CN102220450A - Automatic positioning and controlling method for oxygen lance of converter - Google Patents
Automatic positioning and controlling method for oxygen lance of converter Download PDFInfo
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- CN102220450A CN102220450A CN2011102072104A CN201110207210A CN102220450A CN 102220450 A CN102220450 A CN 102220450A CN 2011102072104 A CN2011102072104 A CN 2011102072104A CN 201110207210 A CN201110207210 A CN 201110207210A CN 102220450 A CN102220450 A CN 102220450A
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Abstract
The invention relates to an automatic positioning and controlling method for an oxygen lance of a converter. The method comprises the following steps of: setting the relative height set value of the oxygen lance and acquiring the relative height actual value of the oxygen lance by an absolute value encoder detecting calculation method; calculating a deviation value, wherein the deviation value is acquired by subtracting the relative height actual value from the relative height set value; lifting the oxygen lance at a high speed when the deviation value is greater than 0; descending the oxygen lance at a high speed when the deviation value is less than 0; limiting the rising or falling speed of the oxygen lance at a low speed when the deviation value is less than a first threshold value and greater than a second threshold value; limiting the rising or falling speed of the oxygen lance at an ultralow speed when the deviation value is less than the second threshold value; stopping lifting the oxygen lance when the deviation value is less than a third threshold value; and stopping descending the oxygen lance when the deviation value is greater than a negative fourth threshold value. The automatic positioning and controlling method provided by the invention can quickly and accurately position the oxygen lance at the specified relative height, completely avoiding the overshoot and oscillation.
Description
Technical field
The present invention relates to the accurate automatic localized control method in the converter oxygen lance lifting process in the metallurgical process for making.
Background technology
In converter steelmaking is produced, the localized accuracy of oxygen rifle is directly connected to the generation of decarburization, slag making, intensification and splash in the steelmaking process, finally can influence the liquid steel temperature and the carbon content of blow end point, simultaneously, production safety and furnace life, rifle also be had very big influence age.Therefore, must control the rifle position of oxygen rifle well, steelmaking process is steadily carried out.In whole converting process, the distance (being called relative height) between oxygen rifle rifle head and the converter molten pool liquid level is constantly to change, according to setting some different relative heights in initial stage, mid-term and the latter stage of blowing.The oxygen rifle can free lifting in converting process for processing requirement, and oxygen lance lifting velocity curve according to the rules controls, and can stop at exactly on the position of regulation, requires to have high orientation precision and safety performance reliably.
Traditional oxygen rifle Automatic Positioning Control adopts the pid loop regulative mode, is difficult to the rapidity of the system that takes into account and the requirement aspect the control accuracy in control process, is easy to generate the hyperharmonic concussion.
Summary of the invention
Technical problem to be solved by this invention provides a kind of oxygen rifle automatic positioning control method, can quickly and accurately the oxygen rifle be positioned at the relative height of regulation, has avoided the hyperharmonic concussion fully.
For solving the problems of the technologies described above, technical scheme of the present invention is achieved in that it may further comprise the steps:
The relative height set(ting)value of step 1, setting oxygen rifle,
Further, described step 4 also comprises, when deviate during less than first threshold and greater than second threshold value, the rising or falling speed of oxygen rifle is restricted to low speed.
As optimization, described step 4 also comprises, when deviate during less than second threshold value, the rising or falling speed of oxygen rifle is restricted to Ultra-Low Speed.
Further, described step 4 also comprises, when carrying rifle, when deviate stops during less than the 3rd threshold value; During following rifle, when deviate stops during greater than negative the 4th threshold value.
As preferred version, described high speed is 40 ± 10%m/min, and low speed is 10 ± 10% m/min, and Ultra-Low Speed is 5 ± 10% m/min.
As preferred version, described first threshold is set to 100 ± 10cm, and second threshold value equals 30 ± 5cm, and the 3rd threshold value is set to 2 ± 10%cm, and described the 4th threshold value equals 3 ± 10%cm.
Best, further comprising the steps of: as to increase or reduce the relative height set(ting)value of oxygen rifle, perhaps reset the relative height set(ting)value of oxygen rifle.
Based on above-mentioned control method, the inventive method has precise control, realization is easy, system is simple, reliable advantage, and it can navigate to specified location with the oxygen rifle quickly and accurately automatically.Control accuracy≤± 1cm.
Description of drawings
Below in conjunction with the drawings and specific embodiments technical scheme of the present invention is further described in detail.
Fig. 1 is an oxygen rifle localization method programflow chart.
Embodiment
The related hardware device of this embodiment comprises: PLC module S7-400, frequency transformer select the 6SE70 frequency transformer of Siemens Company for use, and by Profibus-DP net and PLC communication.Absolute value encoder is housed on the oxygen rifle motor transmission shaft detects oxygen rifle height, also be furnished with band-type brake (by the Frequency Converter Control band-type brake) on the motor transmission shaft.The related oxygen lance lifting speed of this embodiment is: high speed 40m/min, low speed 10m/min, Ultra-Low Speed 5m/min.During oxygen lance lifting, by the pick-up period 5s of V=0m/min raising speed to V=40m/min; V=40m/min decelerates to 3s deceleration time of V=0m/min.
