CN102059333B - Advanced secondary cooling water control system of billet continuous casting machine - Google Patents

Advanced secondary cooling water control system of billet continuous casting machine Download PDF

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CN102059333B
CN102059333B CN2010105474576A CN201010547457A CN102059333B CN 102059333 B CN102059333 B CN 102059333B CN 2010105474576 A CN2010105474576 A CN 2010105474576A CN 201010547457 A CN201010547457 A CN 201010547457A CN 102059333 B CN102059333 B CN 102059333B
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water
temperature
cold
module
pulling rate
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CN2010105474576A
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CN102059333A (en
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陈泽望
苏瑞淼
邱习剑
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中冶南方工程技术有限公司
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Abstract

The invention discloses an advanced secondary cooling water control system of a billet continuous casting machine, which is a feedforward secondary cooling water control system based on the continuous temperature measurement in tundish. The control system is a casting speed and superheat-degree feedforward open-loop control system, and comprises a casting temperature liquidus temperature module and a casting speed correlation coefficient module, wherein the casting temperature liquidus temperature module is connected with the input end of a comparer by a correlation coefficient module, and the casting speed correlation coefficient module is connected with the input end of the comparer by a secondary cooling water model module. The comparer takes the differences between the casting temperature compensation water quantity and the supplementary water quantity obtained by the effective casting speed calculation, and the practical flow value obtained from the field flow detection as the input of a PID (Proportional Plus Integral Plus Derivative Controller) controller; the output of the PID controller controls the opening degree of a field regulating valve to regulate the field secondary cooling area water flow and finally to ensure the ejection temperature within the preset range of the process. The invention can prevent the surface temperature of a cast blank from generating overlarge fluctuation, and can dynamically calculate each section water quantity of the secondary cooling so as to create conditions for the stability, the smooth running, the high yield and the low consumption of the billet continuous casting machine.

