CN102419553A - Hydraulic servo system digital model of cold continuous rolling temper mill and fault indicating method - Google Patents
Hydraulic servo system digital model of cold continuous rolling temper mill and fault indicating method Download PDFInfo
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- CN102419553A CN102419553A CN2010102958869A CN201010295886A CN102419553A CN 102419553 A CN102419553 A CN 102419553A CN 2010102958869 A CN2010102958869 A CN 2010102958869A CN 201010295886 A CN201010295886 A CN 201010295886A CN 102419553 A CN102419553 A CN 102419553A
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Abstract
The invention relates to a hydraulic servo system digital model of a cold continuous rolling temper mill and a fault indicating method. The hydraulic servo system digital model of the cold continuous rolling temper mill is characterized by comprising three submodels, namely a hydraulically controlled pushing-upward cylinder servo system digital model, a hydraulically controlled roll bending system digital model of a working roll and an intermediate roll and a hydraulically controlled axial roll shifting system digital model of the intermediate roll or the working roll. The hydraulic servo system digital model of the cold continuous rolling temper mill has the advantages that the precision degree approaches a real system to the greatest extent; element parameters at the bottommost layer can be set as for each hydraulic element in the digital model; and a known fault symptom of the hydraulic system of one kind of temper mill can be accurately reproduced through parameter adjustment, and the effect of rapid fault diagnosis and indication can be achieved by utilizing the convenience, rapidity and repeatability of a virtual test of the hydraulic servo system digital model of the temper mill.
Description
[technical field]
The present invention relates to the cold rolling company of fine-rolling strip steel and move back the method for diagnosing faults of the hydraulic servo control system of unit planisher, belong to the Steel Rolling Control technical field.Specifically, be a kind of cold continuous rolling planisher Hydrauservo System digital model and fault prognosis method based on the structure function digital model.
[background technology]
The critical component that cold-strip steel connects the Hydrauservo System move back the unit planisher mainly comprises: (1) hydrostatic control push to the cylinder servo-drive system; (2) working roll of hydrostatic control and intermediate calender rolls roller system; (3) the axial roll shifting system of the intermediate calender rolls of hydrostatic control or working roll.The system of pushing to is the position and the Force control system of hydraulic servo, cooperates the extensibility of control band steel with jockey pulley before and after the planisher, and the while is according to a plate shape of the FEEDBACK CONTROL deviation of plate shape roller; The roller system is the Force control system of hydraulic servo, through the bending control secondary plate shape of working roll and intermediate calender rolls; The roll shifting system is actual to be the position control system of Hydraulic Servo Control, through changing the plate shape deviation of roll surface of contact control high order.Therefore, the Hydrauservo System of planisher connects for cold-strip steel and moves back that important indicator such as mechanical performance of products, plate shape plays crucial effects in the unit production.Continuous increase along with milling train electrohydraulic servo system equipment complexity has proposed increasingly high requirement to plant maintenance, because in case break down, will cause the chain type chain reaction, gently then causes product quality to descend, and is heavy then cause enormous economic loss.
The modeling method of traditional Hydrauservo System mathematical model is the Simulink module that adopts based on Matlab software mostly; The characteristics of this method are that the mathematic(al) representation through transport function can well show the transitive relation between the control system input and output, but still can not really express the hardware physical attribute in the control of hydraulic system component-level at present.In addition; In electrohydraulic servo system; Many components and parts such as servo-valve, servo-cylinder and motor etc. all have the nonlinear time-varying link, and mathematical model is very complicated with the cause-effect relationship that breaks down, disease million characterize and reason between often exist various couplings overlapping with intersect hinge and concern.A fault disease million in the actual hydraulic pressure engineering has multiple possible cause; Adopt control characteristic that Hydraulic System Simulation mathematical model that general modeling means set up can only representation system to this one-level of transport function; Be can't carry out the parameter setting of system element level structure function and express malfunction more really, let alone the fault prognosis function of system.Therefore; Need to propose a kind of structure function digital model and the modeling method that can express planisher hydraulic system component-level control physical attribute; And, realize the method for planisher hydraulic system fault indication through setting up the digital model virtual test platform of planisher hydraulic system.
