连铸板坯结晶器结晶质量与控制系统研究
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摘要
摘要:为了实现铸坯的热态装炉或者直接轧制,必须生产出不需要表面处理的优质铸坯。结晶器是连铸机非常重要的部件,是一个强制水冷的无底钢锭模。称之为连铸设备的“心脏”。连铸结晶器振动是常规连铸的最基本特征。市场对钢材产品的品质要求越来越高,对结晶器的振动规律提出了一次又一次的要求,正是因为这样结晶器振动规律从矩形速度规律一步步的演变为现在流行的非正弦速度规律。
本文结合实际生产需要,由于结晶器结晶质量受负滑脱时间的影响,根据负滑脱理论,推导负滑脱理论和振动波形的关系,从而给出正弦振动和非正弦振动的位移和速度表达式。设计液压伺服系统,并推导系统中各个元件的传递函数,从而得到整个系统的传递函数。通过MATLAB对系统的稳定性进行判断。PID参数的整定直接影响整个控制系统的好坏,通过临界比例法对PID进行参数的整定,得到满意的PID参数。用MATLAB进行控制系统的仿真,对比几种仿真曲线,验证控制系统的可行性。最后对PLC进行程序设计,从而进行现场实验。在进行现场实验的过程中进行数据的采集,在结晶器振动控制系统稳定的运行时,用VISION进行数据的采集,把采集到的数据用MATLAB/GUI进行数据显示,得到正弦和非正弦振动的位移和加速度曲线,并且从X、Y、Z三个方向上检验设计的控制系统。
目前,实际生产中应用的结晶器振动控制系统绝大多数是国外的产品,国外对结晶器非正弦振动的研究已经成熟,而国内的研究处于刚刚起步阶段,所以自主研究开结晶器非正弦振动控制系统和研发新的振动波形是有很重要的意义。
In order to realize the casting billet hot state or directly with furnace, rolling must produce don't need surface treatment of high quality casting. Mould is very important parts, caster is a force of water cooling the bottomless ingot mould. Call it the "heart" of continuous casting equipment. Continuous casting mould oscillation is the most basic characteristics of conventional continuous casting. The quality of the products of steel market demand more and more high, to mould the vibration of the proposed rule again and again, as it was the requirements of mould oscillation rule from the evolution of the rectangular speed laws for popular now step by step a nonsinusiodal speed laws.
This paper based on the actual production need, because the mould quality negative slippage time by crystallization, the influence of negative slippage theory, according to the theory and vibration is negative surge wave relations, so as to give sine vibration and the sine of vibration displacement and speed expression. Design hydraulic servo system, and each element in the system is the transfer function of the system, so as to get the transfer function. Through MATLAB system stability of judgment. PID parameters directly influence the set the whole control system is good or bad, through the critical ratio method of the parameters of PID setting, get the satisfactory PID parameters. MATLAB simulation of control system, the contrast of several simulation curve, verify the feasibility of the control system. The program design, and PLC and thus for the field experiment. In the process of field experiment data collection, in mould oscillation control of the stability of the system operation, the use of VISION data collection, the data collected MATLAB/GUI for data shows, get and the sine vibration of sine displacement and acceleration curve, and from X, Y, Z three directions in the design of the control system of inspection.
At present, the actual production of the applications of the mould oscillation control system is the most foreign products, mould of foreign non-sinusoidal vibration research has matured and domestic research in just the start stage, so independent research open mould of a non sinusoidal vibration control system, and the research and development of new vibration waveform is significant.
本文结合实际生产需要,由于结晶器结晶质量受负滑脱时间的影响,根据负滑脱理论,推导负滑脱理论和振动波形的关系,从而给出正弦振动和非正弦振动的位移和速度表达式。设计液压伺服系统,并推导系统中各个元件的传递函数,从而得到整个系统的传递函数。通过MATLAB对系统的稳定性进行判断。PID参数的整定直接影响整个控制系统的好坏,通过临界比例法对PID进行参数的整定,得到满意的PID参数。用MATLAB进行控制系统的仿真,对比几种仿真曲线,验证控制系统的可行性。最后对PLC进行程序设计,从而进行现场实验。在进行现场实验的过程中进行数据的采集,在结晶器振动控制系统稳定的运行时,用VISION进行数据的采集,把采集到的数据用MATLAB/GUI进行数据显示,得到正弦和非正弦振动的位移和加速度曲线,并且从X、Y、Z三个方向上检验设计的控制系统。
目前,实际生产中应用的结晶器振动控制系统绝大多数是国外的产品,国外对结晶器非正弦振动的研究已经成熟,而国内的研究处于刚刚起步阶段,所以自主研究开结晶器非正弦振动控制系统和研发新的振动波形是有很重要的意义。
In order to realize the casting billet hot state or directly with furnace, rolling must produce don't need surface treatment of high quality casting. Mould is very important parts, caster is a force of water cooling the bottomless ingot mould. Call it the "heart" of continuous casting equipment. Continuous casting mould oscillation is the most basic characteristics of conventional continuous casting. The quality of the products of steel market demand more and more high, to mould the vibration of the proposed rule again and again, as it was the requirements of mould oscillation rule from the evolution of the rectangular speed laws for popular now step by step a nonsinusiodal speed laws.
