士学位论文].2004:40-48
44王建明.连铸机结晶器振动机构动力学研究.[北京科技大学工学硕士学位论文].1987:12-36
45刘鸿飞.连铸机结晶器振动装置综合动态性能研究.[北京科技大学工学博士学位论文].2000:16-51
46姚云峰.伺服电机驱动的结晶器非正弦振动的研究.[燕山大学工学博士学位论文].2010: 25-30,91-100
47孙恒,陈作模,葛文杰.机械原理.西安:高等教育出版社,2005:37-40
48李增刚.ADAMS入门详解与实例.北京:国防工业出版社,2006:101-106
49陈立平,张云清,任卫群.机械系统动力学分析及ADAMS应用教程.北京:清华大学出版社,2005:21-75,95-111
50刘家信,李慧剑.理论力学(上册).北京:机械工业出版社,1996:59-65
51任廷志.连铸机非正弦振动系统的设计理论研究及动态性能分析.[燕山大学工学博士学位论文].2004:36-38
52王建平.含阻尼合金构件弹性机构动力学建模理论、非线性数值方法及其工程应用.[西安理工大学博士学位论文].2002:95-135
53罗振才.炼钢机械.北京:冶金工业出版社,1988:214
54梁志民,李朝晖.机械原理.兰州:甘肃人民出版社,2004:58-59
55杨涛.混合驱动结晶器非正弦振动装置的研究.[燕山大学工学硕士学位论文].2009:11-15,46-50
56季文美,方同,陈松淇.机械振动.北京:科学出版社,1985:318-327
57张立平.连铸结晶器非正弦振动系统设计理论研究及动力学分析.[燕山大学工学博士学位论文].2009: 55-72
58王建明.连铸机结晶器振动机构动力学.北京科技大学学报,1989,11(4):343-348
59刘晓锦,周德钢,曹建刚,等.结晶器振动短臂四连杆机构运动分析及优化设计.包头钢铁学院学报,2002,21(1):38-41
60刘明延,李平,栾兴家,于登龙,等.板坯连铸机设计与计算.西安:机械工业出版社,1990:1576-1586
61邵忍平.机械系统动力学.北京:机械工业出版社,2005:92-96
62陈杰.Matlab宝典.北京:电子工业出版社,2007:71-99
2 Lewis, D.M.. The Princeples of Continuous Casting of Metalas . Metallurgical Reviews,1956:312-368
3 Wolf, M.M.. History of Continuous Casting . Steelmaking Conference Proceedings. ISS-AIME,1992,75:83-137
4 Harter. Continuous Casting of Steel . AISE Yearly Proceedings,1956:258-262
5 Savage, J., Pritchard, W.H. The Problem of the Rupture of Billet in the Continuous Casting of Steel . Journal of the Iron and Steel Institute,1954,178(11): 269-277
6蔡开科.连续铸钢.北京:科学出版社,1990:5-23
7《连续铸钢译文集编译》组.连续铸钢译文集(3).北京:冶金工业出版社,1976:1-10
8史宸兴.实用连铸冶金技术.北京:冶金工业出版社,1998:4-22 89-112
9杨菊娣.90年代板坯连铸技术发展趋势.特殊钢出版社,1994,5:13-16
10蔡开科,程士富.连续铸钢原理与工艺.北京:冶金工业出版社,2002:120-232
11苏天森.近终形连铸连轧技术及钢铁工业新技术简介(一).冶金信息,2000,9 (3):15-20
12 R O’Malley, et al. Thin Slab Casting Practice Development at Armco’s Mansfield Operations. Proceedings of 7th International Continuous Casting Conference of VAI,1996,1:97-102
13 L. Bruno, H. H?dl, K. M?rward. Technological Package For High Performance Slab Casting. MPT International,1998,2:64-67
14 D.Currey. Optimization of Casting Speed for Higher Productivity on Do-Fasco’s No.1 Continuous Caster. Steelmaking Conference Proceedings,1995:286-288
15张兴中,那贤昭,倪满森.高效连铸基本问题的介绍与评价.钢铁,2000,4:62-64
16刘青.高效连铸的重要技术.钢铁研究,2000,1:54-58
17 R. Heard, N. Kaell. Technological Developments for High Speed. Canadian Metallurgical Quarterly,1999,38(5):331-335
18胡宗仁.高速连铸技术的开发.炼钢,1997,10:40-46
19张洪波.实现高速连铸的三项关键技术.钢铁,1997,3:25-28
20王新华.高速连铸的几项关键技术.炼钢,1995,8:21-29
21焦志明.连铸结晶器振动方式的探讨.炼钢,1997,8:30-33
22潘毓淳.炼钢设备.北京:冶金工业出版社,1992:114-119
23 I. Rossi. Method for the Continuous Casting of Steel. United States Patent 2, May 01,1956: 473-494
24 I. M. D. Halliday. Continuous Casting at Barrow. Journal of the Iron and Steel Institute, 1959,191:121-163
25李宪奎,张德明.连铸结晶器振动技术.北京:冶金工业出版社,2000:30-58,68-88
26 J. K. Brimacombe, I. V. Samarasekera. The challenge of thin slab casting. Iron and Steelmaker, 1994,(11):29