Description

System is controlled in billet caster two cold water distributions
Technical field
The present invention relates to blast furnace automatic control technology field, particularly relate to a kind of billet caster two cold water distributions and control system.Relate generally to accurate, the stable control of billet caster two cold water distribution system Zhong Ge district water distribution quantities, eliminate pouring temperature and change influence 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 the continuous casting installation for casting that is adopted at present 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 the preposition control of employing 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 with the variation of pulling rate continuously.This kind method is the basis with 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 combination certain mathematical Study of model; Determine the relation of the pulling rate and the two cold water distribution water yields, and with the stored in form of water distribution table in computer, after this accomplish 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: the method that adopts the specific water; Promptly according to ( =1; 2; 3; 4 which district of expression; is and distinguishes the water yield; is pulling rate; the corresponding coefficient in district that is , after herewith) confirm respectively to distinguish the cooling section water yield;
Parameter control:, carry out water distribution by according to steel grade.The water distribution parameter in pre-set 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 PLC control system can remain pulling rate.
It is only relevant with the water yield and pulling rate that above-mentioned two cold water distribution PLC control system, do not have the feedback of slab quality, thereby belong to open-loop control system.Because model serves as that the basis obtains according to the given water yield of pulling rate calculated off line gained with the target water yield; 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: the adaptability to changes to working condition changes is relatively poor; 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, causes the remarkable fluctuation of casting blank surface temperature, causes 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 like 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 keeping watch on; 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 to casting speed and middle Baogang coolant-temperature gage, provide a kind of billet caster two cold water distributions to control system, 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:
System is controlled in billet caster two cold water distributions provided by the invention; Be that system is controlled in a kind of feedforward two cold water distributions based on middle bag continuous temperature measurement; This system is the open-loop control system of a pulling rate, degree of superheat feedforward; The structure of this system is: be provided with pouring temperature liquidus temperature module, it links to each other with comparator input terminal through the coefficient correlation module; Be provided with pulling rate coefficient correlation module, it links to each other with comparator input terminal through two cold water allocation model modules; This comparator compensates pouring temperature for the water yield and the difference of the actual flow value that the rate of water make-up that calculated by effective pulling rate and on-the-spot flow detection obtain 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 the scope of technique initialization.
Said pouring temperature liquidus temperature module is a liquidus temperature of confirming cast, and relevant with the steel grade of on-the-spot casting machine equipment and generation.
Said coefficient correlation module is the data process linear regression processing that obtains according to observation, and offline optimization obtains the water distribution parameter and sets.
Said two cold water allocation model modules are to set up according to the water distribution parameter that technology provides.
The present invention is provided with the flow detection module, and it is used to detect the actual amount of water of on-the-spot two cold-zones, and detected actual amount of water is fed back to comparator.
Said system provided by the invention, it is in the application of the control that realizes billet caster two cold water distribution processes.
When native system is used; Earlier calculate the needed water yield in two cold-zones by effective pulling rate through two cold water allocation model modules, obtain the rate of water make-up that the variation owing to pouring temperature causes by pouring temperature liquidus temperature module and coefficient correlation module again, the detected two cold-zone actual amount of water of both sums and flow detection module compare; 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.
The present invention compared with prior art has following main beneficial effect:
One of which. great fluctuation process appearred in order to prevent casting blank surface temperature; In the suitable time interval, adopt the method for effective pulling rate to handle for this selection of parameter of pulling rate; 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 variation and pulling rate of the cooling circuit water yield.
They are two years old. and the bigger situation that fluctuates possibly occur to 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 compensate the fluctuation of the pulling rate and the degree of superheat through changing water yield setting value 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.Can find out that 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
Below in conjunction with embodiment and accompanying drawing the present invention is described further.
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,, be difficult to obtain precise math model for the relation of considering casting speed and middle Baogang coolant-temperature gage and the two cold water distribution water yields simultaneously, and with traditional PID controller control mode control poor effect.
To 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 variation and pulling rate of the cooling circuit water yield;
2. the bigger situation that fluctuates possibly occur to 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.
Shown in Figure 2 is to control system block diagrams based on the feedforward two cold water distributions of 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 through 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 through preposition feed-forward mode.
Billet caster two cold water distribution advanced control systems provided by the invention; Be that system is controlled in a kind of feedforward two cold water distributions based on middle bag continuous temperature measurement; This system treats the variation of the pulling rate fluctuation and the degree of superheat as a kind of disturbance of surveying, can eliminate through 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 through 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 overcome the deficiency of traditional cooling water inflow-pulling rate establishing method rapidly through changing the fluctuation that water yield setting value compensates the pulling rate and the degree of superheat.
System is controlled in said feedforward two cold water distributions based on middle bag continuous temperature measurement, and this system is as shown in Figure 2: be provided with pouring temperature liquidus temperature module, it links to each other with comparator input terminal through the coefficient correlation module; Be provided with pulling rate coefficient correlation module, it links to each other with comparator input terminal through two cold water allocation model modules; The difference of the actual flow value that the water yield that is calculated by the pouring temperature compensation water yield and effective pulling rate and on-the-spot flow detection obtain is 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.
Said pouring temperature liquidus temperature module, its effect are to confirm the liquidus temperature of cast, and be general relevant with the steel grade of on-the-spot casting machine equipment and generation.
Said coefficient correlation module is the data process linear regression processing that obtains according to observation, and offline optimization obtains the water distribution parameter.
Said 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.
Said 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.
Said two cold water allocation model modules are must set up according to the water distribution parameter that the technology specialty provides.
Said 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.
Said control valve, its effect are that the on-the-spot two cold-zone water yields are directly regulated.
Said Flow-rate adjustment object module is the water yield that is conditioned according to the technological requirement setting.
Said temperature adjusting object module is to be conditioned the ejection temperature according to what technological requirement was set.
Said flow detection module, its effect are to detect on-the-spot two cold-zone actual amount of water, and feed back to comparator.
System is controlled in feedforward two cold water distributions 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, and the deviation that obtains is controlled the aperture of Field adjustment valve through the effect of PID controller; 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 is just carried out repeatedly, and in certain scope, adjustment process finishes up to deviation, and it is dynamic stable that system keeps.
Billet caster two cold water distribution advanced control systems provided by the invention can be made contributions for realizing billet caster two cold water distribution advanced control methods.
Below billet caster two cold water distribution advanced control methods are introduced.
1. effective pulling rate model:
Effective pulling rate method: under nominal situation; Then think and fluctuation occurs when the pulling rate amplitude of variation surpasses certain numerical value (scene is set at 0.lm/min); Produce a pulsewidth constantly for at this, amplitude is the pulse signal of .Pulling rate reduces corresponding positive pulse, and pulling rate increases corresponding negative pulse.Like 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 that produced output and actual pulling rate and as effectively pulling rate value , that is: .Wherein is time constant, the speed of its decision charge and discharge process. is big more, and 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; Require , corresponding first-order system impulse response function is: .In the formula; is pulsewidth; is amplitude, and is time constant.
Analysis above comprehensive, Determination of Parameters must be followed following several principles:
(1) is the pulling rate amplitude of variation;
(2)
(3)
Through observing historical data, after multi-group data is made an experiment, confirmed one group of optimum parameters value as shown in table 1.
Adopt the described effective pulling rate mode of this instance 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 carried out water distribution calculating through 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 through piecewise linear regression.Bag wall heat absorption in considering simultaneously to open when watering; Open water a period of time after; According to the work present situation of 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 the 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:
Where, is the superheat, ie , as the pouring temperature, is liquidus temperature;? offline optimized first district water distribution parameters; , for the compensation factor; is the number of the secondary cooling zone; is a linear regression number of segments; as the temperature dropped packet rate, were time corresponding to the temperature in the package.
Wherein the scope of linear regression segments, molten steel overheat and confirm with the steel grade of casting according to the quality requirement of strand.
Among Fig. 2, succinct in order to make this figure, 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/℃) 30 (degree of superheat/℃) 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 (6)

