CN101714001B - Automatic control device and method of rotary chute pair transmission tilt angle of blast furnace bell-less top - Google Patents
Automatic control device and method of rotary chute pair transmission tilt angle of blast furnace bell-less top Download PDFInfo
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- CN101714001B CN101714001B CN 200910225544 CN200910225544A CN101714001B CN 101714001 B CN101714001 B CN 101714001B CN 200910225544 CN200910225544 CN 200910225544 CN 200910225544 A CN200910225544 A CN 200910225544A CN 101714001 B CN101714001 B CN 101714001B
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Abstract
The invention provides automatic control device and method of a rotary chute pair transmission tilt angle of a blast furnace bell-less top for automatically controlling the tilt angle of a chute. The automatic control device comprises information collection equipment, a PLC control system and transmission equipment, wherein the information collection equipment is used for collecting the tilting angle position information of the chute and the position information of the chute and transmitting the information to the PLC control system; the PLC control system is used for analyzing the information collected by the information collection equipment, generating a control signal and transmitting the control signal to the transmission equipment; and the transmission equipment is used for controlling the tilting angle of the chute according to the control signal of the PLC control system. The device and the method eliminate the influence brought by deviations caused by the angle alignment control of the stroke of a chute pair transmission tilt angle drive linear oil cylinder on the material distribution of the blast furnace, sufficiently give play to the ideal material distribution superiority of the bell-less material distributor and guarantee the stability of a smelting process. In addition, the invention can prevent the frequent switchover of an electromagnetic directional valve of the chute pair transmission tilt angle drive linear oil cylinder and keep the stable output characteristics of a hydraulic system.
Description
Technical field
The present invention relates to a kind of automaton and control method of equipment with no charging bell at furnace top of blast furnace, particularly relate to a kind of rotary chute pair transmission tilt angle (α angle) hydraulic system automaton and method of equipment with no charging bell at furnace top of blast furnace.
Background technology
Focus of the present invention is the automatic control that no charging bell at furnace top of blast furnace chute pair transmission tilt angle (α angle) drives linear oil cylinder, automatically controls referred to as position, α angle.Position, α angle is controlled automatically and automatic control the in chute main transmission (β angle) position matched, and directly is applied in the technical field that blast furnace production is smelted, and is mainly used to solve blast furnace production to the furnace charge stable operation, the even distribution problem of furnace charge.
The accurate control in position, swivel chute α angle can improve technological process and control quality, improves the charging efficiency of blast furnace.By controlling position, chute α angle, can obtain multiple distributing mode, realize the even distribution of furnace throat circumferencial direction and furnace charge radially and the burden distribution of certain point, promote furnace condition anterograde, and for process the furnace charge pipeline, the accident such as go creates conditions partially.
There are some shortcomings in traditional equipment with no charging bell at furnace top of blast furnace, as requiring stricter to raw material granularity; Mechanical drive is more complicated; Furnace charge is skewness along the circumferential direction; Be used for sealing and cooling nitrogen consumption large etc.
For the shortcoming that traditional bell-less top equipment exists, the chute of novel bell-less top equipment fascinates and partly changes by the linear oil cylinder hydrostatic transmission.This bellless distributor α angle hydraulic system is limit by blast furnace roof environment and Hydraulic System Oil medium, the linear oil cylinder hydrostatic transmission also there is specific (special) requirements, control as the hydrostatic transmission that can not adopt electrohydraulic servo valve to form, the hydraulic system characteristic that formed by proportional direction valve is limit, can not satisfy position control (α angle) driven the frequent requirement of switching of linear oil cylinder, be difficult to the angular error that chute swing to produce is made rapid reaction, can not guarantee that the angle of finding accurately at α angle is ± 0.50; Having affected furnace charge stable operation and furnace charge evenly distributes.
Summary of the invention
For overcoming above-mentioned technological deficiency, the present invention adopts a kind of chute α angle position automaton and method that is comprised of proportional direction valve, has solved single Stroke Control and can not realize problem to the Accurate Position Control of fascinating of chute auxiliary driving (α angle).
