CN101983800A - Secondary cooling water distribution advanced control method for billet continuous casting machine - Google Patents
Secondary cooling water distribution advanced control method for billet continuous casting machine Download PDFInfo
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Abstract
The invention discloses a secondary cooling water distribution advanced control method for a billet continuous casting machine for controlling billet drawing speed, medium ladle molten steel temperature and secondary cooling water distribution quantity. The method comprises the following steps of: treating the billet drawing speed parameter in a specified time interval by adopting an effective drawing speed method, and changing the given water quantity when the fluctuation of the drawing speed exceeds a specified range to prevent over high fluctuation of the surface temperature of a casting blank so as to ensure a delay between the change of the water quantity of a cooling loop and the change of the drawing speed; and aiming at the condition that the casting temperature possibly has high fluctuation, correcting the given water quantity of each section of a secondary cooling zone by using the medium ladle molten steel temperature or overheating degree as a feed-forward signal, and dynamically calculating the water distribution quantity of each section of the secondary cooling zone; therefore, the secondary cooling water distribution control of the billet continuous casting machine is realized through the steps. The method can prevent over high fluctuation of the surface temperature of the casting blank, and can dynamically calculate the water quantity of each section of the secondary cooling zone so as to overcome the defect of the traditional cooling water quantity-drawing speed setting method.
Description
Technical field
The present invention relates to blast furnace automatic control technology field, particularly relate to a kind of billet caster two cold water distribution advanced control methods.Relate generally to accurate, the stable control of billet caster two cold water distribution system Zhong Ge district water distribution quantities, eliminate the influence of pouring temperature variation slab quality.
Background technology
Metallurgical industry is one of mainstay of the national economy industry, and continuous casting is the important step of its production procedure.The structure of currently used continuous casting installation for casting is as shown in Figure 1: comprise ladle 1, continuous measurement of molten steel temperature device 2, submersed nozzle 3, tundish 4, crystallizer 5, meniscus 6, backing roll 7, liquid phase 8, secondary cooling zone 9, solidified shell 10, metallurgical length 11, flame cut point 12, strand 13, molten steel 14.
The continuous-cast blank quality is the emphasis problem that people pay close attention to always, and the continuous casting two cold water distribution is to influence one of principal element of continuous casting billet internal soundness, therefore sets up reliable two cold water allocation model, and adopting advanced control strategy is the key that improves the continuous casting billet internal soundness.The present continuous casting two cold water distribution control system pulling rate control modes of being correlated with that adopt more.Because pulling rate is a deciding factor that influences two cold-zone water distribution quantities, therefore when casting conditional stability (molten steel temperature in tundish is in stable state), consider to adopt preposition control system for the control of each chilled(cooling) water return (CWR), two cold-zones, the water yield of each chilled(cooling) water return (CWR), two cold-zones is changed continuously with the variation of pulling rate.This kind method is based on the off-line Mathematical Modeling, according to data inducing classification such as the technological parameter of qualified strand and steel grade, section, pulling rate and cooling water inflow repeatedly in the production reality, and in conjunction with certain Research on Mathematical, determine the relation of the pulling rate and the two cold water distribution water yields, and store in the computer with the form of water distribution table, after this finish two cold water distribution quantities according to the relation of setting with the variation of pulling rate and regulate automatically by programmable controller PLC.In fact this mode is made up of following two kinds of methods:
Proportion control: adopt specific water's method, i.e. basis
(
Which district of=1,2,3,4 expressions,
Be
District's water yield,
Be pulling rate,
Be
The coefficient that the district is corresponding, after herewith) determine respectively to distinguish the cooling section water yield;
Parameter control:, press according to steel grade
Carry out water distribution.Pre-set
The water distribution parameter in district
, when pulling rate changed, each was distinguished two cold water distribution quantities and changes thereupon.
Above-mentioned two kinds of methods, it is consistent with the variation of two cold water distribution quantities that the PLC control system can remain pulling rate.