[summary of the invention]
The purpose of this invention is to provide a kind of hydraulic servo control system of the planisher field that is used for fine-rolling strip steel production the structure function digital model, use a kind of virtual test platform that this digital model is realized, and use this platform carries out fault diagnosis and indication to the planisher Hydrauservo System method.This digital model has adopted multidisciplinary software collaboration modeling technique, and the applicant does not find to have published similarly planisher hydraulic system structure functionalization digital model on the publication at home and abroad, wherein relates to original creation such as system's software parameter number is provided with technology.
The objective of the invention is to realize through following technical scheme.
A kind of cold continuous rolling planisher Hydrauservo System digital model is made up of three parton models; (1) hydrostatic control pushes to cylinder servo-drive system digital model; (2) working roll of hydrostatic control and intermediate calender rolls roller system digits model; (3) the axial roll shifting system digits model of the intermediate calender rolls of hydrostatic control or working roll;
(1) pushes to cylinder Hydrauservo System digital model
Push to cylinder Hydrauservo System digital model and include mechanical system, AGC hydraulic valve bank (transmission side and fore side), intermediate relief valve group and control system; Mechanical system is used for the adjustment control of analog rolling process roll gap, the distortion of steel plate, and backing roll system, intermediate calender rolls system and working roll are the affirmation of weight, push to the affirmation of cylinder size and are used for position control and the layout of the sensor of power control.
Wherein, the mechanical system digital model is as shown in Figure 1, and this system is made up of six elements, is followed successively by zero velocity source 1, Elastic Contact end 2, force transducer 3, displacement transducer 4, mass 5 from top to bottom and pushes to hydraulic cylinder 6 by shown in Figure 1.The Elastic Contact members is used for simulating the Elastic Contact power of two objects when carrying out linear movement, if two object not contacts each other, then these two objects independently move separately; When both come in contact; Then just producing a contact force acts on two objects; This power includes elastic force and damping force, its objective is that analog operation roller and steel plate are doing the elastic effect that the one-dimensional linear motion is produced when colliding, through the numerical value of adjustment contact stiffness; Just can confirm compression what millimeter the time produce how many big power values, the situation when making its approaching actual rolled plate.The effect of force transducer and displacement transducer is to give control system with roll-force and the Displacement Feedback of pushing to cylinder piston rod.Mass is used for specifically being defined as the weight that is used in the backing roll system, intermediate calender rolls system and the working roll system that push to above the cylinder.
The one-sided digital model of AGC hydraulic valve bank system is referring to shown in Figure 2; This system mainly is made up of seven elements, is followed successively by nozzle baffle type force feedback servo valve 7, inserted valve 8, surplus valve 9, hydraulic control one-way valve 10, hydraulic control one-way valve 11, solenoid directional control valve 12, solenoid directional control valve 13.
Intermediate relief valve group digital model mainly is made up of eight elements referring to shown in the figure, is followed successively by proportional reversing valve 14, surplus valve 15, accumulator 16, hydraulic control one-way valve 17, solenoid directional control valve 18, surplus valve 19, servo-valve 20, proportional reversing valve 21.
The control system of pushing to servo-drive system is divided into position control and roll-force control dual mode; The total figure of control system is as shown in Figure 4, and (22 and 23 is the roll-force feedback signal among the figure; 24 for pushing to cylinder Displacement Feedback signal; 25 is fast forwarding and fast rewinding hydraulic lock operation valve input signal, and 26 is the proportional reversing valve input signal, and 27 is nozzle baffle type servo-valve input signal).Wherein open loop control algolithm in position does not have PID control, through SS different current signals is delivered in the corresponding valve.
(2) working roll and intermediate calender rolls roller system digits model
Working roll of having set up and intermediate calender rolls roller system digits model include mechanical system and hydraulic system.Mechanical system is used for confirming size, roller force measurement and the simulation roller process of hydraulic cylinder, and its digital model mainly is made up of four elements: spring-damper, force transducer, mass and hydraulic cylinder, and referring to shown in Figure 1.The model of hydraulic system is as shown in Figure 5, and model mainly is made up of six elements, is respectively nozzle baffle type force feedback servo valve 28, surplus valve 29, surplus valve 30, solenoid directional control valve 31, pressure transducer 32 and throttling valve 33.