This paper based on the actual production need, because the mould quality negative slippage time by crystallization, the influence of negative slippage theory, according to the theory and vibration is negative surge wave relations, so as to give sine vibration and the sine of vibration displacement and speed expression. Design hydraulic servo system, and each element in the system is the transfer function of the system, so as to get the transfer function. Through MATLAB system stability of judgment. PID parameters directly influence the set the whole control system is good or bad, through the critical ratio method of the parameters of PID setting, get the satisfactory PID parameters. MATLAB simulation of control system, the contrast of several simulation curve, verify the feasibility of the control system. The program design, and PLC and thus for the field experiment. In the process of field experiment data collection, in mould oscillation control of the stability of the system operation, the use of VISION data collection, the data collected MATLAB/GUI for data shows, get and the sine vibration of sine displacement and acceleration curve, and from X, Y, Z three directions in the design of the control system of inspection.
At present, the actual production of the applications of the mould oscillation control system is the most foreign products, mould of foreign non-sinusoidal vibration research has matured and domestic research in just the start stage, so independent research open mould of a non sinusoidal vibration control system, and the research and development of new vibration waveform is significant.
引文
[1].李宪奎,德明.连铸结晶器振动技术.北京:冶金工业出版社,2000: 1--62.
[2].贾相宝.杭钢方坯连铸结晶器液压非正弦振动系统的分析与仿真[硕士学位论文].江西:江西理工大学,2010.12
[3].孙兴涛,刘树海,袁志军.非正弦振动装置的应用实践[J].连铸(设备技术),2007.
[4].汪洪峰,沈国强.结晶器液压振动技术在梅山高效连铸中的应用[J].上海金属,2004.
[5].张兴中,李宪奎.双偏心驱动结晶器非正弦振动的研究〔J〕.重型机械,2005.
[6].王岐.短连杆式结晶器液压振动系统动态特性分析[J].重型机械,2005.
[7].闫海宁.连铸结晶器液压非正弦振动控制系统的研究[硕士学位论文].陕西:西安理工大学,2010.3
[8].王正林,王胜开,陈国顺,王琪.MATLAB/Simulink与控制系统仿真(第2版).北京:电子工业出版社,2009.
[9].谢田.连铸结晶器非正弦振动参数分析[硕士学位论文].江西:江西理工大学,2009.10
[10].刘坤.电液伺服系统的智能控制研究[硕士学位论文].河北:燕山大学,2003.10
[11].李奥,廖宇兰,王涛.液压系统PLC控制.北京:化学工业出版社,2009,8.
[12].董景新,赵长德,郭美凤,陈志勇,李冬梅.控制工程基础.北京:清华大学出版社,2009,6.
[13].张平格.液压传动与控制(第2版) .北京:冶金工业出版社,2009.
[14].沈兴全.液压传动与控制(第3版).北京:国防工业出版社,2010.
[15].刘文定.过程控制系统的MATLAB仿真.北京:机械工业出版社,2009.
[16].杨后川,张瑞,高建设,曾劲松.西门子S7-200PLC应用100例.北京:电子工业出版社,2009,4.
[17].刘长青.电气控制与PLC应用技术.北京:科学出版社,2008.
[18].李方园.PLC控制技术(西门子S7-200).北京:电子工业出版社,2010,3.
[19].包燕平,冯捷.钢铁冶金学教程.北京:冶金工业出社.2008:377--433.
[20].罗振才.炼钢机械.北京:冶金工业出版社,2008:116—235.
[21].李刚.函数速查手册.北京:清华大学出版社,2011,3.
[22].Marcel P G,J Besteman.Modeling and identificaton of a strip guidance Process wich internal feedback. IEEE Trans.Control Systems Technology.1998,6(1):80～90.
[23].G.Ellis.Control System Design Guide 2nd Ed,Academic Press,2000.
[24].高会生,刘童娜,李聪聪.MATLAB实用教程(第二版).北京:电子工业出版社,2010,1.
[25].张运刚,宋小春.PLC职业技能培训及视频精讲——西门子S7-200系列.北京:人民邮电出版社,2010,1.