Above-mentioned two cold water distribution PLC control systems are only relevant with the water yield and pulling rate, do not have the feedback of slab quality, thereby belong to open-loop control system.Because model obtains based on the target water yield according to the given water yield of pulling rate calculated off-line gained, can guarantee that casting blank surface temperature and target temperature meet preferably under the different casting, thereby casting cycle is under the less prerequisite of other disturbance factor effects, adopt this method that each loop water yield is controlled and to guarantee that strand obtains near the less surface temperature distribution of fluctuation target temperature, thereby help improving slab quality.But there is tangible weak point in this control mode: relatively poor to the adaptability to changes that working condition changes, can only be applicable to the metastable situation of pouring temperature and pulling rate, promptly when pulling rate sharply changes, the water yield also sharply changes thereupon, cause the remarkable fluctuation of casting blank surface temperature, cause the strand inhomogeneous cooling even; And not being suitable for the unsettled situation of casting condition, supply water cooling and nozzle operation situation of, crystallizer big as the molten steel temperature in tundish fluctuation is undesired etc.Because strand is in the process of two cold-zones, and surface temperature can't directly record, therefore can't set up cooling control system simultaneously based on the surface temperature feedback, also can't the design temperature closed loop controller.
Under the constant prerequisite of pulling rate, when bigger fluctuation appears in cast temperature, the fluctuation of the degree of superheat (being the poor of pouring temperature and liquidus temperature) makes pulling rate and secondary cooling water amount and actual production require not match, and has caused the increase of strand breakout ratio, has influenced the inside and outside quality of strand.Because cast temperature is (the middle Baogang water continuous temperature measurement) that can measure, it is measured as the control water distribution, improves an important detection index of the rate of watering into, the hot state and the temperature drop rule of bag in not only can monitoring, and the secondary cooling water of bag temperature correlation is controlled in can participating in, and improves slab quality.Therefore can handle the continuous casting molten steel temperature in tundish as a main disturbance factor that influences in the strand production process.Therefore in casting cycle, the design of the optimal control system of pulling rate, the degree of superheat and the water yield seems particularly important, needs to introduce pulling rate and degree of superheat control.
Summary of the invention
Technical problem to be solved by this invention is: fluctuate to the problem of two cold water distribution quantities influences at casting speed and middle Baogang coolant-temperature gage, a kind of billet caster two cold water distribution advanced control methods are provided, thereby create conditions for billet caster stable smooth operation high yield and low cost.
The present invention solves its technical problem and adopts following technical scheme:
The present invention is to provide a kind of billet caster two cold water distribution advanced control methods that comprise casting speed, middle Baogang coolant-temperature gage and two cold water distribution water yield controls, this method is:
(1) should be with this parameter of casting speed according to adopting the method for effective pulling rate to handle in the time interval of process stipulation, and when surpassing given range, the fluctuation of pulling rate changes the given water yield again, preventing that great fluctuation process from appearring in casting blank surface temperature, a delay is arranged thereby guarantee to make between the variation of the variation of the cooling circuit water yield and pulling rate;
(2) the bigger situation that fluctuates may occur at pouring temperature,, as feed-forward signal the given water yield of two each sections of cold-zone be revised with middle Baogang coolant-temperature gage or the degree of superheat, dynamic calculation goes out two cold-zone each section water distribution quantities;
Through above-mentioned steps, realize control to billet caster two cold water distributions.
Described effective pulling rate method can be: under nominal situation, then think fluctuation to occur when the pulling rate amplitude of variation surpasses the on-the-spot numerical value of setting, produce a pulsewidth constantly at this and be
, amplitude is
Pulse signal, pulling rate reduces corresponding positive pulse, pulling rate increases corresponding negative pulse.This method realizes the casting speed Parameter Optimization by following effective pulling rate model:
，
In the formula:
Be pulsewidth,
Be amplitude,
It is time constant.
