连铸机结晶器流场和温度场耦合分析及激振系统控制技术研究
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摘要
结晶器及其激振系统是连铸机中的重要组成部分。在整个结晶器内部，钢水进行着强烈的流动，其流动方式又影响着其内部的传热过程，进而影响到钢水凝固和振动负载。因而想全面地研究结晶器及其振动控制，就必须全面地对其内部钢液的速度场和温度场进行耦合分析。本论文对结晶器内的三维流场和温度场进行了联立求解，并使用仿真软件对其进行了耦合研究，研究的结论可得出优化流场和温度场的工艺参数取值，进而用于确定结晶器振动的工艺参数值。
目前连铸生产广泛使用的直流电机、交流变频电机通过偏心凸轮驱动双摇杆机构实现结晶器振动，其振动方式几乎都是正弦的，振动参数调节起来非常不方便。另外，正弦振动通过调节频率来控制负滑脱时间的方式是无法同时改善结晶器的润滑状况和改善铸坯表面质量，而电液伺服系统驱动的非正弦振动则使振幅、频率以及偏斜率可以方便地实现在线自动控制，可以克服正弦振动的缺点。本论文对连铸机结晶器非正弦振动波形及激振液压系统进行了研究和实验，并探讨了如何使结晶器高频振动时运动平稳、高频和低频振动时不失真等问题。
本论文针对传统的振幅-振频-拉速同步控制模型的负滑脱时间随着拉速的增大而取值范围不断变大的缺点研究了非正弦反向振动同步控制模型，该模型弥补了传统控制模型的缺点。通过反向调节振幅-振频随拉速的变化趋势，从而改善保护渣的润滑效果，提高铸坯的表面质量。
此外，论文还讨论了结晶器振动的控制策略。自行开发和实验了数字PID程序，并讨论了算法的改进。考虑到PD控制器的K_p、K_I、K_D参数不能随给定波形及被控对象的参数变化自适应调整，本论文还讨论了神经元自适应PID控制算法，此算法的优势所在为可实现离线训练权值、在线监测与控制、完全自适应给定量和环境变化所带来的扰动。
为了解决目前武钢二炼钢新3~#连铸机在使用过程中存在的缺陷，论文最后研究了结晶器振动系统的在线监测，侧重在计算机硬件方面简要地提出了构思方案。
The mold and its oscillation system are the important part of the caster. In the inside of the mold,the molten steel is flowing strongly,at the same time the style of the flowing is influencing strongly the inner course of thermal transmission. Moreover,the flowing is influencing the molten solidification and the oscillation load. So to want to roundly study the course of the thermal transmission of the inner mold,the coupling of velocity field and temperature field of the inner molten steel should be fully analyzed. In this paper,the 3DM flow field and temperature field of the inner mold have been solved simultaneously,the coupling study by using a simulate software is finished. The conclusion of the study can be a reference for the technics parameters of the optimization flow and temperature fields. Moreover that can be used to set down the oscillation technics parameters.
Nowadays the continuous casting producing extensively uses the direct current machine and alternating current frequency conversion machine to drive the double rocking lever mechanism through eccentric cam to realize mold. The style of above oscillation is almost sinusoidal. It is very difficult to adjust the oscillation parameter. On the other hand,the sinusoidal oscillation which controls the negative shrip time by adjusting frequency can't improve the lubricate condition and the surface quality of casting block at the same time. However the nonsinusoidal oscillation driven by electro-hydraulic servo system can autocontrol on-line the amplitude,frequency and deflectivity rate conveniently,and it can fully overcome the sinusoidal oscillation's disadvantage. In this paper,the nonsinusoidal oscillation wave of caster mold and the oscillation hydraulic system have been studied and tested. How to make the mold move stable under high frequency,not be distorted under high and low frequency and some other questions.
In this paper,the nonsinusoidal reverse oscillation synchronization control model which can overcome the traditional model's disadvantage that the negative shrip time is raised along with the drawing speed's raising leading to the numeric
area's raising is studied. The model opposite to the traditional model can make up for traditional model's disadvantage. Through the reverse adjusting the trend of the amplitude and frequency changing along wkh the drawing speed,the protecting
slag's lubricate and the surface quality of casting block are improved.
