水平连续铸钢伺服驱动装置智能控制系统的设计与研究
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摘要
连续铸钢作为钢铁企业一项重大的工艺技术，是钢铁生产流程中衔接冶炼和轧钢的重要环节。由于连续铸钢具有成本低、高效率、高质量、高成材率等一系列公认的优点，世界各国都在大力发展，把提高连铸比作为钢厂结构优化，增强市场竞争能力和提高经济效益的中心环节。作为连铸中适合中小型钢厂的水平连铸技术，它以生产多品种、小批量、合金比较高的铸坯产品等独特的优势而受到重视。但水平连续铸钢系统是一个复杂的控制系统，具有多变量、干扰多、参数易于变化的特点。尤其是拉坯机对其驱动装置的传动精度要求很高，其控制比弧形连铸系统难度大，致使水平连铸技术的推广应用受到影响。目前我国钢铁企业对水平连铸技术的开发应用研究还处于初级阶段，因此对水平连铸控制系统的深入研究具有现实意义。
作者通过实地调研，仔细分析研究了目前国内水平连铸控制系统存在的问题。本文针对水平连铸拉坯机的驱动控制，设计了PWM永磁同步电动机伺服调速系统。由于交流伺服系统存在参数时变、负载扰动以及交流电动机自身和被控对象的严重非线性、强耦合等不确定因素，常规的PID控制无法达到满意的控制效果，设计了Fuzzy-PID的控制方案。提出了一种在控制过程中根据系统的动态特性和行为用模糊控制调整PID参数的Fuzzy-PID控制算法。设计了Fuzzy-PID控制器，并通过MATLAB环境下进行仿真，与传统PID进行了比较，说明其优越性，并用MCGS组态软件设计了水平连铸监控系统。
Continuous Casting steel as a great technology of the iron and steel enterprise in succession, is the important link of linking up smelting and rolled steel in the flow of producing of steel. Because have a series of generally acknowledged merits, such as high efficiency, high quality, high lumber recovery with low costs,etc. to cast steel in succession , Every country in the world ,which is developping energetically , cast and liken improving to optimizing for the structure of steel factory,strengthen the key link that the market fought for ability and increasing economic efficiency as the central link. The level suitable for the medium and small-scale steel factory casts technology in succession in the conduct is continuous casting , which for its production variety, short run, and relatively high to cast steel unique advantage pay attention to products,etc. But the level casing steel in succession the system is a complicated control system, which have the characteristics of the variable,strong coupling mo
re interfering, parameter easy change more. Especially the base machine require the precision of transmission of the device to expect very much to it,and its control is more difficulty of heavy degree systematically in succession than arc casting, so resulted in the popularity and application of technology in succession of horizontal continous casting getting influence. The development application study that the iron and steel enterprise of our country's horizontal continous casting technology to the level in succession is still in primary stage at present, so it has realistic significance ,which to further investigation in the level horizontal continous casting control system .
The author analyses and researches carefully the question that now the domestic horizontal continous casting control system through surveying and studing on the spot. This paper aims at horizontal continous casting and base machine control by the drives of machine, to design servo to transfer systematic speed synchronous motor permanent magnetism PWM in succession to level. Since the uncertain factors,such as the parameters exchange of servo system ,load perturbation and exchange motor oneself and the controled target into the seriously non-linear, better couplings,etc. It is unable to reach the satisfied control result that routine
PID controls, design the control scheme of Fuzzy-PID. Have proposed one by controlling Fuzzy-PID which adjusts PID parameter and control algorithms fuzzily according to the dynamic characteristic and behavior of the system in the course of controlling. Have designed Fuzzy-PID controller, and carried on emulation under the MATLAB environment, has been compared with traditional PID, then proves its superiority design competence cast the monitoring system even with the MCGS configuration software.