The definite of described casting speed parameter can follow following several principles:
(1)
, be the pulling rate amplitude of variation;
（2）
；
（3）
。
The present invention can adopt with the feed forward control method of drag realization based on middle bag continuous temperature measurement:
The given water yield of (1) two each section of cold-zone is calculated as follows:
Total water distribution quantity:
,
The real-time water yield that calculates according to effective pulling rate:
,
(2) pouring temperature changes the required compensation water yield of caused strand temperature:
In the formula:
Be molten steel overheat, promptly
,
Be pouring temperature,
Be liquidus temperature;
For offline optimization obtain
The water distribution parameter in district;
,
Be penalty coefficient;
Be two cold-zone numbers;
Be the linear regression segments;
Be middle bag temperature fall off rate,
Be respectively
Corresponding constantly middle bag temperature.
The scope of described linear regression segments, molten steel overheat reaches
Should determine according to the quality requirement of strand and the steel grade of casting.
The present invention compared with prior art has following main beneficial effect:
One. great fluctuation process appearred in order to prevent casting blank surface temperature, the method that is chosen at the effective pulling rate of employing in the suitable time interval for this parameter of pulling rate is handled, and when the fluctuation of pulling rate surpasses given range, change the given water yield again, a suitable delay is arranged thereby make between the variation of the variation of the cooling circuit water yield and pulling rate.
They are two years old. and the bigger situation that fluctuates may occur at pouring temperature, as feed-forward signal, realize the correction to the given water yield in two Leng Ge districts with the degree of superheat, dynamic calculation goes out two cold each section water yields.Make system set value the fluctuation that compensates the pulling rate and the degree of superheat by changing the water yield rapidly, thereby overcome the deficiency of traditional cooling water inflow-pulling rate establishing method.
Table 2 has been listed section and has been of a size of the target water yield under the different degrees of superheat under the condition that 150mmX150mm mild steel is 2.0m/min at pulling rate.As can be seen from Table 2, along with the increase of the degree of superheat, the target water yield of each section all increases to some extent.This part water yield will be eliminated because pouring temperature changes institute and cause the strand variations in temperature, and wherein liquidus temperature is 1520 ℃.
Description of drawings
Fig. 1 is the simple and easy product process figure of present billet caster.
Fig. 2 is the feedforward two cold water distribution control system block diagrams of bag continuous temperature measurement in the present invention is based on.
Fig. 3 is an impulse form.
Among the figure: 1. ladle; 2. continuous measurement of molten steel temperature device; 3. submersed nozzle; 4. tundish; 5. crystallizer; 6. meniscus; 7. backing roll; 8. liquid phase; 9. secondary cooling zone; 10. solidified shell; 11. metallurgical length; 12. flame cut point; 13. strand; 14. molten steel.
The specific embodiment
The invention will be further described below in conjunction with embodiment and accompanying drawing.
It is generally acknowledged that the casting speed and the two cold water distribution water yields have certain functional relation, in the actual motion, we find because the fluctuation of on-the-spot liquid steel temperature is big, tundish temperature temperature drop in casting process reaches casting speed greatly situations such as interference are arranged.Therefore, for the relation of considering casting speed and middle Baogang coolant-temperature gage and the two cold water distribution water yields simultaneously, be difficult to obtain precise math model, and control poor effect with traditional pid control mode.
At above problem, we sum up on-the-spot practical operating experiences, improve from following two aspects and control:
1. in order to prevent that great fluctuation process from appearring in casting blank surface temperature, the method that should be chosen at the effective pulling rate of employing in the suitable time interval for this parameter of pulling rate is handled, and when the fluctuation of pulling rate surpasses given range, change the given water yield again, a suitable delay is arranged thereby guarantee to make between the variation of the variation of the cooling circuit water yield and pulling rate;
2. the bigger situation that fluctuates may occur at pouring temperature, as feed-forward signal, realize the correction to the given water yield in two Leng Ge districts with middle Baogang coolant-temperature gage (or degree of superheat), dynamic calculation goes out two cold each section water yields.