A kind of rotary chute pair transmission tilt angle of blast furnace bell-less top automaton, inclination angle to chute is controlled, and it is characterized in that, comprises information collecting device, gather the turning angle positional information of chute and the information of chute position, and pass in the PLC control system; The PLC control system, the information that the analytical information collecting device gathers generates control signal, and control signal is flowed to drive apparatus; Drive apparatus according to the control signal of PLC control system, is controlled the turning angle of chute.
Pass through technique scheme, the invention provides a kind of have with the pid algorithm control characteristic of dead band, chute pair transmission tilt angle (α angle) is carried out the apparatus and method that the position is controlled automatically, having eliminated chute pair transmission tilt angle (α angle) drives the linear oil cylinder Stroke Control and finds the impact that the deviation of angle is brought to blast furnace material distribution accurately, give full play to the desirable cloth superiority of this type bellless distributor, guarantee the stability of smelting process.
The present invention can prevent that the solenoid directional control valve of chute pair transmission tilt angle (α angle) driving linear oil cylinder from frequently switching, and keeps the stable output characteristics of hydraulic system.
Description of drawings
Fig. 1 is the composition frame chart of no charging bell at furnace top of blast furnace chute pair transmission tilt angle automaton of the present invention;
Fig. 2 is that the dead band of system arranges schematic diagram;
Fig. 3 is the pid stream journey figure with the dead band;
Fig. 4 has shown α angle driving linear oil cylinder proportional direction valve output pulse width Transformation Graphs;
When Fig. 5 has shown definite output pulse width change point, the operating point schematic diagram of output pulse width conversion during E≤MW;
Fig. 6 has shown the operating point schematic diagram of E＞MW output pulse width conversion.
Reference numerals list
1-chute auxiliary driving (α angle) drives linear oil cylinder;
2-turns round floating frame; The 22-chute;
3-chute turn motor;
The 4-chute lifts the terminal limit; 4 '-chute falls the terminal limit;
The 5-absolute value encoder; The 6-proportional direction valve;
7-PLC (programmable logic controller) control system;
8-high-speed counter module;
9-DI (data input) load module; 10-ratio amplification module;
The 11-analog output module; 12-DO (data output) output module;
The 13-CPU module; The 14-set angle module of fascinating;
The 15-turning angle is extracted module out; 16-cloth control program module;
17-integrated logic judge module; 18-distributing device working mode selection switch;
The operation of 19-distributing device α angle; The 20-monitoring module;
The given module of 21-
Embodiment
As shown in Figure 1, the no charging bell at furnace top of blast furnace chute pair transmission tilt angle automaton of this method invention comprises following building block:
Absolute value encoder 5 is a kind of measurement feedback assemblys, is arranged near chute, for detection of chute turning angle position signalling; The output terminal of absolute value encoder 5 is connected with the high-speed counter module 8 of PLC control system 7, the position measured signal is sent to the high-speed counter module 8 of α angle PLC control system 7;
Chute lifts terminal limit switch 4, and chute falls terminal limit switch 4 ', determines the initial and terminal location of chute, guarantees the accurate operation of incident angle module and the replacing of chute device 2, and the output terminal of two switches all is connected with DI load module 9;
Distributing device working mode selection switch 18, the automatic or manual mode that is used for distributing device α angle is selected;
Distributing device α angle operational module 19 is used for being stored in turning angle and extracts the turning angle at the chute inclination angle in program module 15 out and extract out;
Monitoring module 20 is for the angle of confirming distributing device α angle operational module 19 extractions;
Given module 21 is used for height stockline that blast furnace operating is set and distributing device α angle operational module 19 compares, and determines two inclination angles relevant with the height stockline, and two are worth as the turning angle setting value to inclination angles that just stockline is relevant.