The relative height actual value Hx that obtains the oxygen rifle by absolute value encoder detection and corresponding algorithm is described below.
Absolute value encoder is contained on the oxygen rifle motor transmission shaft, and motor transmission shaft drives reel by step-down gear and rotates, and the wireline on reel drives oxygen rifle dolly along lifting rail, and the oxygen rifle then is fixed on the dolly.Relative height actual value Hx by following arithmetic calculation oxygen rifle:
Hx=（Nh－Nx）×B×3.1416×（D+d）/?Np－Hr （1）
In the formula (1):
The Hx-relative height;
Nh-changes rifle point conversion umber of pulse;
Nx-encoder current position umber of pulse;
The B-drum shaft is to the reduction ratio of motor shaft;
The D-drum diameter;
The d-wirerope diameter;
The every circle umber of pulse of Np-encoder;
Hr-bath surface height;
For guaranteeing the accuracy of absolute value encoder detection signal, prevent progressive error, will carry out encoder calibration automatically after changing rifle point rising to.
In whole oxygen lance lifting global extent, oxygen rifle height generally is provided with following process point (arranging from high to low): change the rifle point, nitrogen seals, and scrapes the slag point, and point to be blown is opened oxygen point, closes oxygen point, blowing point, lower-most point etc.
In whole oxygen lance lifting process, the oxygen rifle is used at a high speed or low speed elevation according to different height location.Specify as follows:
Following rifle process: change rifle point → nitrogen and seal (low speed), nitrogen seals → blows point (at a high speed), blowing point following (low speed).
Put forward the rifle process: blowing point following (low speed), blowing point → point to be blown (at a high speed) waits to blow a little above (low speed).
Under automated manner, at first should manually import the height (relative value) that the oxygen rifle will arrive at, press " blowing beginning " button then, the oxygen rifle descends automatic high speed, and when opening oxygen point, the oxygen cutting valve is opened automatically, the beginning oxygen blast, transfer low speed to after dropping to the blowing point, stop after the relative height that arrival is set at last, begin blowing.In converting process, the operator can change oxygen rifle relative height set(ting)value at any time and confirm, oxygen rifle automatic lifting once more stops behind the height of setting, or by crawl rising (decline) button rapid adjustment oxygen rifle height, whenever by next time, oxygen rifle (decline) 10cm that will rise.After blowing is finished, press " finishing blowing " button, the oxygen rifle is carried rifle with automatic high speed, and during to the pass oxygen point, the oxygen cutting valve cuts out automatically, stops oxygen blast, continues to carry rifle at a high speed and stops after waiting to blow a little.In whole converting process, oxygen rifle height setting value both can manually be imported, and also can obtain according to the rifle position curve that configures in advance.
This embodiment as shown in Figure 1 may further comprise the steps:
Step 5, send oxygen rifle climb command, the oxygen rifle rises according to the pulling speed of processing requirement;
Step 6, whether judge deviate less than 0, if, performing step 7; Otherwise, return step 2 and carry out;
Step 9, restriction rising or falling speed are low speed;
In step 12, the oxygen rifle uphill process, whether judge deviate less than the 3rd threshold value, if, performing step 14; Otherwise, return step 2 and carry out;
In step 13, the oxygen rifle decline process, whether judge deviate greater than the 4th negative threshold value, if, performing step 14; Otherwise, return step 2 and carry out;
In the relative height set(ting)value that increases or reduce the oxygen rifle, perhaps reset the relative height set(ting)value of oxygen rifle after, repeat above-mentioned steps, promptly realize the oxygen rifle Automatic Positioning Control of oxygen rifle blowing whole process.
It should be noted last that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (8)
1. a converter oxygen gun automatic positioning control method is characterized in that, may further comprise the steps:
The relative height set(ting)value of step 1, setting oxygen rifle,
Step 2, the relative height actual value that absolute value encoder detection computations method obtains the oxygen rifle of passing through;
Step 3, calculation deviation value, deviate equal described relative height set(ting)value and deduct described relative height actual value;
Step 4, judge, when deviate greater than 0 the time, carry rifle at a high speed; Deviate was less than 0 o'clock, and high speed is rifle down.
2. converter oxygen gun automatic positioning control method according to claim 1 is characterized in that, described step 4 also comprises, when deviate during less than first threshold and greater than second threshold value, the rising or falling speed of oxygen rifle is restricted to low speed.
3. converter oxygen gun automatic positioning control method according to claim 2 is characterized in that, described step 4 also comprises, when deviate during less than second threshold value, the rising or falling speed of oxygen rifle is restricted to Ultra-Low Speed.