Figure 2 shows that feedforward two cold water distribution control system block diagrams based on middle bag continuous temperature measurement, wherein two cold water allocation model parameters are obtained by the heat transfer model calculated off-line, these parameters are deposited in the computer level two owing to steel grade, section and pulling rate condition is different and different.The control model is with the preposition basis that is controlled to be under the standard cast temperature conditions, obtain the degree of superheat about the strand of different steel grades and cross dimensions correction factor by the casting blank solidification mathematical Model of Heat Transfer to each chilled(cooling) water return (CWR), with middle Baogang coolant-temperature gage (or degree of superheat) as feed-forward signal, realization is to the correction of each given water yield in loop, and dynamic calculation goes out two cold each section water yields.This control mode has solved middle Baogang coolant-temperature gage and has fluctuateed big and problem that cause by preposition feed-forward mode.
Below billet caster two cold water distribution advanced control methods are introduced in detail.
1. effective pulling rate model:
Effective pulling rate method: under nominal situation, then think and fluctuation occurs, produce a pulsewidth constantly at this and be when the pulling rate amplitude of variation surpasses certain numerical value (scene is set at 0.lm/min)
, amplitude is
Pulse signal.Pulling rate reduces corresponding positive pulse, and pulling rate increases corresponding negative pulse.As Fig. 3, a perturbation process of pulling rate (recover initial value or arrive another stationary value from beginning to change to) will produce a pair of positive negative pulse stuffing.
A first order inertial loop is passed through in this pulse:
The impulse response output that is produced
With actual pulling rate
And as effective pulling rate value
, that is:
Wherein
Be time constant, the speed of its decision charge and discharge process.
Big more, the time of transient process is long more; Otherwise the time of transient process is short more.S is a first order inertial loop.
Be generally and obtained the higher impulse response of approximation quality, requirement
, corresponding first-order system impulse response function is:
In the formula,
Be pulsewidth,
Be amplitude,
It is time constant.
Analysis above comprehensive, the definite of parameter must follow following several principles:
(1)
, be the pulling rate amplitude of variation;
（2）
；
（3）
。
By observing historical data, after multi-group data is tested, determined one group of optimum parameters value as shown in table 1.
Adopt the described effective pulling rate mode of this example when effectively eliminating the spike fluctuation, for such perturbation process, except variations in temperature is more tended to be steady, also reduced the amplitude of casting blank surface temperature fluctuation greatly, promptly carry out water distribution calculating by effective pulling rate and can compensate the casting blank surface temperature unusual fluctuations that cause owing to the pulling rate disturbance largely, two cold-zone each section variation of temperature amplitudes are reduced in various degree.
2. based on the feed forward control method of middle bag continuous temperature measurement:
When one timing of continuous casting working condition, pulling rate has decisive influence to process of setting, and high pulling rate means high production rate, and has increased the danger of bleedout simultaneously.Take into account output and security simultaneously so guarantee slab quality, change the real-time water yield that must change according to pulling rate and become the main contents that the water yield is controlled.In addition, for the different degrees of superheat, the in good time adjustment of the water yield also is different, and this just needs to consider that the degree of superheat changes the influence to water distribution quantity.Based on above analysis, the solidification and heat transfer Mathematical Modeling that technique for applying is set up is constraint with metallurgical criteria and target temperature profiles, and off-line is set up the relation between optimum water distribution quantity and the pulling rate and the degree of superheat, obtains the optimal compensation coefficient by piecewise linear regression.Bag wall heat absorption in considering simultaneously to open when watering, open water a period of time after, work present situation according to the fall off rate and the middle bag continuous temperature measurement device of liquid steel temperature, be defined in open water a period of time after, the fall off rate of liquid steel temperature is lower than a certain value, and the continuous temperature measurement value just can be introduced control system with the degree of superheat more than the liquidus temperature that the cast steel grade requires.