(3) the axial roll shifting system digits of intermediate calender rolls model
Its one-sided digital model of the axial roll shifting system digits of intermediate calender rolls model of setting up is as shown in Figure 6; Mainly form, be that hydraulic cylinder 34, quality are fast 35 respectively, surplus valve 36, hydraulic control one-way valve 37, servo-valve 38, hydraulic control one-way valve 39 and damping hole 40 by six kinds of elements.
The characteristics of the planisher Hydrauservo System digital model that the present invention set up are: (1) Hydrauservo System mathematical model different from the past is set up means.It is through multidisciplinary software collaboration modeling technique; A whole set of Hydrauservo System of planisher (working roll of pushing to cylinder servo-drive system, hydrostatic control of hydrostatic control and the intermediate calender rolls of intermediate calender rolls roller system and hydrostatic control or working roll axial roll shifting system) is integrated, formed the structure function digital model of the complete planisher Hydrauservo System of a cover.(2) planisher Hydrauservo System mathematical model different from the past sets up thinking.It all in digital model, show the physical attribute of its structure function really, and the accuracy of its physical attribute can farthest be approached real system corresponding to each Hydraulic Elements in the real system.(3) be different from the method for building up of existing Hydrauservo System mathematical model; It is corresponding to each Hydraulic Elements of planisher hydraulic system; All can do from the structure function parameter setting of the bottom, this structure function parametrization method to set up has guaranteed the accuracy of digital model.
The virtual test platform that relies on above-mentioned planisher Hydrauservo System digital model to set up the invention allows for a kind of method that is used for the planisher hydraulic fault is carried out fault diagnosis and indication; The step of its technical scheme is:
On the fault virtual test platform that planisher Hydrauservo System digital model comes, at first to adopt online real time record appearance to carry out rolling mill fault characteristic actual observation record sampling, set up proprietary fault signature storehouse.To the fault that in the planisher real work, takes place, the characteristic curve when noting fault and taking place, is pushed to the failure symptoms such as abnormality variation of cylinder displacement curve at the for example unusual fluctuations of roll-force curve.According to situation about in physical fault, occurring distinguish the true from the false with Module Division after; Can be in the digital model of fault virtual test platform; Adopt corresponding digital module; Directly to causing that the element of this fault carries out the fault parameter setting; Through comparing and combine field engineer's experience repeatedly, make every effort to the characteristic feature of this fault of reproduction in the virtual test data and curves of the digital model of controlling, and the curve that the real time record appearance is noted in a curve that emulation obtains in digital model and the practical work process compares; After finding those group data of comparing the most close with actual curve, the pairing element of revising parameter of that sets of curves just might be to cause this cause faults.Utilize this digital model component-level hardware parameter method to set up, the computation process and the l-G simulation test number of times that can repeat in a large number fast easily; Can conveniently analyze the system failure at engineering site; Find out the possible source of trouble and in digital model, simulate the pairing different faults curve of each fault element, thereby reach the effect of the fault prognosis of planisher hydraulic servo control system.
Set up compared with techniques with existing planisher digital model, characteristics of the present invention are:
The present invention has set up one type of complete planisher Hydrauservo System digital model, and this is former not to have.Corresponding to each Hydraulic Elements in the real system; All in digital model, build out really; Make the levels of precision of this digital model approach real system to greatest extent,, all can the component parameters of the bottom be provided with corresponding to each Hydraulic Elements in the digital model.