In addition,the control strategy of the mold oscillation is discussed in the final part of the paper. The digital PID program is exploitured and tested,and the algorithm's improving methods are also discussed. For the KP KI KD parameter of PID controller can't adjust self-adapted along with the changing of the given wave and controlled plant's parameter,the neural element self-adapted PID control algorithm is also studied. The advantage of the algorithm is that the off-line training weight,the on-line monitoring and control,self-adapting the disturbance brought by the given value and surroundings' changing can all be realized.
To solve the limitation of the new 3rd caster of WISCO during the using course,in the final part of paper,the on-line monitoring is studied. Eemphasized particularly on the computer hardware,the design scheme is simply brought out.
目前连铸生产广泛使用的直流电机、交流变频电机通过偏心凸轮驱动双摇杆机构实现结晶器振动，其振动方式几乎都是正弦的，振动参数调节起来非常不方便。另外，正弦振动通过调节频率来控制负滑脱时间的方式是无法同时改善结晶器的润滑状况和改善铸坯表面质量，而电液伺服系统驱动的非正弦振动则使振幅、频率以及偏斜率可以方便地实现在线自动控制，可以克服正弦振动的缺点。本论文对连铸机结晶器非正弦振动波形及激振液压系统进行了研究和实验，并探讨了如何使结晶器高频振动时运动平稳、高频和低频振动时不失真等问题。
本论文针对传统的振幅-振频-拉速同步控制模型的负滑脱时间随着拉速的增大而取值范围不断变大的缺点研究了非正弦反向振动同步控制模型，该模型弥补了传统控制模型的缺点。通过反向调节振幅-振频随拉速的变化趋势，从而改善保护渣的润滑效果，提高铸坯的表面质量。
此外，论文还讨论了结晶器振动的控制策略。自行开发和实验了数字PID程序，并讨论了算法的改进。考虑到PD控制器的K_p、K_I、K_D参数不能随给定波形及被控对象的参数变化自适应调整，本论文还讨论了神经元自适应PID控制算法，此算法的优势所在为可实现离线训练权值、在线监测与控制、完全自适应给定量和环境变化所带来的扰动。
为了解决目前武钢二炼钢新3~#连铸机在使用过程中存在的缺陷，论文最后研究了结晶器振动系统的在线监测，侧重在计算机硬件方面简要地提出了构思方案。
The mold and its oscillation system are the important part of the caster. In the inside of the mold,the molten steel is flowing strongly,at the same time the style of the flowing is influencing strongly the inner course of thermal transmission. Moreover,the flowing is influencing the molten solidification and the oscillation load. So to want to roundly study the course of the thermal transmission of the inner mold,the coupling of velocity field and temperature field of the inner molten steel should be fully analyzed. In this paper,the 3DM flow field and temperature field of the inner mold have been solved simultaneously,the coupling study by using a simulate software is finished. The conclusion of the study can be a reference for the technics parameters of the optimization flow and temperature fields. Moreover that can be used to set down the oscillation technics parameters.
Nowadays the continuous casting producing extensively uses the direct current machine and alternating current frequency conversion machine to drive the double rocking lever mechanism through eccentric cam to realize mold. The style of above oscillation is almost sinusoidal. It is very difficult to adjust the oscillation parameter. On the other hand,the sinusoidal oscillation which controls the negative shrip time by adjusting frequency can't improve the lubricate condition and the surface quality of casting block at the same time. However the nonsinusoidal oscillation driven by electro-hydraulic servo system can autocontrol on-line the amplitude,frequency and deflectivity rate conveniently,and it can fully overcome the sinusoidal oscillation's disadvantage. In this paper,the nonsinusoidal oscillation wave of caster mold and the oscillation hydraulic system have been studied and tested. How to make the mold move stable under high frequency,not be distorted under high and low frequency and some other questions.
In this paper,the nonsinusoidal reverse oscillation synchronization control model which can overcome the traditional model's disadvantage that the negative shrip time is raised along with the drawing speed's raising leading to the numeric
area's raising is studied. The model opposite to the traditional model can make up for traditional model's disadvantage. Through the reverse adjusting the trend of the amplitude and frequency changing along wkh the drawing speed,the protecting
slag's lubricate and the surface quality of casting block are improved.