1. system is controlled in billet caster two cold water distributions; It is characterized in that the cold water distributions control of a kind of feedforward two based on middle bag continuous temperature measurement system; This system is the open-loop control system of a pulling rate, degree of superheat feedforward; The structure of this system is: be provided with pouring temperature liquidus temperature module, it links to each other with comparator input terminal through the coefficient correlation module; Be provided with pulling rate coefficient correlation module, it links to each other with comparator input terminal through two cold water allocation model modules; Be provided with the flow detection module, it detects the actual amount of water of on-the-spot two cold-zones, and detected actual amount of water is fed back to comparator; This comparator compensates pouring temperature for the water yield and the difference of the actual flow value that the rate of water make-up that calculated by effective pulling rate and on-the-spot flow detection obtain 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 the scope that the technology specialty is set.
2. system is controlled in billet caster two cold water distributions according to claim 1, it is characterized in that said pouring temperature liquidus temperature module, is the liquidus temperature of confirming cast, and relevant with the steel grade of on-the-spot casting machine equipment and generation.
3. system is controlled in billet caster two cold water distributions according to claim 1, it is characterized in that said coefficient correlation module, is the data process linear regression processing that obtains according to observation, and offline optimization obtains the water distribution parameter and sets.
4. system is controlled in billet caster two cold water distributions according to claim 1, it is characterized in that said two cold water allocation model modules are to set up according to the water distribution parameter that technology provides.
5. the purposes of the said system of arbitrary claim in the claim 1 to 4 is characterized in that the application in the control that realizes billet caster two cold water distribution processes.
6. purposes according to claim 5; It is characterized in that: calculate the needed water yield in two cold-zones by effective pulling rate through two cold water allocation model modules earlier; Obtain the rate of water make-up that the variation owing to pouring temperature causes by pouring temperature liquidus temperature module and coefficient correlation module again; The detected two cold-zone actual amount of water of both sums and flow detection module compare, and the deviation that obtains is controlled the aperture of Field adjustment valve through the effect of PID controller; 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.
CN2010105474576A 2010-11-17 2010-11-17 Advanced secondary cooling water control system of billet continuous casting machine CN102059333B (en)

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CN102794425A (en) * 2012-07-16 2012-11-28 中冶连铸技术工程股份有限公司 Control method of three-dimensional dynamic water distribution
CN103008597A (en) * 2012-12-31 2013-04-03 内蒙古包钢钢联股份有限公司 System and method for automatically controlling second cooling of continuous casting
CN103071774B (en) * 2013-01-24 2014-07-23 北京科技大学 Method for controlling surface temperature of casting blank at straightening point of continuous casting machine
CN104084553B (en) * 2014-07-24 2016-06-22 山西太钢不锈钢股份有限公司 Continuous cast mold soft water automatic regulating system
CN105867123A (en) * 2016-04-05 2016-08-17 上海十三冶建设有限公司 PID parameter searching optimization control method for continuous casting secondary cooling water distribution
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