The cooling water inflow set-point of corresponding control loop is calculated as follows:
Total water distribution quantity:
The real-time water yield that calculates according to effective pulling rate:
Pouring temperature changes the required compensation water yield of caused strand temperature:
In the formula,
Be molten steel overheat, promptly
,
Be pouring temperature,
Be liquidus temperature;
For offline optimization obtain
The water distribution parameter in district;
,
Be penalty coefficient;
Be two cold-zone numbers;
Be the linear regression segments;
Be middle bag temperature fall off rate,
Be respectively
Corresponding constantly middle bag temperature.
Wherein the scope of linear regression segments, molten steel overheat reaches
Mainly be to determine according to the quality requirement of strand and the steel grade of casting.
The invention provides the feedforward two cold water distribution control systems based on middle bag continuous temperature measurement that realize said method, this system treats the variation of the pulling rate fluctuation and the degree of superheat as a kind of disturbance of surveying, and can be eliminated by the mode of feedforward.This system is the open-loop control system of a pulling rate, degree of superheat feedforward in essence; And obtain degree of superheat penalty coefficient by piecewise linear regression, strengthened the response speed of water distribution quantity to a certain extent to pulling rate and degree of superheat variation, make system set value the fluctuation that compensates the pulling rate and the degree of superheat by changing the water yield rapidly, overcome the deficiency of traditional cooling water inflow-pulling rate establishing method.
Described feedforward two cold water distribution control systems based on middle bag continuous temperature measurement, this system are as shown in Figure 2: be provided with pouring temperature liquidus temperature module, it links to each other with comparator input terminal by the coefficient correlation module; Be provided with pulling rate coefficient correlation module, it links to each other with comparator input terminal by two cold water allocation model modules; By the pouring temperature compensation water yield and effectively the difference of the actual flow value that obtains of the water yield that calculates of pulling rate and on-the-spot flow detection as the input of PID controller; The aperture of the output control Field adjustment valve of PID controller to regulate on-the-spot two cold-zone discharges, guarantees that finally the ejection temperature is in certain normal scope.
Described pouring temperature liquidus temperature module, its effect are to determine the liquidus temperature of cast, and be general relevant with the steel grade of on-the-spot casting machine equipment and generation.
Described coefficient correlation module is the data process linear regression processing that obtains according to observation, and offline optimization obtains the water distribution parameter.
Described comparator, its effect are the compensation water yields that pouring temperature is obtained and are compared by rate of water make-up and the detected actual amount of water of on-the-spot flow that effective pulling rate calculates.
Described pulling rate coefficient correlation module, its effect are the pulling rate that detection obtains to be carried out validation handle, and obtain effective pulling rate.
Described two cold water allocation model modules are must set up according to the water distribution parameter that the technology specialty provides.
Described PID controller, its effect are that The whole control system is carried out bias adjustment, thereby make the actual value of two cold-zones institute water requirement consistent with the predetermined value of technological requirement.
Described control valve, its effect are that the on-the-spot two cold-zone water yields are directly regulated.
Described Flow-rate adjustment object module is the water yield that is conditioned according to the technological requirement setting.
Described temperature adjusting object module is to be conditioned the ejection temperature according to what technological requirement was set.
Described flow detection module, its effect are to detect on-the-spot two cold-zone actual amount of water, and feed back to comparator.
