连轧管机液压压下系统设计及动态特性仿真研究
摘要
压下系统是连轧管机的关键设备之一,其设计制造水平直接影响无缝钢管成品的质量和生产企业的经济效益。目前国内广泛应用的连轧管机组中大部分采用的是电动压下系统。和电动压下相比,液压压下有其无可比拟的优势。由于国内在这方面的研究起步较晚,只有宝钢、天津钢管公司等少数大型企业从国外进口的连轧管机采用了液压压下系统。液压压下系统代表了当今轧管机组工艺设计和制造的最新发展水平,为了打破国外企业在这方面的技术垄断,提高我国连轧管机组设计制造在国际上的竞争力,设计制造出国产采用液压压下系统的连轧管机组是十分必要的,因此对连轧管机液压压下系统的研究具有重要的理论和实际意义。
本课题研究的主要内容是设计出一套用于连轧管机的液压伺服压下系统,用来对连轧管机轧辊的压下位置进行控制。该系统包括液压泵站和液压伺服压下两部分。液压泵站部分设计包括液压泵站原理图设计以及泵站上各主要元件的选型和相关参数设置。伺服压下部分主要包括液压伺服压下原理图设计和伺服阀的计算选型。
运用AMESim仿真软件中特有的基本元素建模法建立了上述液压伺服压下系统的仿真模型,经仿真分析后采用工业生产中普遍使用的PID控制器进行校正,得到了满意的控制性能,达到了设计要求。最后利用AMESim和MATLAB的联合仿真接口设计出在AMESim和MATLAB/Simulink各自环境下的仿真模型,发挥AMESim快速建模和MATLAB强大数据处理功能的优势,进行了联合仿真。依靠dSPACE实时仿真系统和MATLAB软件之间的无缝连接设计出基于dSPACE实时仿真系统的连轧管机液压压下系统实时仿真测试平台和ControlDesk环境下的测试监控画面,为进一步深入研究连轧管机液压压下系统的特性和各种先进的控制算法在该压下系统上的应用提供了很好的基础。
The press down device is one of the key equipment of the tube mill, its design and manufacture level directly influences the end product quality of seamless steel pipe and the benefit of production enterprise. At present the electric screw down gear is mostly used in the tube rolling train that is widely applied in home. With electric screw down gear comparing, the hydraulic press down system has its incomparable superiority. Because the domestic studies on this aspect are late, only the tube mills from oversea that are adopted in the minority major corporations such as Bao Steel Corporation、Tianjin Steel pipe Company and so on useing the hydraulic press down system, which has represented now most recent development level of the technological design and manufacture of the tube rolling train. It is very necessary to design and manufacture the homemade tube rolling train with hydraulic press down system, in order to break the monopoly of overseas enterprise and enhance our country competitive power internationally in the design and manufacture of the tube rolling train aspect. Therefore carries on the research of the hydraulic servo press down of the tube mill has offered the important theory and practical significance.
A set of hydraulic servo press down system is designed to carry on the position control of the tube rolling-mill roller in this paper. This system includes the part of hydraulic pumping station and the servo depress. The design of the hydraulic pumping station includes the design of the hydraulic station schematic diagram and the lectotype and parameter establishment of each key element. The part of servo depress mainly includes the design of the schematic diagram of the hydraulic servo depress and the computation lectotype of servo valve.