27 Suzuki M. Development of a new mold oscillation mode for high speed continuous casting of steel slabs. ISIJ International, 1991,31(3):245-261
28 Edward S. Szekeres. Overview of Mold Oscillation in Continuous Casting. Iron and Steel Engineer, 1996,(7):29-37
29 S.ITOYAMA. Effect of Casting Conditions on Oscillation Mark Depth. CAMP-ISIJ, 1992,5:1,225-228
30 D. H. Miller, T. E. Dancy. Continuous Casting-Past, Present and Future. Continuous and Pressure Casting, AISE, Pittsburgh, PA, 1964:9-21
31 REN Tingzhi, LIU Cai. Theoretical study of an oscillation waveform function and parameters for controlling the oscillation of a mold. Chinese Journal of Mechanical Engineering, 2004, 17(4):606-608
32 Thomas, B.G., J. Sengupta, and C. Ojeda, Mechanism of Hook and Oscillation Mark Formation In Ultra-Low Carbon Steel. Second Baosteel Biennial Conference, 25-26, 2006, Shanghai, PRC, 2006,1:112-117
33 Itoyama S. Control of Early Solidification in Continuous Casting by Horizontal Oscillation in Synchronization with Vertical Oscillation of the Mould. ISIJ International, 1998,38(5):461-468
34 YIN Rui-yu. Development of Continuous Casting in China in the 21st Century. Journal of iron and steel research international,2008,10:1-12
35本书编辑委员会.炼钢-连铸新技术800问.北京:冶金工业出版社,2003,(9):213-215
36蔡开科.连铸结晶器.北京:冶金工业出版社,2008:234-239,248-251
37田志恒,田立,周永辉,等.结晶器非正弦振动系统的开发与应用.钢铁,2004,(supp1):623-626
38 Becker E H, H von wyl, Lohse D A et al. Resonance Mould System in Continuous Casting. Ironmaking and Steelmaking, 1997,(2):174
39 Otto A. Schmidt, Dietmar Lohse, Edmund Bechker, et al. New Developments in Continuous Casting Machines for Slabs. The Second International Conference on Continuous Casting of Steel, Wuhan,1997,407-421
40杨红普.椭圆齿轮结晶器非正弦振动技术研究.[燕山大学工学博士学位论文].2007: 14-73,113-149
41张兴中.连铸结晶器非正弦振动理论谐振技术及动力学特性研究.[燕山大学工学博士学位论文].2005:12-40
42 Kwon O D. Optimization of Mold Oscillation Pattern for the improvement of Surface Quality and Lubrication in Slab Continuous Casting. Steelmaking Conference Proceedings, 1991:561-568
43郑志强.新型结晶器非正弦振动装置的研究与设计.[燕山大学工学硕士学位论文].2004:40-48
44王建明.连铸机结晶器振动机构动力学研究.[北京科技大学工学硕士学位论文].1987:12-36
45刘鸿飞.连铸机结晶器振动装置综合动态性能研究.[北京科技大学工学博士学位论文].2000:16-51
46姚云峰.伺服电机驱动的结晶器非正弦振动的研究.[燕山大学工学博士学位论文].2010: 25-30,91-100
47孙恒,陈作模,葛文杰.机械原理.西安:高等教育出版社,2005:37-40
48李增刚.ADAMS入门详解与实例.北京:国防工业出版社,2006:101-106
49陈立平,张云清,任卫群.机械系统动力学分析及ADAMS应用教程.北京:清华大学出版社,2005:21-75,95-111
50刘家信,李慧剑.理论力学(上册).北京:机械工业出版社,1996:59-65
51任廷志.连铸机非正弦振动系统的设计理论研究及动态性能分析.[燕山大学工学博士学位论文].2004:36-38
52王建平.含阻尼合金构件弹性机构动力学建模理论、非线性数值方法及其工程应用.[西安理工大学博士学位论文].2002:95-135
53罗振才.炼钢机械.北京:冶金工业出版社,1988:214
54梁志民,李朝晖.机械原理.兰州:甘肃人民出版社,2004:58-59
55杨涛.混合驱动结晶器非正弦振动装置的研究.[燕山大学工学硕士学位论文].2009:11-15,46-50
56季文美,方同,陈松淇.机械振动.北京:科学出版社,1985:318-327
57张立平.连铸结晶器非正弦振动系统设计理论研究及动力学分析.[燕山大学工学博士学位论文].2009: 55-72
58王建明.连铸机结晶器振动机构动力学.北京科技大学学报,1989,11(4):343-348
59刘晓锦,周德钢,曹建刚,等.结晶器振动短臂四连杆机构运动分析及优化设计.包头钢铁学院学报,2002,21(1):38-41
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