[26].魏小林.PLC技术项目化教程.北京:清华大学出版社,2010,9.
[27].殷瑞钰.冶金流程工程学(第2版).北京:冶金工业出版社,2009.3.
[28].薛正良.钢铁冶金概论(高等).北京:冶金工业出版社,2008,8.
[29].陈龙官.冷轧薄钢板精整生产技术.北京:冶金工业出版社,2009.
[30].陈杰.MATLAB宝典(第3版).北京:电子工业出版社,2011,1
[32].刘焕进,王辉,李鹏,刘衍琦.MATLAB N个实用技巧.京:北京航空航天大学出版社.2011,4:240--300.
[33].王正林,刘明.精通MATLAB.北京:电子工业出版社,2011,1.
[34].Robert HB.Modern control systems analysis and design using Matlab.Menlo Park,Califormia:Addision-Wesley Publishing Company,1993.
[35].Law,W David Kelton. Electromagnetics with Applications.第五版.清华大学出版社, 2001:254--268.
[36].张德丰.MATLAB/Simulink建模与仿真.北京:电子工业出版社,2009.
[37].田敏.案例解说MATLAB典型控制应用.北京:电子工业出版社,2010.
[38].孙增圻.计算机控制理论及应用.北京:清华大学出版社,1989.
[39].杨叔子,杨克冲.机械工程控制基础(第五版).武汉:华中科技大学出版社,2005.
[40].余成波,张莲,胡晓倩,徐霞.自动化控制原理.北京:清华大学出版社,2006.
[41].Doebelin E O.Contril System Principles and Design.Prentice-Hall,Inc.,Englewood: Cliffs,New Jersey,1985.
[42].Dorf R C,Bishop R H.Modern Control System(7th ed).Addison-Wesley Publishing Company,1995.
[43].Driels M.Linear Control Systems Engineering(国际知名大学原版教材).北京:清华大学出版社,2000.
[44].赵长德,郭美凤,董景新.控制工程基础实验指导.北京:清华大学出版社,2007.
[45].吴晓明.连铸结晶器非正弦振动控制的研究.[燕山大学工学博士学位论文]. 2001.
[46].冯华.液压同步的实现与应用.中国科技信息,2006(9).
[47].Franklin G F,Powell J D,Naeini E.Feedback Contronl of Dynamic Systems(4th ed).Addison-Wesley Publishing Company,2002.
[48].王孙安.大功率液压马达速度伺服系统的控制方法研究.[西安交通大学博士学位论文].1990.
[49].王益群.控制工程基础.北京:机械工业出版社,2001.
[50].Astrom K J,Wittenmark B.计算机控制系统——原理与设计(第三版).北京:电子工业出版社,2001.
[51].Van De Vegte J.Feedback Contronl System(3th ed).Prentice-Hall,Inc., Englewood:Cliffs,New Jersey,1994.
[52].Siemens AG. WinCC Compatibility List with Windows and Other SIMATIC Software. Siemens AG.2005.
[53].李殿明.连铸结晶器保护渣应用技术.北京:冶金工业出版社,2008.
[54].张金柱,潘国平,杨兆林.薄板坯连铸装备及生产技术.北京:冶金工业出版社,2007,8.
[2].贾相宝.杭钢方坯连铸结晶器液压非正弦振动系统的分析与仿真[硕士学位论文].江西:江西理工大学,2010.12
[3].孙兴涛,刘树海,袁志军.非正弦振动装置的应用实践[J].连铸(设备技术),2007.
[4].汪洪峰,沈国强.结晶器液压振动技术在梅山高效连铸中的应用[J].上海金属,2004.
[5].张兴中,李宪奎.双偏心驱动结晶器非正弦振动的研究〔J〕.重型机械,2005.
[6].王岐.短连杆式结晶器液压振动系统动态特性分析[J].重型机械,2005.
[7].闫海宁.连铸结晶器液压非正弦振动控制系统的研究[硕士学位论文].陕西:西安理工大学,2010.3
[8].王正林,王胜开,陈国顺,王琪.MATLAB/Simulink与控制系统仿真(第2版).北京:电子工业出版社,2009.
[9].谢田.连铸结晶器非正弦振动参数分析[硕士学位论文].江西:江西理工大学,2009.10
[10].刘坤.电液伺服系统的智能控制研究[硕士学位论文].河北:燕山大学,2003.10
[11].李奥,廖宇兰,王涛.液压系统PLC控制.北京:化学工业出版社,2009,8.
[12].董景新,赵长德,郭美凤,陈志勇,李冬梅.控制工程基础.北京:清华大学出版社,2009,6.