Above-mentioned PLC control system 7 comprises:
The turning angle that is connected to the output terminal of cloth control program module 16 is extracted chute that module 15 the takes out position control program of fascinating out from cloth control program module 16;
High-speed counter module 8 is connected with absolute value encoder 5, the pulse signal that absolute value encoder 5 produces is changed, the turning angle pulse output signals that absolute value encoder detects after high-speed counter module 8 is processed as CPU module 13 deal with data.
The turning angle pulse output information that the chute that above-mentioned DI load module 9 detects lifts the terminal limit 4, falls the terminal limit 4 ' information, high-speed counter module 8 is collected outputs to CPU module 13;
The Coordinated Control Signal that CPU detects after integrated logic module 17 is comprehensively relatively calculated is converted into the 24VDC switching value output signal and delivers to DO switching value output module 12;
The output terminal of DO switching value output module 12 discharges input end with the outside of ratio amplification module 10 and is connected;
In control procedure, the output valve of DO switching value output module 12 is as the enable signal of ratio amplification module 10, and analog output module 11 is as the differential input signal of ratio amplification module 10.
Under the position control total travel time and regulation output insensitive interval and the service condition of 6 minimum movements times of proportional direction valve of predefined proportional direction valve 6, the incident angle control signal is delivered in ratio amplification module 10 by analog output module 11, and ratio amplification module 10 formation control proportional direction valves are controlled the signal of electromagnet 6.When position, α angle was overgauge, linear oil cylinder 1 fascinated chute downwards, otherwise when position, α angle was minus deviation, oil cylinder 1 upwards fascinated chute.The α angle by turning angle extract module 15 out, cloth control program module 16 is determined, and compares with the physical location at α angle in monitoring module 20, monitor.
The present invention also provide a kind of have change the α angle and use the distributor chute control device that fascinates the α angle is controlled control method as the active position of regulating measure.The α control system is the main body that chute fascinates and controls.
Rotary chute pair transmission tilt angle of blast furnace bell-less top of the present invention is automatically controlled control method and is comprised:
The information acquisition step, the information of information collecting device to the turning angle positional information of chute 2 and chute position, and pass in PLC control system 7;
Control signal generates step, and the information that PLC control system 7 analytical information collecting devices gather generates control signal, and control signal is flowed to drive apparatus;
The chute step is controlled in transmission, and drive apparatus is controlled the turning angle of chute 2 according to the control signal of PLC control system 7, when the turning angle position is overgauge, drive apparatus fascinates chute downwards, and when the turning angle position was minus deviation, drive apparatus upwards fascinated chute.
The flow process of position signal acquisition of fascinating is:
α lifts at the angle terminal limit 4, fall the terminal limit 4 ' enters DI load module 9 as the controlled condition signal; Absolute value encoder 5 sends the position measured signal to the high-speed counter module 8 of α angle PLC control system 7.
The automatic measurement of two important electric parameters:
First is the measurement of turning angle parameter, namely by the vertical indicator stem that is hinged on the distributing device backing ring, by rack pinion, rectilinear motion is become rotation, drives absolute value encoder angular rate signal is inputted high-speed counter module 8.In the chute rotary course, indicator stem vibration up and down is about 3～4mm, can cause the control deviation of 0.20 left and right.Exist the variation of 'inertia' turning angle very little because the modules such as rack and pinion mechanism, transmission catcher are also gapped, turning angle can satisfy 0.50 control requirement substantially.
Second is that the detection of α angle maximum pendulum angle and minimum swash angle is namely by the vertical indicator stem that is hinged on the distributing device backing ring, by rack pinion, rectilinear motion is become and hit the chi rotation, collision maximum pendulum angle or minimum swash angle limit switch also makes its corresponding actions, the limit signal input DI load module 9 of pivot angle is in order to the operation of calibration or replacing chute.