The simulation model of the entire press down system is established after the simulation model of each hydraulic element being constructed using the unique basic element modeling in AMESim. After simulation analysis, the satisfactory control performance is obtained by using the PID controller to carry on adjustment that is commonly used in the industry. Finally the simulation model under the MATLAB/Simulink environment is designed using AMESim and MATLAB union simulation connection. The real-time simulation test platform in dSPACE and the test monitoring picture under the ControlDesk environment of the hydraulic servo press down system of the tube rolling-mill is designed using the seamless connection of the dSPACE real-time simulation system and the MATLAB software. The very well foundation is provided for the further thorough research of the characteristics of this press down system and the application of each kind of advanced control algorithm in this press down system
本课题研究的主要内容是设计出一套用于连轧管机的液压伺服压下系统,用来对连轧管机轧辊的压下位置进行控制。该系统包括液压泵站和液压伺服压下两部分。液压泵站部分设计包括液压泵站原理图设计以及泵站上各主要元件的选型和相关参数设置。伺服压下部分主要包括液压伺服压下原理图设计和伺服阀的计算选型。
运用AMESim仿真软件中特有的基本元素建模法建立了上述液压伺服压下系统的仿真模型,经仿真分析后采用工业生产中普遍使用的PID控制器进行校正,得到了满意的控制性能,达到了设计要求。最后利用AMESim和MATLAB的联合仿真接口设计出在AMESim和MATLAB/Simulink各自环境下的仿真模型,发挥AMESim快速建模和MATLAB强大数据处理功能的优势,进行了联合仿真。依靠dSPACE实时仿真系统和MATLAB软件之间的无缝连接设计出基于dSPACE实时仿真系统的连轧管机液压压下系统实时仿真测试平台和ControlDesk环境下的测试监控画面,为进一步深入研究连轧管机液压压下系统的特性和各种先进的控制算法在该压下系统上的应用提供了很好的基础。
The press down device is one of the key equipment of the tube mill, its design and manufacture level directly influences the end product quality of seamless steel pipe and the benefit of production enterprise. At present the electric screw down gear is mostly used in the tube rolling train that is widely applied in home. With electric screw down gear comparing, the hydraulic press down system has its incomparable superiority. Because the domestic studies on this aspect are late, only the tube mills from oversea that are adopted in the minority major corporations such as Bao Steel Corporation、Tianjin Steel pipe Company and so on useing the hydraulic press down system, which has represented now most recent development level of the technological design and manufacture of the tube rolling train. It is very necessary to design and manufacture the homemade tube rolling train with hydraulic press down system, in order to break the monopoly of overseas enterprise and enhance our country competitive power internationally in the design and manufacture of the tube rolling train aspect. Therefore carries on the research of the hydraulic servo press down of the tube mill has offered the important theory and practical significance.
A set of hydraulic servo press down system is designed to carry on the position control of the tube rolling-mill roller in this paper. This system includes the part of hydraulic pumping station and the servo depress. The design of the hydraulic pumping station includes the design of the hydraulic station schematic diagram and the lectotype and parameter establishment of each key element. The part of servo depress mainly includes the design of the schematic diagram of the hydraulic servo depress and the computation lectotype of servo valve.