作者通过实地调研，仔细分析研究了目前国内水平连铸控制系统存在的问题。本文针对水平连铸拉坯机的驱动控制，设计了PWM永磁同步电动机伺服调速系统。由于交流伺服系统存在参数时变、负载扰动以及交流电动机自身和被控对象的严重非线性、强耦合等不确定因素，常规的PID控制无法达到满意的控制效果，设计了Fuzzy-PID的控制方案。提出了一种在控制过程中根据系统的动态特性和行为用模糊控制调整PID参数的Fuzzy-PID控制算法。设计了Fuzzy-PID控制器，并通过MATLAB环境下进行仿真，与传统PID进行了比较，说明其优越性，并用MCGS组态软件设计了水平连铸监控系统。
Continuous Casting steel as a great technology of the iron and steel enterprise in succession, is the important link of linking up smelting and rolled steel in the flow of producing of steel. Because have a series of generally acknowledged merits, such as high efficiency, high quality, high lumber recovery with low costs,etc. to cast steel in succession , Every country in the world ,which is developping energetically , cast and liken improving to optimizing for the structure of steel factory,strengthen the key link that the market fought for ability and increasing economic efficiency as the central link. The level suitable for the medium and small-scale steel factory casts technology in succession in the conduct is continuous casting , which for its production variety, short run, and relatively high to cast steel unique advantage pay attention to products,etc. But the level casing steel in succession the system is a complicated control system, which have the characteristics of the variable,strong coupling mo
re interfering, parameter easy change more. Especially the base machine require the precision of transmission of the device to expect very much to it,and its control is more difficulty of heavy degree systematically in succession than arc casting, so resulted in the popularity and application of technology in succession of horizontal continous casting getting influence. The development application study that the iron and steel enterprise of our country's horizontal continous casting technology to the level in succession is still in primary stage at present, so it has realistic significance ,which to further investigation in the level horizontal continous casting control system .
The author analyses and researches carefully the question that now the domestic horizontal continous casting control system through surveying and studing on the spot. This paper aims at horizontal continous casting and base machine control by the drives of machine, to design servo to transfer systematic speed synchronous motor permanent magnetism PWM in succession to level. Since the uncertain factors,such as the parameters exchange of servo system ,load perturbation and exchange motor oneself and the controled target into the seriously non-linear, better couplings,etc. It is unable to reach the satisfied control result that routine
PID controls, design the control scheme of Fuzzy-PID. Have proposed one by controlling Fuzzy-PID which adjusts PID parameter and control algorithms fuzzily according to the dynamic characteristic and behavior of the system in the course of controlling. Have designed Fuzzy-PID controller, and carried on emulation under the MATLAB environment, has been compared with traditional PID, then proves its superiority design competence cast the monitoring system even with the MCGS configuration software.