The distributor chute technical indicator of fascinating:
1. the kind of drive of turning angle: equidistant three of arranging on circumference that are placed on the distributing device sealed platform cover drive linear oil cylinder → middle extension bar → lifting backing ring → main carrying roller → floating frame → crank → chute pivot angles;
2. travelling speed:
Chute whereabouts V
α drop=2 °/sec
Chute lifts V
α life=1.5 °/sec
3. pivot angle α
min=10 °; α
max=45 °
4. three upper and lower cavity oil circuits that drive linear oil cylinder respectively are linked togather respectively up and down, are realized strict synchronous during work by the vertical slideway in the distributing device seal box.
5. find angle accurately: ± 0.2 °, be not more than 0.5 ° when oil cylinder internal leakage time error occurring, otherwise automatically give former operating angle for change.
6. distributing mode:
Automatic distributing: monocycle, dicyclo, many rings.
The fixed point cloth: manual operation, the fixed point error is manually grasped.
The distributor chute control of fascinating:
The α angle drives linear oil cylinder and works in the central controlled mode of parallel connection, and for avoiding driving the linear oil cylinder frequent movement, the action of α angle proportional direction valve 6 systems is completed with impulse form.When α angular displacement surpasses ± 0.50, just begin action and carry out position adjustments.When the α angle of reality was less than normal, it is electric that regulating system gets proportional direction valve 6 rising coils, drives linear oil cylinder and rise, and strengthens the α angle, when reaching given α angle value, and proportional direction valve 6 rising coil losing electricities, chute is slack.Otherwise when the α angle of reality was bigger than normal, regulating system made proportional direction valve 6 decline coils get electric, the driving linear oil cylinder descends, and reduces the α angle, when reaching α angle value corresponding to given proportional direction valve output pulse width, proportional direction valve 6 decline coil losing electricities, chute is slack.
For avoiding system under the deviation of moment generation, regulate action too frequent, system arranges the dead band.
The deviation upper limit when dead band refers to begin to move and the zone between lower limit, the size of dead band can be adjusted, and should dwindle as far as possible.The dead band is shown in Figure 2, when α angular displacement reaches certain value, begins to regulate.When α angle measured value reaches A1 switching point (α angle forward correction point), system's control ratio direction valve and linear oil cylinder action, the chute tilting system is once action, just last till that the α angle is reduced to B1 switching point (α angle forward correction end point) and just stops, it is slack that drive linear oil cylinder this moment, proportional direction valve 6 coils stop action, and adjustment process finishes.Otherwise, when α angle measured value reaches A2 switching point (α oppositely rectifies a deviation a little at the angle), system's control ratio direction valve and linear oil cylinder action, the chute tilting system is once action, just last till that the α angle is reduced to B2 switching point (α oppositely rectify a deviation at the angle end point) and just stops, make to drive the corresponding α of linear oil cylinder angle set-point rising, it is slack that drive linear oil cylinder this moment, and adjustment process finishes.In fact regulating system this scope below the upper limit of dead band and more than lower limit, can not move.In addition, α angle A1/A2 switching point and α angle B1/B2 switching point are adjustable.
7. method of adjustment:
7.1 by the chute pid control algorithm with dead band of some α angle set-point when adjusting that fascinate be:
When | E|≤e, carry out the PID instruction;
When | E|＞e, do not carry out the PID instruction;
E-deviation in formula, E=SV-PV;
In formula, e is an adjustable parameter, and concrete numerical value is decided according to the debugging situation of chute.
The SV-setting value
The PV-input value
During debugging because noting:
The E value is too small does not have the effect of avoiding system oscillation;
The E value is excessive, and system can produce larger hysteresis;
7.2 the pid stream journey figure with the dead band
As shown in Figure 3, shown pid stream journey with the dead band.
8. output pulse width conversion
When the moving angle of the output of fascinating surpassed integration stop line A1 or A2, integration stopped, and output pulse width is transformed to logical.If it is turning angle during lower than integration initial B1 or B2 that the pv measured value reduces, output pulse width is transformed to disconnected, and integration begins.