In addition,the control strategy of the mold oscillation is discussed in the final part of the paper. The digital PID program is exploitured and tested,and the algorithm's improving methods are also discussed. For the KP KI KD parameter of PID controller can't adjust self-adapted along with the changing of the given wave and controlled plant's parameter,the neural element self-adapted PID control algorithm is also studied. The advantage of the algorithm is that the off-line training weight,the on-line monitoring and control,self-adapting the disturbance brought by the given value and surroundings' changing can all be realized.
To solve the limitation of the new 3rd caster of WISCO during the using course,in the final part of paper,the on-line monitoring is studied. Eemphasized particularly on the computer hardware,the design scheme is simply brought out.
引文
[1]李宪奎，乔长锁，许学山等．连铸结晶器正弦振动参数的研究[J]．钢铁，1992，27(9)
[2]李运华，王占林，陈栋梁等．基于电液伺服控制实现的．连铸机结晶器振动装置[J]．机械工程学报，1999，35(1)
[3]杨文改，干勇等．连铸结晶器电液伺服振动系统的研究开发[J]．钢铁，1997，增刊
[4]李运华，王占林，陈栋梁等．连铸机结晶器电液伺服振动波形系统的开发研制[J]．机床与液压，1998，(3)
[5]蔡自兴．智能控制[M]．北京：电子工业出版社，1990
[6]陈燕庆．工程智能控制[M]．西安：西北工业大学出版社，1991
[7]M.C.Boichenkoed. Continuous casting of steel[C]. Butterworths Press, 1961
[8]Continuous casting:Proceedings of the 4th international iron and steel congress[M]. The Metals Society Press, 1982
[9]朱清香，李宪奎，吴晓明等．结晶器非正弦振动波形研究[J]．重型机械，1997(5)
[10]李宪奎，吴晓明，方一鸣等．构造结晶器非正弦振动波形函数的方法[J]．机械工程学报，2000，36(1)
[11]李宪奎，于敏之，赵红雁．结晶器反向振动同步控制模型[J]．重型机械．2001(2)
[12]M.D.Waltz, K.S.Fu. A heuristic approach to reinforcement learning control system[J]. IEEE Trans. on AC, 1965,10(4)
[13]J.M.Mendel. Application of artificial intelligence techniques to a spacecraft control problem[M]. Dongles Rept.DAC-59328,1966
[14]C.T.Leondes,J.M.Mendel. Artificial intelligence control[M].Tech, rept.4336,1967
[15]C.T.Leondes. Advances in Control System[M]. 1968
[16]K. S.Fu. Learning control systems and intelligent control systems: An intersection of artificial intelligence and automatic control[J]. IEEE Trans. AC, 1971,16(1):70～72
[17]E.H.Mamdani. Applications of fuzzy algorithm for control for simple dynamic plant[J]. Proc. of IEEE, 1974,121(12):1585～1588
[18]G.N. Saridis. Self-organizing control of stochastic systems[M]. New York: Marsel Dekker Inc., 1977
[19]G.N. Saridis. Towards the realization of intelligent controls[J]. Proc. of IEEE, 1979,67(8)
[20]K.J.Astrom, J.J.Anton. Expert control. Preprints of 9th World Congress of the IFAC[M], Budapest, Hungary, 1984
[21]J.J.Hopfield. Neurons with graded response have collective computational properties like those of two state neurons[M]. Proc. of NAS, U.S.A., 1984,82: 3088～3092