[13].张平格.液压传动与控制(第2版) .北京:冶金工业出版社,2009.
[14].沈兴全.液压传动与控制(第3版).北京:国防工业出版社,2010.
[15].刘文定.过程控制系统的MATLAB仿真.北京:机械工业出版社,2009.
[16].杨后川,张瑞,高建设,曾劲松.西门子S7-200PLC应用100例.北京:电子工业出版社,2009,4.
[17].刘长青.电气控制与PLC应用技术.北京:科学出版社,2008.
[18].李方园.PLC控制技术(西门子S7-200).北京:电子工业出版社,2010,3.
[19].包燕平,冯捷.钢铁冶金学教程.北京:冶金工业出社.2008:377--433.
[20].罗振才.炼钢机械.北京:冶金工业出版社,2008:116—235.
[21].李刚.函数速查手册.北京:清华大学出版社,2011,3.
[22].Marcel P G,J Besteman.Modeling and identificaton of a strip guidance Process wich internal feedback. IEEE Trans.Control Systems Technology.1998,6(1):80～90.
[23].G.Ellis.Control System Design Guide 2nd Ed,Academic Press,2000.
[24].高会生,刘童娜,李聪聪.MATLAB实用教程(第二版).北京:电子工业出版社,2010,1.
[25].张运刚,宋小春.PLC职业技能培训及视频精讲——西门子S7-200系列.北京:人民邮电出版社,2010,1.
[26].魏小林.PLC技术项目化教程.北京:清华大学出版社,2010,9.
[27].殷瑞钰.冶金流程工程学(第2版).北京:冶金工业出版社,2009.3.
[28].薛正良.钢铁冶金概论(高等).北京:冶金工业出版社,2008,8.
[29].陈龙官.冷轧薄钢板精整生产技术.北京:冶金工业出版社,2009.
[30].陈杰.MATLAB宝典(第3版).北京:电子工业出版社,2011,1
[32].刘焕进,王辉,李鹏,刘衍琦.MATLAB N个实用技巧.京:北京航空航天大学出版社.2011,4:240--300.
[33].王正林,刘明.精通MATLAB.北京:电子工业出版社,2011,1.
[34].Robert HB.Modern control systems analysis and design using Matlab.Menlo Park,Califormia:Addision-Wesley Publishing Company,1993.
[35].Law,W David Kelton. Electromagnetics with Applications.第五版.清华大学出版社, 2001:254--268.
[36].张德丰.MATLAB/Simulink建模与仿真.北京:电子工业出版社,2009.
[37].田敏.案例解说MATLAB典型控制应用.北京:电子工业出版社,2010.
[38].孙增圻.计算机控制理论及应用.北京:清华大学出版社,1989.
[39].杨叔子,杨克冲.机械工程控制基础(第五版).武汉:华中科技大学出版社,2005.
[40].余成波,张莲,胡晓倩,徐霞.自动化控制原理.北京:清华大学出版社,2006.
[41].Doebelin E O.Contril System Principles and Design.Prentice-Hall,Inc.,Englewood: Cliffs,New Jersey,1985.
[42].Dorf R C,Bishop R H.Modern Control System(7th ed).Addison-Wesley Publishing Company,1995.
[43].Driels M.Linear Control Systems Engineering(国际知名大学原版教材).北京:清华大学出版社,2000.
[44].赵长德,郭美凤,董景新.控制工程基础实验指导.北京:清华大学出版社,2007.
[45].吴晓明.连铸结晶器非正弦振动控制的研究.[燕山大学工学博士学位论文]. 2001.
[46].冯华.液压同步的实现与应用.中国科技信息,2006(9).
[47].Franklin G F,Powell J D,Naeini E.Feedback Contronl of Dynamic Systems(4th ed).Addison-Wesley Publishing Company,2002.
[48].王孙安.大功率液压马达速度伺服系统的控制方法研究.[西安交通大学博士学位论文].1990.
[49].王益群.控制工程基础.北京:机械工业出版社,2001.
[50].Astrom K J,Wittenmark B.计算机控制系统——原理与设计(第三版).北京:电子工业出版社,2001.
[51].Van De Vegte J.Feedback Contronl System(3th ed).Prentice-Hall,Inc., Englewood:Cliffs,New Jersey,1994.
[52].Siemens AG. WinCC Compatibility List with Windows and Other SIMATIC Software. Siemens AG.2005.
[53].李殿明.连铸结晶器保护渣应用技术.北京:冶金工业出版社,2008.
[54].张金柱,潘国平,杨兆林.薄板坯连铸装备及生产技术.北京:冶金工业出版社,2007,8.