引文
[1]顾维，水平连铸机的现状和发展，钢管，1993年4月
[2]郭延杰，水平连铸在国内的推广和应用，钢管，1993年5月
[3]Robert A Heard,SCE公司的水平连铸，湘钢译丛，1993年3月
[4]章仲禹，水平连铸技术开发十五年及当前任务，南方钢铁，1993年3月
[5]A kubos。j，水平连续铸钢设备的进展，西德
[6]郑晓明，铜杆水平连铸机的保温炉炉温控制系统，中国有色金属学报 1998年10月
[7]詹亦凤，水平连铸全连铸的实施与展望，钢管，1994年4月
[8]凌智勇，铜棒料水平连铸设备——拉坯机设计，江苏理工大学，1994年7月
[9]程鸣涛，中型水平连铸机二冷系统的设计，炼钢，1994年8月
[10]顾元博，水平连铸三重点温度的测量，特殊钢，第15卷第2期
[11]边德让，水平连铸机，特殊钢，第15卷第6期
[12]王云昭，LZX1-20型铸铁水平连铸生产线，装备与设备，1994年4月
[13]赵来胜，水平连续铸启铸工艺控制分析及手动补偿操作法，特殊钢，第16卷第5期
[14]张燕宾，SPWM变频调速应用技术(第二版)，机械工业出版社，2002年
[15]夏爱国，微机控制水平连铸电液伺服系统的设计，液压与气动，1995年第5期
[16]刘曙光，模糊控制技术，中国纺织出版社，2001年6月
[17]陶永华，新型PID控制及其应用(第二版)，机械工业出版社，2002年12月
[18]周灵平，全水平连铸生产调度模型的操作和优化，湖南冶金，1997年5月
[19]章仲禹，我国水平连铸技术发展的若于意见，南方钢铁，1997年8月
[20]刘冲，交流伺服驱动系统在水平连铸上的应用，南方钢铁，1998年2月
[21]党存禄，高性能的铜带坯水平连铸线控制系统，电气传动自动化，1998年2月
[22]王雪峰，衡钢实现水平全连续铸的经验，连铸，1998年第5期
[23]李祖权，铸铁水平连铸及应用，铸造设备研究，1995年第3期
[24]Peter Stadler,新型六流水平连铸机，马钢科研，1998年1月
[25]李同仲，石横特钢厂水平连铸机增设电磁搅拌的讨论，山东冶金，1998年12月
[26]周永红，水平连铸机伺服驱动系统的改造实践，湖南冶金，1999年1月
[27]O。Beffort, FATIGUE BEHAVIOUR OF UNIDIRECTIONALLY CONTINUOUS LATEX-FIBRE REINFORCED ALUMINIUM-BASED COMPOSITES,France,1999年7月
[28]Martin Maldovan, NUMERICAL MODELING OF CONTINUOUS CASTING OF ROUNDS WITH ELECTROMAGNETIC STIRRING,阿根廷, 2000年9月
[29]Carlos AG dos Santos, METAL/MOLD HEAT TRANSFER COEFFICIENTS DURING
HORIZONTAL AND VERTICAL UNSTEADY-STATE SOLIDIFICATION OF A1-Cu AND Sn-Pb ALLOYS, 巴西, 2002年
[30]Ryan Dehoff, Effects on Standing Wave Height in a Continuous Casting Mold Water Model,俄亥俄州(美国), 2001年3月
[31]J。Dantzig, A。Greenwell, Continuous Casting: Modeling, 英国牛津大学 2001年2月
[2]郭延杰，水平连铸在国内的推广和应用，钢管，1993年5月
[3]Robert A Heard,SCE公司的水平连铸，湘钢译丛，1993年3月
[4]章仲禹，水平连铸技术开发十五年及当前任务，南方钢铁，1993年3月
[5]A kubos。j，水平连续铸钢设备的进展，西德
[6]郑晓明，铜杆水平连铸机的保温炉炉温控制系统，中国有色金属学报 1998年10月
[7]詹亦凤，水平连铸全连铸的实施与展望，钢管，1994年4月
[8]凌智勇，铜棒料水平连铸设备——拉坯机设计，江苏理工大学，1994年7月
[9]程鸣涛，中型水平连铸机二冷系统的设计，炼钢，1994年8月
[10]顾元博，水平连铸三重点温度的测量，特殊钢，第15卷第2期
[11]边德让，水平连铸机，特殊钢，第15卷第6期
[12]王云昭，LZX1-20型铸铁水平连铸生产线，装备与设备，1994年4月
[13]赵来胜，水平连续铸启铸工艺控制分析及手动补偿操作法，特殊钢，第16卷第5期
[14]张燕宾，SPWM变频调速应用技术(第二版)，机械工业出版社，2002年
[15]夏爱国，微机控制水平连铸电液伺服系统的设计，液压与气动，1995年第5期
[16]刘曙光，模糊控制技术，中国纺织出版社，2001年6月
[17]陶永华，新型PID控制及其应用(第二版)，机械工业出版社，2002年12月
[18]周灵平，全水平连铸生产调度模型的操作和优化，湖南冶金，1997年5月
[19]章仲禹，我国水平连铸技术发展的若于意见，南方钢铁，1997年8月
[20]刘冲，交流伺服驱动系统在水平连铸上的应用，南方钢铁，1998年2月
[21]党存禄，高性能的铜带坯水平连铸线控制系统，电气传动自动化，1998年2月
[22]王雪峰，衡钢实现水平全连续铸的经验，连铸，1998年第5期
[23]李祖权，铸铁水平连铸及应用，铸造设备研究，1995年第3期
[24]Peter Stadler,新型六流水平连铸机，马钢科研，1998年1月
[25]李同仲，石横特钢厂水平连铸机增设电磁搅拌的讨论，山东冶金，1998年12月
[26]周永红，水平连铸机伺服驱动系统的改造实践，湖南冶金，1999年1月
[27]O。Beffort, FATIGUE BEHAVIOUR OF UNIDIRECTIONALLY CONTINUOUS LATEX-FIBRE REINFORCED ALUMINIUM-BASED COMPOSITES,France,1999年7月
[28]Martin Maldovan, NUMERICAL MODELING OF CONTINUOUS CASTING OF ROUNDS WITH ELECTROMAGNETIC STIRRING,阿根廷, 2000年9月
[29]Carlos AG dos Santos, METAL/MOLD HEAT TRANSFER COEFFICIENTS DURING
HORIZONTAL AND VERTICAL UNSTEADY-STATE SOLIDIFICATION OF A1-Cu AND Sn-Pb ALLOYS, 巴西, 2002年
[30]Ryan Dehoff, Effects on Standing Wave Height in a Continuous Casting Mold Water Model,俄亥俄州(美国), 2001年3月
[31]J。Dantzig, A。Greenwell, Continuous Casting: Modeling, 英国牛津大学 2001年2月