[22]D.E.Rumelhart,G.E.Hinton, R.J.Williams. Learning internal representations by error propagation. I in PDP:Explorations in the Microstructure f Cognition[M], MIT Press, 1986
[23]K.J.Hunt,et al. Neural networks for control systems—A survey[J]. Automatica, 1992,28: 1083～1112
[24]D.A. White,D.A. Sofge. Handbook of intelligent control, neural, fuzzy and adaptive approaches[M]. Van Nostrand, 1992
[25]P.J. Antsaklis. An introduction to intelligent and autonomous control[M]. Kluwer Academic Publishers, 1993
[26]Launder B E, Spalding D B. The Numerical Computation of Turbulent Flow[J].Computer Methods in Applied Mechanics and Eng. 1974,(3):269
[27]喻宗泉．智能控制技术进展[J]．自动化与仪器仪表，2000，87(1)
[28]李士勇．模糊控制神经控制和智能控制论[M]．哈尔滨：哈尔滨工业大学出版社，1996
[29]蔡自兴，徐光佑．人工智能及其应用[M]．北京：清华大学出版社，1996
[30]廉师友．人工智能技术导论[M]．西安：西安电子科技大学出版社，2000
[31]杨叔子，丁洪等．基于知识的诊断推理[M]．北京：清华大学出版社，1993
[32]Al Stevens, Clayton Walnum, 林丽闽等译．标准C++宝典[M]．北京：电子工业出版社，2001
[33]黄维通．Visual C++面向对象与可视化程序设计[M]．北京：清华大学出版社，2000
[34]楼顺天，于卫．基于MATLAB的系统分析与设计[M]．西安：西安电子科技大学出版社，1998
[35]龚剑，朱亮．MATLAB入门与提高[M]．北京：清华大学出版社，2000
[36]杨乐平，李海涛．LabVIEW程序设计与应用[M]．北京：电子工业出版社，2001
[37]陈奎生，李凤喜等．连铸机结晶器电液伺服振动控制技术及设备[J]．湖北工学院学报，2002，17(2)
[38]陈奎生．液压系统自激振荡问题解耦[J]．’95国际液压气动伺服比例学术会议论文集，1995
[39]陈奎生．液压阀与液压控制系统[M]．武汉：武汉工业大学出版社出版，1997
[40]陈奎生．液压与气压传动[M]．武汉：武汉理工大学出版社，2001
[41]孙文质液压控制系统[M]．北京：国防工业出版社，1985
[42]何存兴．液压元件[M]．北京：机械工业出版社，1989
[43]王飞，戴智华等．电液伺服驱动的连铸机结晶器激振系统研究[J]．武汉科技大学学报，2002，25(1)
[44]项钦之．CFD领域中PHOENICS软件介绍[J]．软件，1995，(6)
[45]程学文，张政等．应用PHOENICS软件计算分流设备的紊流流场[J]．北京化工大学学报，1998，25(1)
[46]雷洪，朱苗勇等．板坯连铸结晶器流场优化[J]．炼钢，2000，16(3)
[47]干勇，仇圣桃等．连续铸钢过程数学物理模拟[M]．北京：冶金工业出版社，2001
[48]杨秉俭，蔡临宁等．不同流体流动模型对型腔充填过程数值模拟结果影响[J]．西安交通大学学报，1998，32(3)
[49]http://www.matlab-world.com/(MATLAB 大观园)
[50]http://www.hirain.com/(九州恒润)
[2]李运华，王占林，陈栋梁等．基于电液伺服控制实现的．连铸机结晶器振动装置[J]．机械工程学报，1999，35(1)
[3]杨文改，干勇等．连铸结晶器电液伺服振动系统的研究开发[J]．钢铁，1997，增刊
[4]李运华，王占林，陈栋梁等．连铸机结晶器电液伺服振动波形系统的开发研制[J]．机床与液压，1998，(3)
[5]蔡自兴．智能控制[M]．北京：电子工业出版社，1990
[6]陈燕庆．工程智能控制[M]．西安：西北工业大学出版社，1991
[7]M.C.Boichenkoed. Continuous casting of steel[C]. Butterworths Press, 1961
[8]Continuous casting:Proceedings of the 4th international iron and steel congress[M]. The Metals Society Press, 1982
[9]朱清香，李宪奎，吴晓明等．结晶器非正弦振动波形研究[J]．重型机械，1997(5)
[10]李宪奎，吴晓明，方一鸣等．构造结晶器非正弦振动波形函数的方法[J]．机械工程学报，2000，36(1)
[11]李宪奎，于敏之，赵红雁．结晶器反向振动同步控制模型[J]．重型机械．2001(2)
[12]M.D.Waltz, K.S.Fu. A heuristic approach to reinforcement learning control system[J]. IEEE Trans. on AC, 1965,10(4)
[13]J.M.Mendel. Application of artificial intelligence techniques to a spacecraft control problem[M]. Dongles Rept.DAC-59328,1966
