CN102825235A - Continuous-casting flexible dummy bar control method without utilizing encoder - Google Patents
Continuous-casting flexible dummy bar control method without utilizing encoder Download PDFInfo
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- CN102825235A CN102825235A CN2012103618187A CN201210361818A CN102825235A CN 102825235 A CN102825235 A CN 102825235A CN 2012103618187 A CN2012103618187 A CN 2012103618187A CN 201210361818 A CN201210361818 A CN 201210361818A CN 102825235 A CN102825235 A CN 102825235A
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Abstract
The invention relates to a continuous-casting flexible dummy bar control method without utilizing an encoder. The method comprises the following steps of: determining a dummy bar head simulation limit point. and a dummy bar tail simulation limit point; during the process of dummy bar feeding and withdrawing, continuously comparing the current positions of a dummy bar head and a dummy bar tail with the dummy bar head simulation limit position and the dummy bar tail simulation limit position of each bend-straightening roller of each bend-straightening machine, so as to control the lifting and pressing of each pulling-straightening roller; and finally finishing the process of dummy pulling and withdrawing and the casing process. According to the invention, the encoder is not utilized, so that the technical problem of influencing normal production due to a failure of the encoder is solved.
Description
Technical field
The present invention relates to the conticaster automation control area, specifically need not the continuous casting flexible dummy bar control method that encoder is participated in.
Background technology
Dummy bar is the guiding steel billet is pulled through the straightening machine from crystallizer a key equipment in conticaster equipment; Open each time and all need dummy bar be delivered in the crystallizer through the straightening machine from the dummy ingot holding structure before watering; Prepare cast, dummy bar guiding steel billet in cast beginning back is pulled through the straightening machine, through taking off ingot equipment steel billet is separated with dummy bar; Dummy bar comes back to holding structure, waits for that open next time to water.
The dummy bar of continuous casting is divided into rigidity and flexible (chain type) two kinds, for little square billet, and the negligible amounts of conticaster straightening machine, and use rigid dummy bar; And for bloom, slab or circle base, straightening machine quantity is many, thereby uses flexible dummy bar usually.
Generally through the action of position-limit mechanism control dummy bar, PLC can judge the particular location of dummy bar in casting machine through position-limit mechanism to the rigidity dummy bar, thereby sends the action of commands for controlling straightening roller, straightening motor.Flexible dummy bar infinite place mechanism and straightening machine One's name is legion; Therefore; How accurately to judge dummy bar position and realize sending automatically and move back dummy bar in the straightening machine, more accurately more easily dummy ingot is sent into crystallizer smoothly, to guaranteeing that rhythm of production has very important significance efficiently.
Flexible dummy bar is in the zone of whole action; Because of straightening machine quantity many, very near from steel billet, therefore can't install additional much spacing; Usually use encoder to judge the position of dummy bar at present; Through the signal that PLC capturing and coding device is sent, judge the particular location of dummy bar in the straightening machine, accomplish the whole dummy ingot process of moving back of sending through the action of PLC control straightening machine and straightening roller.Sending of this employing encoder positioning control dummy bar returned in the control procedure that realizes the automatic operation of whole action; Encoder becomes realization and send the critical component that returns dummy bar automatically; In case encoder breaks down, can because PLC can't judge that the particular location of dummy bar in straightening causes and can't dummy bar normally sent into crystallizer and influence ordinary production.
Summary of the invention
The object of the invention just provides a kind of continuous casting flexible dummy bar control method that encoder is participated in that need not, and to replace encoder, causes the affected technical problem of ordinary production thereby solve because of encoder breaks down.