The simulation model of the entire press down system is established after the simulation model of each hydraulic element being constructed using the unique basic element modeling in AMESim. After simulation analysis, the satisfactory control performance is obtained by using the PID controller to carry on adjustment that is commonly used in the industry. Finally the simulation model under the MATLAB/Simulink environment is designed using AMESim and MATLAB union simulation connection. The real-time simulation test platform in dSPACE and the test monitoring picture under the ControlDesk environment of the hydraulic servo press down system of the tube rolling-mill is designed using the seamless connection of the dSPACE real-time simulation system and the MATLAB software. The very well foundation is provided for the further thorough research of the characteristics of this press down system and the application of each kind of advanced control algorithm in this press down system
引文
[1]李永堂,雷步芳,高雨茁(著)《液压系统建模与仿真》,冶金工业出版社,2003年2月
[2]李洪人(编),《液压控制系统》,国防工业出版社,1981年6月
[3]路雨祥主编,液压气动技术手册,北京,机械工业出版社,2002.1
[4]Skupien,Arkadiusz R.,Rae,David P,Practical response testing of hagc system[J],FluidPower Soc,1994,247
[5]Hsu Yuan-Liang(China Steel Corp),Liang Chang-Yin,Tsai,Song-Jau,Improvement of HAGC response for CSC No.1 IISM[J},IEEE Transactions on Industry Applications,2000,36(3):854-860
[6]Yoshikazu Mori,roshio Ishibashi,Modernization of gauge control system at SumitomoWakayama 5-stand cold mill[J],Iron and Steel engineer,1999,8:46-50
[7]王春行(主编),《液压控制系统》,机械工业出版社,1999年5月
[8]蔡廷文(编),《液压系统现代建模方法》,中国标准出版社,2002年12月
[9]张理平(主编),《现代液压技术应用220例》,化学工业出版社,2004年8月
[10]王春行(主编),《液压伺服控制系统》,机械工业出版社,1989年6月
[11]王占林(编),《近代液压控制》,机械工业出版社,1997年8月
[12]雷天觉(主编),《液压工程手册》,机械工业出版社,1990年4月
[13]盛敬超(编),《液压流体力学》,机械工业出版社,1980年
[14]邓朴树,李白光,当前液压系统仿真技术发展现状及趋势,机床与液压,2003(1)
[15]陈鹰,面向创新的液压仿真技术,液压气动与密封,2003年8月
[16]吴跃斌,谢英俊,徐立,液压仿真技术的现在和未来,液压与气动,2002年第11期
[17]吴跃斌,谢英俊,徐立等,1MN级新型减摇鳍液压系统仿真,机床与液压,2004(4)
[18]余佑官,龚国芳,胡国良,AMESim仿真技术及其在液压系统中的应用,液压气动与密封,2005年3月
[19]秦家升,游善兰,AMESim软件的特征及应用,工程机械,2004(12)
[20]邢科礼,冯玉,金侠杰等,基于AMESim/Matlab的电液伺服控制系统的仿真研究,机床与液压,2004年10月
[21]赵铁拴,蔡应强,基于AMESim的混凝土搅拌车液压系统仿真,工程机械,2005年8月
[22]祁雪乐,宋健,王会义等,基于AMESim的汽车ESP液压控制系统建模与分析,机床与液压,2005年8月
[23]AMESim 4.2 User Manual
[24]陶永华主编,新型PID控制及其应用,第二版,北京,机械工业出版社,2002
[25]薛定宇,控制系统计算机辅助设计,北京,清华大学出版社,1996
[26]魏巍,MATLAB控制工具箱技术手册,北京,国防工业出版社,2004
[27]刘金琨,先进PID控制MATLAB仿真,第二版,北京,电子工业出版社,2004.9
[28]刘长年,袁子荣,液压控制系统导论,北京,北京科学技术出版社,1987.12
[29]刘长年,液压伺服系统优化设计理论,北京,冶金工业出版社,1989.8
[30]何存兴,液压元件,北京,机械工业出版社,1982.2
[31]dSPACE,dSPACE Release New Features and Migration(release 3.5)[Z],Paderbom:dSPACE GmbH 2003
[32]江玲玲,张俊俊,基于AMESim的液压位置伺服系统动态特性仿真,机械工程与自动化,2007(1):35-37
[33]王划一等,自动控制原理,国防工业出版社,2001:93-270
[34]付永领,祁晓野,AMESim系统建模和仿真,北京航空航天大学出版社,2006:303-330
[35]绪方胜彦著,卢伯英译,现代工程控制,电子工业出版社,2000年
[36]黎明液压机电厂,液压产品样本,黎明液压机电厂,1999年
[37]MOOG公司,MOOG伺服阀产品样本,MOOG公司,2000年
[38]蒙争争,精校机气压与液压传动系统设计计算及动态性能分析研究,合肥工业大学2005.9
[39]冀成,攀钢1450热扎平整机电液控制系统的研究与实现,西南交通大学2006.3
[40]刘能宏,田树军编著,液压系统动态特性数字仿真,大连理工大学出版社,1993
[41]D.C.卡诺普,R.C.罗森堡著.胡大弘,邓延光译,系统动力学,应用键合图方法,北京,机械工业出版社,1985
[42]Rexroth公司产品样本
[43]刘豹,现代控制理论,第二版,北京,机械工业出版社,2002
[44]横润科技,dSPACE一基于Matlab/Simulink平台的实时快速原型及硬件在回路仿真的一体化解决途径,恒润科技公司,2003
[45]Remn-Min Guo,Evaluation of Dynamic Characteristics of HAGC System,Iron and SteelEngineer,1991(7)
[46]Prodip Bhowal,etal,Modeling and Simulation of Hydraulic Gap Control System in a HotStrip Mill,ISIJ International,1996(5)
[47]Kazuma Gumi,Youji Abiko,Syousei Yamamoto New Gage Control System for TandemCold Mill,Iron and Steel Engineer,1994(12)