4. converter oxygen gun automatic positioning control method according to claim 3 is characterized in that, described step 4 also comprises, when carrying rifle, when deviate stops during less than the 3rd threshold value; During following rifle, when deviate stops during greater than negative the 4th threshold value.
5. converter oxygen gun automatic positioning control method according to claim 4 is characterized in that, described high speed is 40 ± 10%m/min, and low speed is 10 ± 10% m/min, and Ultra-Low Speed is 5 ± 10% m/min.
6. according to claim 4 or 5 described converter oxygen gun automatic positioning control methods, it is characterized in that described first threshold is set to 100 ± 10cm, second threshold value equals 30 ± 5cm, and the 3rd threshold value is set to 2 ± 10%cm, and described the 4th threshold value equals 3 ± 10%cm.
7. according to the described converter oxygen gun automatic positioning control method of one of claim 1 to 5, it is characterized in that, further comprising the steps of: as to increase or reduce the relative height set(ting)value of oxygen rifle, perhaps reset the relative height set(ting)value of oxygen rifle.
8. converter oxygen gun automatic positioning control method according to claim 6 is characterized in that, and is further comprising the steps of: increase or reduce the relative height set(ting)value of oxygen rifle, perhaps reset the relative height set(ting)value of oxygen rifle.
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| CN2011102072104A CN102220450A (en) | 2011-07-22 | 2011-07-22 | Automatic positioning and controlling method for oxygen lance of converter |
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| CN2011102072104A CN102220450A (en) | 2011-07-22 | 2011-07-22 | Automatic positioning and controlling method for oxygen lance of converter |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103194571A (en) * | 2013-04-11 | 2013-07-10 | 莱芜钢铁集团有限公司 | Automatic calibration device for converter oxygen lance encoder |
| CN105200181A (en) * | 2015-09-24 | 2015-12-30 | 武汉钢铁(集团)公司 | Positioning control system for oxygen lance device |
| CN105907918A (en) * | 2016-07-05 | 2016-08-31 | 中冶赛迪电气技术有限公司 | Control system and method for improving operation safety of converter oxygen lance |
| CN107641677A (en) * | 2017-11-08 | 2018-01-30 | 辽宁科技大学 | A kind of method for preventing skidding of wheels of converter oxygen gun |
| CN111235343A (en) * | 2020-03-02 | 2020-06-05 | 马鞍山钢铁股份有限公司 | Position maintaining control method for oxygen lance without counterweight |
| CN111424137A (en) * | 2020-04-13 | 2020-07-17 | 攀钢集团攀枝花钢钒有限公司 | Gun position control method and system of MFB gun |
| CN111926138A (en) * | 2020-08-13 | 2020-11-13 | 北京首钢自动化信息技术有限公司 | Method and device for controlling height of oxygen lance |
| CN114593610A (en) * | 2022-03-04 | 2022-06-07 | 爵翔(上海)能源科技有限公司 | Spray gun, position adjusting method thereof and metal smelting equipment |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103194571A (en) * | 2013-04-11 | 2013-07-10 | 莱芜钢铁集团有限公司 | Automatic calibration device for converter oxygen lance encoder |
| CN103194571B (en) * | 2013-04-11 | 2015-07-15 | 莱芜钢铁集团有限公司 | Automatic calibration device for converter oxygen lance encoder |
| CN105200181A (en) * | 2015-09-24 | 2015-12-30 | 武汉钢铁(集团)公司 | Positioning control system for oxygen lance device |
| CN105907918A (en) * | 2016-07-05 | 2016-08-31 | 中冶赛迪电气技术有限公司 | Control system and method for improving operation safety of converter oxygen lance |
| CN107641677A (en) * | 2017-11-08 | 2018-01-30 | 辽宁科技大学 | A kind of method for preventing skidding of wheels of converter oxygen gun |
| CN107641677B (en) * | 2017-11-08 | 2019-04-05 | 辽宁科技大学 | A kind of method for preventing skidding of wheels of converter oxygen gun |
| CN111235343A (en) * | 2020-03-02 | 2020-06-05 | 马鞍山钢铁股份有限公司 | Position maintaining control method for oxygen lance without counterweight |
| CN111424137A (en) * | 2020-04-13 | 2020-07-17 | 攀钢集团攀枝花钢钒有限公司 | Gun position control method and system of MFB gun |
| CN111926138A (en) * | 2020-08-13 | 2020-11-13 | 北京首钢自动化信息技术有限公司 | Method and device for controlling height of oxygen lance |
| CN111926138B (en) * | 2020-08-13 | 2022-04-12 | 北京首钢自动化信息技术有限公司 | Method and device for controlling height of oxygen lance |
| CN114593610A (en) * | 2022-03-04 | 2022-06-07 | 爵翔(上海)能源科技有限公司 | Spray gun, position adjusting method thereof and metal smelting equipment |
| CN114593610B (en) * | 2022-03-04 | 2024-03-08 | 爵翔(上海)能源科技有限公司 | Spray gun, position adjusting method thereof and metal smelting equipment |
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Application publication date: 20111019 |