Technical scheme of the present invention is achieved in that
Need not the continuous casting flexible dummy bar control method that encoder is participated in, may further comprise the steps:
Step 1 in sending, move back the dummy bar process, confirms that artificially it is that dummy bar head is simulated spacing point, the dummy ingot tail is simulated spacing point that dummy bar head, afterbody follow the location point that direction into surmounts straightening machine straightening roller center line specific range X; Straightening roller center with terminal straightening machine is " 0 " point, and according to the distance between each straightening machine straightening roller, the distance in straightening roller and the crystallizer calculates the dummy bar head of the straightening roller of each frame straightening machine, the positional value that the dummy ingot tail is simulated spacing point;
Step 3 starts roller-way, and dummy bar is carried to the straightening machine, and when dummy bar head arrived spacing of the dummy bar head simulation of terminal straightening machine, roller-way stopped automatically;
Step 4, terminal straightening machine straightening roller is depressed automatically, simultaneously, is " dummy bar head and terminal straightening roller spacing " with the automatic set of dummy bar present located positional value;
Step 6, in sending the dummy ingot process, constantly with the dummy bar head of current dummy bar head, dummy ingot tail position and each straightening machine straightening roller simulate spacing position, the dummy ingot tail is simulated spacing position and is compared; When dummy bar head arrives spacing of the dummy bar head simulation of a certain straightening machine, then under the straightening roll-in of this straightening machine; When the dummy ingot tail arrived spacing of the dummy ingot tail simulation of a certain straightening machine, then the straightening roller of this straightening machine lifted; Up to the dummy bar head is delivered to the assigned position in the crystallizer, the straightening machine stops automatically, prepares casting;
Step 7, whether detection straightening machine is in the casting pattern is still sent the dummy ingot pattern, if the casting pattern gets into step 8, if send the dummy ingot pattern to get into step 9;
Step 8; Be under the casting pattern, open water signal and arrive after, the straightening machine starts and begins casting; In drawing the steel process, constantly with the dummy ingot tail of going ahead of the rest, after the dummy ingot tail of dummy bar head position and each straightening machine straightening roller simulate spacing point, dummy bar head and simulate the position of spacing point and compare; When the dummy ingot tail of going ahead of the rest arrives spacing of the dummy ingot tail simulation of a certain straightening machine straightening roller, then under the straightening roll-in of this straightening machine; When after dummy bar head guiding steel billet when arriving spacing of the dummy bar head simulation of a certain straightening machine straightening roller, then the straightening roller pressure of this straightening machine transfers low pressure to by high pressure, and the like; Pull out the straightening machine up to dummy bar; All straightening roller pressures all transfer low pressure to, and to drawing steel to finish, system stops;
Step 9; Be in and send under the dummy ingot pattern; Receive and move back the dummy ingot signal; The straightening machine starts and to move back the dummy ingot process, in moving back the dummy ingot process, constantly with the dummy ingot tail of going ahead of the rest, after the dummy ingot tail of dummy bar head position and each straightening machine straightening roller simulate spacing point, dummy bar head and simulate the position of spacing point and compare; When the dummy ingot tail of going ahead of the rest arrives spacing of the dummy ingot tail simulation of a certain straightening machine straightening roller, then under the straightening roll-in of this straightening machine; When after dummy bar head when arriving spacing of the dummy bar head simulation of a certain straightening machine straightening roller, then the straightening roller of this straightening machine lifts, and the like, when dummy bar falls back on last straightening roller and lifts automatically, move back the dummy ingot process and finish, system stops.
The present invention utilizes the rule of digital circuit truth table; In program, simulate the position of every spacing point of the straightening power traction head of ingot, the spacing point of dummy ingot tail; Sending, moving back in the process,, calculating current dummy bar head, dummy ingot tail position according to parameters such as straightening machine frequency converter speed feedback, reductor no-load voltage ratio, straightening roller roller footpaths; With process simulation go out dummy bar head simulate spacing point, dummy ingot tail and simulate the position of spacing point and compare; Determine depressing, lift or the action of pressure adjustment of each straightening roller, thereby replace the control of encoder, realize sending automatically the program of moving back dummy bar.Control method of the present invention need not the on-site maintenance personnel and safeguards, precision is identical with encoder control, and on-the-spot result of use is obvious, can run on the flexible dummy bar conticaster comprehensively.
Description of drawings
Fig. 1 is for calculating the flow chart of dummy bar head, spacing some position value of dummy ingot tail simulation.
Fig. 2 is for calculating the flow chart of dummy bar head, dummy ingot tail actual position value.
Fig. 3 is for sending dummy ingot process control flow figure.
Fig. 4 is the casting cycle control flow chart.
Fig. 5 is for moving back dummy ingot process control flow figure.
Fig. 6 is a conticaster device structure sketch map.