When output pulse width is transformed to when logical, Fig. 4 has shown that the α angle drives linear oil cylinder proportional direction valve output pulse width Transformation Graphs.
9. the switching point of output pulse width conversion:
The operating point of output pulse width conversion should consider the relation between operating point and dead band, deviation, output pulse width:
If E≤MW,
A1＝e；B1＝e-MW，
Or A2=e; B2=e-MW.
If E＞MW,
A1＝e-MW+E；B1＝e-MW，
Or A2=e-MW+E; B2=e-MW.
In formula:
The A1-A1 switching point
The B1-B1 switching point
The E-deviation;
The MW-output pulse width.
Fig. 5 has shown the operating point schematic diagram of E≤MW output pulse width conversion, and Fig. 6 has shown the operating point schematic diagram of E＞MW output pulse width conversion.
These are only the preferred forms of invention, those of ordinary skills can carry out various changes under the prompting of embodiment, so scope of patent protection is as the criterion with the content of claim.
Claims (3)
1. a rotary chute pair transmission tilt angle of blast furnace bell-less top automaton, control the inclination angle of chute (2), it is characterized in that, comprising:
Information collecting device gathers the turning angle positional information of chute (2) and the information of chute position, and passes in PLC control system (7);
PLC control system (7), the information that the analytical information collecting device gathers generates the incident angle control signal, and its output terminal connects ratio amplification module (10), and control signal passing ratio amplification module (10) sends drive apparatus to;
Drive apparatus according to the control signal of PLC control system (7), is controlled the turning angle of chute (2),
Wherein, drive apparatus comprises that proportional direction valve (6), turn motor (3) and chute auxiliary driving turning angle drive linear oil cylinder (1), wherein:
Linear oil cylinder (1) is connected with the output terminal of proportional direction valve (6), fascinates for driving chute under the control of proportional direction valve (6), until reach the set angle that fascinates;
Chute turn motor (3) is controlled the chute turn;
Proportional direction valve (6), output terminal is connected with linear oil cylinder (1) and turn motor (3), control the running of linear oil cylinder (1) and turn motor (3), thereby control transmission inclination angle, the input end of proportional direction valve (6) is connected with the output terminal of PLC control system (7)
Wherein, PLC control system (7) also comprises:
Integrated logic module (17), an output terminal of integrated logic module (17) is connected with CPU module (13), the another one output terminal is connected with cloth control program module (16), and the position of fascinating at distribution chute inclination angle is stored in cloth control program module (16);
Turning angle is extracted module (15) out, is connected to the output terminal of cloth control program module (16), the chute of the taking-up position control program of fascinating from cloth control program module (16);
The set angle module of fascinating (14) is connected to turning angle and extracts out between module (15) and CPU module (13), is used for setting turning angle;
DI load module (9) is connected with information collecting device, is used for receiving the controlled condition signal;
High-speed counter module (8) is connected with information collecting device, and the pulse signal that information collecting device produces is changed;
CPU module (13) is connected with the output terminal of high-speed counter module (8), the output terminal of DI load module (9), the output terminal of the set angle module of fascinating (14) and the output terminal of integrated logic module (17);
Wherein, CPU module (13) is connected with the output terminal of high-speed counter module (8), signal after high-speed transitions and the cloth control program module that is stored in CPU module (13) are fascinated the set angle value relatively, and the deviation of generation is calculated through the pid algorithm model with the dead band;
Analog output module (11), the input end of DO output module (12) is connected to the output terminal of CPU module (13); Analog output module (11), the output terminal of DO output module (12) are connected with ratio amplification module (10) respectively; The incident angle control signal is delivered in ratio amplification module (10) by analog output module (11).