[14]C.T.Leondes,J.M.Mendel. Artificial intelligence control[M].Tech, rept.4336,1967
[15]C.T.Leondes. Advances in Control System[M]. 1968
[16]K. S.Fu. Learning control systems and intelligent control systems: An intersection of artificial intelligence and automatic control[J]. IEEE Trans. AC, 1971,16(1):70～72
[17]E.H.Mamdani. Applications of fuzzy algorithm for control for simple dynamic plant[J]. Proc. of IEEE, 1974,121(12):1585～1588
[18]G.N. Saridis. Self-organizing control of stochastic systems[M]. New York: Marsel Dekker Inc., 1977
[19]G.N. Saridis. Towards the realization of intelligent controls[J]. Proc. of IEEE, 1979,67(8)
[20]K.J.Astrom, J.J.Anton. Expert control. Preprints of 9th World Congress of the IFAC[M], Budapest, Hungary, 1984
[21]J.J.Hopfield. Neurons with graded response have collective computational properties like those of two state neurons[M]. Proc. of NAS, U.S.A., 1984,82: 3088～3092
[22]D.E.Rumelhart,G.E.Hinton, R.J.Williams. Learning internal representations by error propagation. I in PDP:Explorations in the Microstructure f Cognition[M], MIT Press, 1986
[23]K.J.Hunt,et al. Neural networks for control systems—A survey[J]. Automatica, 1992,28: 1083～1112
[24]D.A. White,D.A. Sofge. Handbook of intelligent control, neural, fuzzy and adaptive approaches[M]. Van Nostrand, 1992
[25]P.J. Antsaklis. An introduction to intelligent and autonomous control[M]. Kluwer Academic Publishers, 1993
[26]Launder B E, Spalding D B. The Numerical Computation of Turbulent Flow[J].Computer Methods in Applied Mechanics and Eng. 1974,(3):269
[27]喻宗泉．智能控制技术进展[J]．自动化与仪器仪表，2000，87(1)
[28]李士勇．模糊控制神经控制和智能控制论[M]．哈尔滨：哈尔滨工业大学出版社，1996
[29]蔡自兴，徐光佑．人工智能及其应用[M]．北京：清华大学出版社，1996
[30]廉师友．人工智能技术导论[M]．西安：西安电子科技大学出版社，2000
[31]杨叔子，丁洪等．基于知识的诊断推理[M]．北京：清华大学出版社，1993
[32]Al Stevens, Clayton Walnum, 林丽闽等译．标准C++宝典[M]．北京：电子工业出版社，2001
[33]黄维通．Visual C++面向对象与可视化程序设计[M]．北京：清华大学出版社，2000
[34]楼顺天，于卫．基于MATLAB的系统分析与设计[M]．西安：西安电子科技大学出版社，1998
[35]龚剑，朱亮．MATLAB入门与提高[M]．北京：清华大学出版社，2000
[36]杨乐平，李海涛．LabVIEW程序设计与应用[M]．北京：电子工业出版社，2001
[37]陈奎生，李凤喜等．连铸机结晶器电液伺服振动控制技术及设备[J]．湖北工学院学报，2002，17(2)
[38]陈奎生．液压系统自激振荡问题解耦[J]．’95国际液压气动伺服比例学术会议论文集，1995
[39]陈奎生．液压阀与液压控制系统[M]．武汉：武汉工业大学出版社出版，1997
[40]陈奎生．液压与气压传动[M]．武汉：武汉理工大学出版社，2001
[41]孙文质液压控制系统[M]．北京：国防工业出版社，1985
[42]何存兴．液压元件[M]．北京：机械工业出版社，1989
[43]王飞，戴智华等．电液伺服驱动的连铸机结晶器激振系统研究[J]．武汉科技大学学报，2002，25(1)
[44]项钦之．CFD领域中PHOENICS软件介绍[J]．软件，1995，(6)
[45]程学文，张政等．应用PHOENICS软件计算分流设备的紊流流场[J]．北京化工大学学报，1998，25(1)
[46]雷洪，朱苗勇等．板坯连铸结晶器流场优化[J]．炼钢，2000，16(3)
[47]干勇，仇圣桃等．连续铸钢过程数学物理模拟[M]．北京：冶金工业出版社，2001
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