The specific embodiment
Be described further below in conjunction with the accompanying drawing specific embodiments of the invention
In the control of continuous casting flexible dummy bar; At first artificially confirm; In sending the dummy bar process; The point of specific range X is that dummy bar head is simulated spacing point 1, the dummy ingot tail is simulated spacing point 2 before and after each straightening machine straightening roller center line; Fig. 1, shown in Figure 6 ends from terminal straightening machine 4 to first straightening machines 6 (terminal n frame straightening machine), and the distance between each straightening machine straightening roller center line is followed successively by L1, L2 ... Ln-1; In the first straightening roller and the crystallizer 5 apart from M; Straightening roller center with terminal straightening machine is " 0 " point, calculates each straightening roller dummy bar head and simulates the positional value that spacing point, dummy ingot tail are simulated spacing point: the positional value that terminal straightening roller dummy bar head is simulated spacing point to be X, the dummy ingot tail positional value of simulating spacing point be-X, and the terminal second straightening roller dummy bar head that rises is simulated spacing point, dummy ingot tail to simulate the positional value of spacing point is L1+X, L1-X; The first straightening roller (terminal rise n frame straightening roller) dummy bar head is simulated spacing point, dummy ingot tail and is simulated the positional value of spacing point and be respectively (L1+L2+ ... + Ln-1)+X, (L1+L2+ ... + Ln-1)-and X, the distance that terminal straightening machine arrives in the crystallizer is L1+L2+ ... + Ln-1+M.
Among the present invention, dummy bar head or dummy ingot tail position and dummy bar head are simulated the positional value that spacing point 1, dummy ingot tail are simulated spacing point 2, all are to be zero point with terminal straightening machine 4 straightening roller centers.
When sending dummy bar, when dummy bar head arrives spacing of the dummy bar head simulation of terminal straightening machine, under the terminal straightening machine straightening roll-in; Start the straightening machine and begin to send dummy ingot; When dummy bar head arrival L1+X simulates at spacing, terminal rising under second straightening machine straightening roll-in, by that analogy; When dummy bar head arrives (L1+L2+ ... + Ln-1)+and when X simulates at spacing, terminal rising under the n frame straightening machine straightening roll-in.When dummy ingot tail arrival-X simulated at spacing, terminal straightening machine straightening roller lifted, when dummy ingot tail arrival L1-X simulates at spacing; Terminal second straightening machine straightening roller lifts; By that analogy, as dummy ingot tail arrival (L1+L2+ ... + Ln-1)-when X simulated at spacing, the terminal n frame straightening machine straightening roller that rises lifted; After dummy bar is sent into the crystallizer relevant position, send the dummy ingot process to finish.
In like manner; When moving back dummy bar, dummy ingot tail formerly arrives (L1+L2+ ... + Ln-1)-and when X dummy ingot tail simulates at spacing, terminal rising under the n frame straightening machine straightening roll-in; After dummy bar head arrive (L1+L2+ ... + Ln-1)+when X dummy ingot tail simulates at spacing; N frame straightening machine straightening roller lifts or pressure reduces, and pulls out the straightening machine up to dummy bar, moves back the dummy ingot process and finishes.
Continuous casting flexible dummy bar control comprises dummy ingot pattern and the casting pattern sent, and saidly send the dummy ingot pattern to comprise to send dummy ingot process and completion to send the dummy ingot process of moving back when casting for some reason behind the dummy ingot.Said casting pattern be meant accomplish send dummy ingot after, implement the process of normal casting, at this moment, after the dummy bar head drawstring steel billet is arranged.
Send the dummy ingot process may further comprise the steps:
Shown in Figure 3, in step 31, select to send the dummy ingot pattern.In step 32, to receive and send the dummy ingot enabling signal, the straightening roller of all straightening machines lifts automatically, and the automatic set of dummy bar current location is " 0 ".In step 33, start roller-way 3, dummy bar is sent into the straightening machine, when dummy bar head arrived spacing of the dummy bar head simulation of terminal straightening machine, roller-way stopped automatically.In step 34, terminal straightening machine straightening roller is depressed automatically, simultaneously, is foregoing specific range value X with the automatic set in dummy bar head present located position for " dummy bar head and last straightening roller spacing ".In the step 35, the straightening machine starts, and begins to send dummy ingot.In the step 36, in sending the dummy ingot process, constantly the dummy bar head of current dummy bar head, dummy ingot tail position and each straightening machine straightening roller is simulated spacing point, dummy ingot tail and simulate the position of spacing point and compare.In step 37,, dummy bar head simulates spacing point ((L1+L2+ whenever arriving the terminal dummy bar head that plays n frame straightening machine ... During+Ln-1)+X) position, under the straightening roll-in of this straightening machine; In step 38,, the dummy ingot tail simulates spacing point (L1+L2+ whenever arriving the terminal dummy ingot tail that plays n frame straightening machine ... During+Ln-1)-X) position, the straightening roller of this straightening machine lifts.In sending the dummy ingot process, along with advancing of dummy ingot, begin from the straightening roller of terminal straightening machine, the straightening roller of each straightening machine is depressed successively, lifts successively again.In step 39, dummy bar delivered to the inner relevant position of crystallizer after, the straightening machine stops automatically, send the dummy ingot process to finish.