The good effect of the fault prognosis method that the present invention proposes is; To certain known failure symptom of one type of planisher hydraulic system; Can accurately it be reappeared out through parameter regulation; And utilize convenience, rapidity and the repeatability of planisher Hydrauservo System digital model virtual test, can accomplish the effect of rapid failure diagnosis and indication.In the planisher electrohydraulic servo system of reality, the fault cause-effect relationship is often very complicated, often exist between symptom and the reason various overlapping with intersect, a symptom has multiple possible cause.Because the directive property that has had the fault prognosis analysis to be played; Just can avoid taking time and effort the malfunction elimination of wealth; But only adopt targetedly the method that certain several key element that possibly cause this fault is checked, so just shorten stop time, improved production efficiency, reduced economic loss.Even between each time between overhauls(TBO), in the time of can be before the expection fault will take place, the conclusion that analysis is drawn according to fault prognosis be found and the hidden danger of handling failure timely.
[description of drawings]
Fig. 1 is for pushing to cylinder Hydrauservo System mechanical system digital model;
Fig. 2 is for pushing to the one-sided AGC hydraulic valve bank of cylinder Hydrauservo System digital model;
Fig. 3 is for pushing to cylinder Hydrauservo System intermediate relief valve group digital model;
Fig. 4 is for pushing to cylinder Hydrauservo System control system system schematic;
Fig. 5 is the one-sided digital model of intermediate calender rolls roller hydraulic system;
Fig. 6 is the one-sided digital model of intermediate roll shifting hydraulic system;
Fig. 7 pushes to cylinder offset deviation curve for roller rest process both sides.
[embodiment]
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: embodiments of the invention provided detailed embodiment and process, but protection scope of the present invention are not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.Specific embodiment of the present invention is following:
Normally roller rest fault diagnosis and the indication of embodiment 1 planisher
In the production of reality; Planisher normally roller rest is the comparison common faults, and the reason that causes this fault is many-sided, might be that the fault of electrical system causes; The fault that also might be Hydraulic Elements causes that overlapping the intersecting of multiple even factor caused.When this type of fault took place in the past, on-the-spot slip-stick artist had only in the face of schematic diagram and carries out the root that analysis and judgement possibly break down.At present at the planisher fault in-situ, engineering technical personnel are to digital model like this, the phenomenon when taking place according to fault; The source of trouble to causing this fault is directly analyzed in digital model; Through changing the parameter of the related elements in the digital model, obtain the different cylinder displacement curves of pushing to, compare with the curve that on-the-spot physical record gets off again; If both are similar, so this curve the corresponding element of revising parameter just possibly be the source of trouble that causes this fault.To the possible generation reason of various faults, following in the analysis of digital model exemplified.
(a) servo-valve spray nozzle clogging
Because the filtering accuracy of oil filter is not high, often causes being mixed with in the fluid impurity particle, these particles are very easily brought in the servo-valve pilot valve pipeline by fluid, in case the nozzle of servo-valve is resulted in blockage, roller rest can't be accomplished.In digital model, the diameter of planisher fore side servo-valve nozzle is reduced 50%, the analog servomechanism valve nozzle is by the situation of particle plugging.
(b) the servo-valve main valve plug exists the iron filings burr to block
Because the influence of iron filings burr causes the friction force between main valve plug and the valve pocket to become big, main valve plug work is insensitive, thereby causes the servo-valve degradation.In digital model, the friction force between fore side valve core of servo valve and valve pocket is set to 200～500N.
(c) servo-valve supply voltage decay pattern of anomaly
When planisher is driven in the frame smooth liquid flash; Because the design of servo-valve platform is by the inboard cylinder body of frame; Though servo-valve has the valve bonnet cover cap, and stopped up and the plastic paper parcel with anti-chamotte, there are the space in the valve bonnet of servo-valve and valve interstation joint place; The smooth corrosion that causes servo-valve plug inner terminal to be got into easily is aging, causes the decay of servo-valve plug-in power pack.In digital model, before the servo-valve input current signal, increase a proportional component to realize the decay of servo-valve power supply, the proportional component coefficient is 0.1, the power supply attenuation degree of analog servomechanism valve reaches 90%.
(d) solenoid directional control valve is not worked
This solenoid directional control valve is responsible for shelves and the switching of shelves oil circuit at a slow speed fast in planisher roller rest process; In case lost efficacy; Will cause quick shelves can't normally switch to shelves at a slow speed; Perhaps shelves can't normally switch to quick shelves at a slow speed, and then have influence on to get into and push to the flow of cylinder rodless cavity fluid, thereby it is inconsistent to cause both sides to push to cylinder speed.In digital model, the electric signal of fore side solenoid directional control valve is set to a normal value, has promptly realized the fault simulation that solenoid directional control valve can't commutate.