2. chute pair transmission tilt angle automaton according to claim 1 is characterized in that:
Information collecting device comprises: chute lifts the terminal limit (4), chute falls the terminal limit (4 '), absolute value encoder (5), wherein:
Absolute value encoder (5) detects chute turning angle position signalling, its output terminal is connected with the high-speed counter module (8) of PLC control system (7), the position measured signal is sent to the high-speed counter module (8) of PLC control system (7);
Chute lifts terminal limit switch (4), and chute falls terminal limit switch (4 '), determines respectively the initial and terminal location of chute, and the output terminal of two switches all is connected with DI load module (9).
3. chute pair transmission tilt angle automaton according to claim 1, is characterized in that, also comprises:
Distributing device working mode selection switch (18) is controlled automatically with starting the inclination angle;
Distributing device α angle operational module (19) is extracted turning angle out;
Monitoring module (20) is used for the angle of confirming that distributing device α angle operational module (19) is extracted out;
Given module (21), be used for height stockline and distributing device α angle operational module (19) that blast furnace operating is set are compared, determine two inclination angles relevant to the height stockline, two inclination angles relevant to the height stockline are worth as the turning angle setting value.
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|---|---|---|---|
| CN 200910225544 CN101714001B (en) | 2009-11-30 | 2009-11-30 | Automatic control device and method of rotary chute pair transmission tilt angle of blast furnace bell-less top |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910225544 CN101714001B (en) | 2009-11-30 | 2009-11-30 | Automatic control device and method of rotary chute pair transmission tilt angle of blast furnace bell-less top |
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| CN101714001A CN101714001A (en) | 2010-05-26 |
| CN101714001B true CN101714001B (en) | 2013-06-26 |
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| CN 200910225544 Expired - Fee Related CN101714001B (en) | 2009-11-30 | 2009-11-30 | Automatic control device and method of rotary chute pair transmission tilt angle of blast furnace bell-less top |
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Families Citing this family (12)
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| CN103160628A (en) * | 2011-12-12 | 2013-06-19 | 上海梅山钢铁股份有限公司 | Variable frequency control method of blast furnace distribution chute tilting |
| CN102591305B (en) * | 2012-03-08 | 2014-11-26 | 安徽马钢工程技术集团有限公司 | Furnace top information collecting system of blast furnace based on field bus and information collecting method thereof |
| CN102839248A (en) * | 2012-09-18 | 2012-12-26 | 天津市三特电子有限公司 | Online detection device and detection method of blast furnace swinging chute |
| CN102827973A (en) * | 2012-09-20 | 2012-12-19 | 石家庄华海冶金科技有限公司 | Method for adjusting and controlling initial state of blast furnace ring-shaped material distributing chute |
| CN102945050A (en) * | 2012-11-26 | 2013-02-27 | 昆山北极光电子科技有限公司 | Method for automatically calibrating initial mechanical position |
| CN103175414A (en) * | 2013-04-07 | 2013-06-26 | 中冶东方工程技术有限公司 | Stroke control device for skip car or gauge rod and operating method thereof |
| CN103305644A (en) * | 2013-06-17 | 2013-09-18 | 瑞安市阀门一厂 | Bell-less top rotary material distribution device |
| CN105739418B (en) * | 2014-12-10 | 2019-05-31 | 上海宝钢工业技术服务有限公司 | The electrohydraulic control method of blast-furnace distributor |
| CN106521064B (en) * | 2016-10-27 | 2018-08-31 | 江阴兴澄特种钢铁有限公司 | A kind of blast furnace swinging sliding nozzle electric fault quickly handles setting |
| CN107656900B (en) * | 2017-09-01 | 2021-09-10 | 武汉钢铁有限公司 | Method for determining compensation angles of different stocklines in material distribution process of blast furnace |
| CN108486300B (en) * | 2018-04-04 | 2020-02-21 | 秦皇岛秦冶重工有限公司 | Tilting mechanism of distributing device and control method of tilting mechanism |
| CN111575424A (en) * | 2020-05-25 | 2020-08-25 | 重庆钢铁集团电子有限责任公司 | Method for improving control precision of chute tilting angle of blast furnace top distributor |
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