[48]M.Morel,Quality Control and Production Optimization in Plate Mills,lron and Steel Engineer,1984(5)
[49]Ken Dutton,N.Christopher,Groves,Self-tuning Contiol of a Cold Mill Automatic GaugeControl System,International Journalof Control,1996,(4)
[50]T.rezuka,T.Yamashita,T.Sato,Application of a New Automatic Gauge Contiol System for the Tandem Cold Mill,IEEE Transactions on Industry Applications,2002,(2)
[2]李洪人(编),《液压控制系统》,国防工业出版社,1981年6月
[3]路雨祥主编,液压气动技术手册,北京,机械工业出版社,2002.1
[4]Skupien,Arkadiusz R.,Rae,David P,Practical response testing of hagc system[J],FluidPower Soc,1994,247
[5]Hsu Yuan-Liang(China Steel Corp),Liang Chang-Yin,Tsai,Song-Jau,Improvement of HAGC response for CSC No.1 IISM[J},IEEE Transactions on Industry Applications,2000,36(3):854-860
[6]Yoshikazu Mori,roshio Ishibashi,Modernization of gauge control system at SumitomoWakayama 5-stand cold mill[J],Iron and Steel engineer,1999,8:46-50
[7]王春行(主编),《液压控制系统》,机械工业出版社,1999年5月
[8]蔡廷文(编),《液压系统现代建模方法》,中国标准出版社,2002年12月
[9]张理平(主编),《现代液压技术应用220例》,化学工业出版社,2004年8月
[10]王春行(主编),《液压伺服控制系统》,机械工业出版社,1989年6月
[11]王占林(编),《近代液压控制》,机械工业出版社,1997年8月
[12]雷天觉(主编),《液压工程手册》,机械工业出版社,1990年4月
[13]盛敬超(编),《液压流体力学》,机械工业出版社,1980年
[14]邓朴树,李白光,当前液压系统仿真技术发展现状及趋势,机床与液压,2003(1)
[15]陈鹰,面向创新的液压仿真技术,液压气动与密封,2003年8月
[16]吴跃斌,谢英俊,徐立,液压仿真技术的现在和未来,液压与气动,2002年第11期
[17]吴跃斌,谢英俊,徐立等,1MN级新型减摇鳍液压系统仿真,机床与液压,2004(4)
[18]余佑官,龚国芳,胡国良,AMESim仿真技术及其在液压系统中的应用,液压气动与密封,2005年3月
[19]秦家升,游善兰,AMESim软件的特征及应用,工程机械,2004(12)
[20]邢科礼,冯玉,金侠杰等,基于AMESim/Matlab的电液伺服控制系统的仿真研究,机床与液压,2004年10月
[21]赵铁拴,蔡应强,基于AMESim的混凝土搅拌车液压系统仿真,工程机械,2005年8月
[22]祁雪乐,宋健,王会义等,基于AMESim的汽车ESP液压控制系统建模与分析,机床与液压,2005年8月
[23]AMESim 4.2 User Manual
[24]陶永华主编,新型PID控制及其应用,第二版,北京,机械工业出版社,2002
[25]薛定宇,控制系统计算机辅助设计,北京,清华大学出版社,1996
[26]魏巍,MATLAB控制工具箱技术手册,北京,国防工业出版社,2004
[27]刘金琨,先进PID控制MATLAB仿真,第二版,北京,电子工业出版社,2004.9
[28]刘长年,袁子荣,液压控制系统导论,北京,北京科学技术出版社,1987.12
[29]刘长年,液压伺服系统优化设计理论,北京,冶金工业出版社,1989.8
[30]何存兴,液压元件,北京,机械工业出版社,1982.2
[31]dSPACE,dSPACE Release New Features and Migration(release 3.5)[Z],Paderbom:dSPACE GmbH 2003
[32]江玲玲,张俊俊,基于AMESim的液压位置伺服系统动态特性仿真,机械工程与自动化,2007(1):35-37
[33]王划一等,自动控制原理,国防工业出版社,2001:93-270
[34]付永领,祁晓野,AMESim系统建模和仿真,北京航空航天大学出版社,2006:303-330
[35]绪方胜彦著,卢伯英译,现代工程控制,电子工业出版社,2000年
[36]黎明液压机电厂,液压产品样本,黎明液压机电厂,1999年
[37]MOOG公司,MOOG伺服阀产品样本,MOOG公司,2000年
[38]蒙争争,精校机气压与液压传动系统设计计算及动态性能分析研究,合肥工业大学2005.9
[39]冀成,攀钢1450热扎平整机电液控制系统的研究与实现,西南交通大学2006.3
[40]刘能宏,田树军编著,液压系统动态特性数字仿真,大连理工大学出版社,1993
[41]D.C.卡诺普,R.C.罗森堡著.胡大弘,邓延光译,系统动力学,应用键合图方法,北京,机械工业出版社,1985
[42]Rexroth公司产品样本
[43]刘豹,现代控制理论,第二版,北京,机械工业出版社,2002
[44]横润科技,dSPACE一基于Matlab/Simulink平台的实时快速原型及硬件在回路仿真的一体化解决途径,恒润科技公司,2003
[45]Remn-Min Guo,Evaluation of Dynamic Characteristics of HAGC System,Iron and SteelEngineer,1991(7)
[46]Prodip Bhowal,etal,Modeling and Simulation of Hydraulic Gap Control System in a HotStrip Mill,ISIJ International,1996(5)
[47]Kazuma Gumi,Youji Abiko,Syousei Yamamoto New Gage Control System for TandemCold Mill,Iron and Steel Engineer,1994(12)
[48]M.Morel,Quality Control and Production Optimization in Plate Mills,lron and Steel Engineer,1984(5)
[49]Ken Dutton,N.Christopher,Groves,Self-tuning Contiol of a Cold Mill Automatic GaugeControl System,International Journalof Control,1996,(4)
[50]T.rezuka,T.Yamashita,T.Sato,Application of a New Automatic Gauge Contiol System for the Tandem Cold Mill,IEEE Transactions on Industry Applications,2002,(2)