To above four kinds of situation; In digital model, carry out emulation respectively; The curve of pushing under cylinder displacement curve and the on-the-spot physical record that obtains is compared; Obtain the most close plots changes and be because servo-valve power supply decay caused (correlation curve sees also Fig. 7), described in promptly above-mentioned (c) situation.The field engineering technician preferentially checks this type of problem; Current-to-voltage convertor, servo-valve plug etc. is measured verification; Find that obviously decay appears in the due 30V power supply of servo-valve plug, be merely 6.8V, take plug apart and find that there is serious smooth corrosion catabiosis in terminal A; Again solder plug, it is normal to change the back roller rest.Through this embodiment, the present invention success fault is diagnosed and is reappeared, and utilize the present invention to play the indication effect to this type of fault from now on.The present invention has possessed the ability that solves engineering problem, and the engineering practice angle from hydraulic fault is judged if can reappear a fault, just means and grasped the basic law that fault takes place.
Can find out that through the foregoing description what the present invention was successful has obtained application in cold rolling company moves back the fault diagnosis of unit planisher and indicates.Compare with classic method, adopt the present invention that following advantage is arranged.
The mathematical model that builds on the basis that traditional with MATLAB is is partial to the transport function of input/output relation, can't show the physical attribute of Hydraulic Elements level, also has no idea to carry out the parameter setting of the bottom.
The present invention special moves back the unit planisher and the digital model of the Hydrauservo System set up to one type of cold rolling company.
Relevant software parameter in the multidisciplinary software collaboration modeling technique that the present invention adopts is counted method to set up.
The present invention proposes the fault diagnosis and the predicting method that move back unit planisher digital model based on one type of cold rolling company.
The present invention is successful implementation in this field, and has solved the problem that is occurred in the concrete engineering.
The above only is the preferred embodiments of the present invention; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the present invention's design; Can also make some improvement and retouching, these improvement and retouching also should be regarded as in protection scope of the present invention.
Claims (9)
1. a cold continuous rolling planisher Hydrauservo System digital model is characterized in that, is made up of three parton models; (1) hydrostatic control pushes to cylinder servo-drive system digital model; (2) working roll of hydrostatic control and intermediate calender rolls roller system digits model; (3) the axial roll shifting system digits model of the intermediate calender rolls of hydrostatic control or working roll.
2. a kind of cold continuous rolling planisher Hydrauservo System digital model as claimed in claim 1 is characterized in that the described cylinder Hydrauservo System digital model of pushing to includes mechanical system, AGC hydraulic valve bank, intermediate relief valve group and control system.
3. a kind of cold continuous rolling planisher Hydrauservo System digital model as claimed in claim 2; It is characterized in that; Wherein, described mechanical system is made up of six elements, is followed successively by zero velocity source, Elastic Contact end, force transducer, displacement transducer, mass from top to bottom and pushes to hydraulic cylinder; The Elastic Contact members is used for simulating the Elastic Contact power of two objects when carrying out linear movement, if two object not contacts each other, then these two objects independently move separately; When both come in contact; Then just producing a contact force acts on two objects; This power includes elastic force and damping force, its objective is that analog operation roller and steel plate are doing the elastic effect that the one-dimensional linear motion is produced when colliding, through the numerical value of adjustment contact stiffness; Confirm compression what millimeter the time produce how many big power values, the situation when making its approaching actual rolled plate; The effect of force transducer and displacement transducer is to give control system with roll-force and the Displacement Feedback of pushing to cylinder piston rod; Mass is used for specifically being defined as the weight that is used in the backing roll system, intermediate calender rolls system and the working roll system that push to above the cylinder.
4. a kind of cold continuous rolling planisher Hydrauservo System digital model as claimed in claim 2; It is characterized in that; Described AGC hydraulic valve bank system mainly is made up of seven elements, is followed successively by nozzle baffle type force feedback servo valve, inserted valve, surplus valve, hydraulic control one-way valve, hydraulic control one-way valve, solenoid directional control valve, solenoid directional control valve.