Feedforward two cold water distribution control systems based on middle bag continuous temperature measurement provided by the invention, its course of work is: calculate the needed water yield in two cold-zones by effective pulling rate through two cold water allocation model earlier, obtain the rate of water make-up that the variation owing to pouring temperature causes by cast liquidus temperature and coefficient correlation again, both sums compare with the on-the-spot two cold-zone actual amount of water that obtain that detect, the deviation that obtains is through the effect of PID controller, the aperture of control Field adjustment valve, and then regulate the two cold-zone water yields, finally regulate the ejection temperature; Surpassed certain scope as long as calculate the deviation that the water yield and actual detected obtain the water yield, this process will be carried out repeatedly, and in certain scope, adjustment process finishes up to deviation, and it is dynamic stable that system keeps.
Among Fig. 2, in order to make this figure succinct, saved " module " literal, for example: " pouring temperature liquidus temperature module " only write as " pouring temperature liquidus temperature ".
Subordinate list
Parameter after table 1 is optimized
Amplitude of variation (
 |
0.1~0.2 | 0.2~0.3 | >0.3 |
 |
34 | 37 | 40 |
 |
0.3 | 0.3 | 0.3 |
Respectively distinguish discharge (L/min) before and after the advanced control strategy input of table 2
| The cooling zone | 0 (degree of superheat/℃) | The 30(degree of superheat/℃) | The 50(degree of superheat/℃) |
| One district | 189.54 | 190.65 | 190.94 |
| Two districts | 252.72 | 253.67 | 254.23 |
| Three districts | 126.36 | 126.86 | 127.45 |
| Four districts | 63.18 | 63.87 | 64.36 |
Claims (5)
1. billet caster two cold water distribution advanced control methods comprise the control of casting speed, middle Baogang coolant-temperature gage and the two cold water distribution water yields, it is characterized in that:
(1) should be with this parameter of casting speed according to adopting the method for effective pulling rate to handle in the time interval of process stipulation, and when surpassing given range, the fluctuation of pulling rate changes the given water yield again, preventing that great fluctuation process from appearring in casting blank surface temperature, a delay is arranged thereby guarantee to make between the variation of the variation of the cooling circuit water yield and pulling rate;
(2) the bigger situation that fluctuates may occur at pouring temperature,, as feed-forward signal the given water yield of two each sections of cold-zone be revised with middle Baogang coolant-temperature gage or the degree of superheat, dynamic calculation goes out two cold-zone each section water distribution quantities;
Through above-mentioned steps, realize control to billet caster two cold water distributions.
2. billet caster two cold water distribution advanced control methods according to claim 1, it is characterized in that effective pulling rate method is: under nominal situation, when the pulling rate amplitude of variation surpasses the on-the-spot numerical value of setting, then think fluctuation to occur, produce a pulsewidth constantly at this and be
, amplitude is
Pulse signal, pulling rate reduces corresponding positive pulse, pulling rate increases corresponding negative pulse; Realize the casting speed Parameter Optimization by following effective pulling rate model,
，
In the formula:
Be pulsewidth,
Be amplitude,
It is time constant.
3. billet caster two cold water distribution advanced control methods according to claim 2 is characterized in that the definite of casting speed parameter must follow following several principles:
(1)
, be the pulling rate amplitude of variation;
（2）
；
（3）
。
4. billet caster two cold water distribution advanced control methods according to claim 1 is characterized in that adopting with the feed forward control method of drag realization based on middle bag continuous temperature measurement:
The given water yield of two each sections of cold-zone is calculated as follows:
Total water distribution quantity:
,
The real-time water yield that calculates according to effective pulling rate:
,
Pouring temperature changes the required compensation water yield of caused strand temperature:
In the formula:
Be molten steel overheat, promptly
,
Be pouring temperature,
Be liquidus temperature;
For offline optimization obtain
The water distribution parameter in district;
,
Be penalty coefficient;
Be two cold-zone numbers;
Be the linear regression segments;
Be middle bag temperature fall off rate,
Be respectively
Corresponding constantly middle bag temperature.
5. billet caster two cold water distribution advanced control methods according to claim 4 is characterized in that the scope of described linear regression segments, molten steel overheat reaches
Should determine according to the quality requirement of strand and the steel grade of casting.
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