5. a kind of cold continuous rolling planisher Hydrauservo System digital model as claimed in claim 2; It is characterized in that described intermediate relief valve group digital model mainly is made up of eight elements, is followed successively by proportional reversing valve; Surplus valve; Accumulator, hydraulic control one-way valve, solenoid directional control valve, surplus valve, servo-valve, proportional reversing valve.
6. a kind of cold continuous rolling planisher Hydrauservo System digital model as claimed in claim 2 is characterized in that, described control system is divided into position control and roll-force control dual mode.
7. a kind of cold continuous rolling planisher Hydrauservo System digital model as claimed in claim 1 is characterized in that described working roll and intermediate calender rolls roller system digits model include mechanical system and hydraulic system; The digital model of mechanical system mainly is made up of four elements: spring-damper, force transducer, mass and hydraulic cylinder; The model of hydraulic system mainly is made up of six elements, is respectively nozzle baffle type force feedback servo valve, surplus valve, surplus valve, solenoid directional control valve, pressure transducer and throttling valve.
8. a kind of cold continuous rolling planisher Hydrauservo System digital model as claimed in claim 1; It is characterized in that; The axial roll shifting system digits of described intermediate calender rolls model; Mainly form, be that hydraulic cylinder, quality are fast respectively, surplus valve, hydraulic control one-way valve, servo-valve, hydraulic control one-way valve and damping hole by six kinds of elements.
9. a method that is used for the planisher hydraulic fault is carried out fault diagnosis and indication is characterized in that, the step of technical scheme is:
On the fault virtual test platform that planisher Hydrauservo System digital model comes, at first to adopt online real time record appearance to carry out rolling mill fault characteristic actual observation record sampling, set up proprietary fault signature storehouse.To the fault that in the planisher real work, takes place, the characteristic curve when noting the fault generation; According to situation about in physical fault, occurring distinguish the true from the false with Module Division after; Can be in the digital model of fault virtual test platform; Adopt corresponding digital module; Directly to causing that the element of this fault carries out the fault parameter setting; Through comparing and combine field engineer's experience repeatedly, make every effort to the characteristic feature of this fault of reproduction in the virtual test data and curves of the digital model of controlling, and the curve that the real time record appearance is noted in a curve that emulation obtains in digital model and the practical work process compares; After finding those group data of comparing the most close with actual curve, the pairing element of revising parameter of that sets of curves just might be to cause this cause faults; Utilize this digital model component-level hardware parameter method to set up, computation process and a large amount of l-G simulation test number of times that repeats fast easily; At engineering site the system failure is analyzed; Find out the possible source of trouble and in digital model, simulate the pairing different faults curve of each fault element, thereby reach the effect of the fault prognosis of planisher hydraulic servo control system.
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Cited By (5)
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| CN105354399A (en) * | 2015-12-14 | 2016-02-24 | 北京航空航天大学 | Multidisciplinary and reliable modeling method of hydraulic servo mechanism based on failure mechanism |
| CN107247854A (en) * | 2017-07-03 | 2017-10-13 | 京东方科技集团股份有限公司 | Method and device, the system restored for equipment fault |
| CN110307389A (en) * | 2019-06-28 | 2019-10-08 | 国网浙江省电力有限公司电力科学研究院 | A kind of steam turbine based on state feedback surges valve method for diagnosing faults |
| CN110383188A (en) * | 2017-01-10 | 2019-10-25 | 罗伯特·博世有限公司 | Method for carrying out fault identification in a motor vehicle |
| CN110586656A (en) * | 2019-09-04 | 2019-12-20 | 鞍钢股份有限公司 | Method for ensuring accurate positioning of baffle cylinder of coil splitting line temper mill |
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| CN110586656A (en) * | 2019-09-04 | 2019-12-20 | 鞍钢股份有限公司 | Method for ensuring accurate positioning of baffle cylinder of coil splitting line temper mill |
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Application publication date: 20120418 |