Casting cycle may further comprise the steps:
Shown in Figure 4, in step 41, the casting pattern is selected in the casting beginning.In the step 42, receive open water signal after, the straightening machine oppositely starts, begin the casting.In step 43, in casting cycle, constantly with the dummy ingot tail of going ahead of the rest, after the dummy ingot tail of dummy bar head position and each straightening machine straightening roller simulate spacing point, dummy bar head and simulate the position of spacing point and compare; In the step 44,, the dummy ingot tail of going ahead of the rest simulates spacing point (L1+L2+ when arriving the terminal dummy ingot tail that plays n frame straightening machine ... During+Ln-1)-X) position, then under the straightening roll-in of this straightening machine; In the step 45, when after dummy bar head arrive the terminal dummy bar head that plays n frame straightening machine and simulate spacing point ((L1+L2+ ... During+Ln-1)+X) position, then the straightening roller of this straightening machine does not lift, and only the straightening roller pressure transfers low pressure to automatically by high pressure; In the step 46, along with dummy bar guiding steel billet is pulled out the straightening machine, all straightening rollers all transfer the low pressure depressed state to.In the step 47, take off ingot after, open roller-way, dummy bar is transported, casting machine pulls on steel.
If cast for some reason, then still to select to send the dummy ingot pattern, the dummy ingot process of moving back under this pattern is following:
As shown in Figure 5, in the step 51, select to send the dummy ingot pattern.In the step 52, receive and move back the dummy ingot signal that the straightening machine oppositely starts, and begins to move back the dummy ingot process.In step 53, move back in the dummy ingot process, constantly with the dummy ingot tail of going ahead of the rest, after the dummy ingot tail of the current position of dummy bar head and each straightening machine straightening roller simulate spacing point, dummy bar head and simulate the positional value of spacing point and compare; In step 54,, the dummy ingot tail of going ahead of the rest simulates spacing point (L1+L2+ when arriving the terminal dummy ingot tail that plays n frame straightening machine ... During+Ln-1)-X) position, then under the straightening roll-in of this straightening machine; In the step 55, when after dummy bar head arrive the terminal dummy bar head that plays n frame straightening machine and simulate spacing point ((L1+L2+ ... During+Ln-1)+X) position, then the straightening roller of this straightening machine lifts; In the step 56, along with after dummy bar head when arriving spacing of the dummy bar head of terminal straightening machine straightening roller, the straightening roller of all straightening machines lifts, and opens roller-way dummy bar is transported, and moves back the dummy ingot process and finishes.
Dummy bar head, the current actual position value computational process of dummy ingot tail:
Shown in Figure 2; According to the diameter of the dynamo-electric machine rated speed of straightening, straightening machine reductor gear ratio, straightening roller and the PLC value of giving sizing to frequency converter, computing module calculates speed that straightening machine straightening roller velocity of rotation is a dummy bar and current dummy bar head, dummy ingot tail position automatically.Computing formula: V=(Vt/P) * π * D * T/27648; Or V=Vt/P π D T/27648K; Wherein: V represents the speed of dummy bar; Vt represents the rated speed of straightening motor, and P represents the speed reducing ratio of straightening machine, and D represents the diameter of straightening roller; On behalf of current PLC, T read the speed feedback of frequency converter; 27648 is dimension, and the T value is between 0 ~ 27648, and T/27648 reflection people is the size of the straightening machine straightening roller velocity of rotation chosen.K is a correction factor, generally speaking, K=1, in particular cases (in the long-term production, the error of calculation that causes that roller directly diminishes etc. and cause because of straightening roller wearing and tearing) chosen the K value as the case may be and corrected.Can obtain the actual speed of dummy bar (unit is meter/minute) through formula; The every 500ms of PLC sends a pulse; V1=V/120, according to V1 draw every 500ms in the time dummy bar motion apart from S1, the S1 value is added up; Draw the actual travel distance S (unit rice) of current dummy bar head, thereby confirm current dummy ingot head position; According to dummy bar length, promptly obtain current dummy ingot tail position.With respect to moving back dummy ingot process or casting cycle, what calculate as stated above is the positional value at dummy ingot tail place formerly, then, according to dummy bar length, promptly obtain after the dummy bar head position.
This control method is through in sending, move back the dummy ingot process, constantly with the dummy bar head of current dummy bar head, dummy ingot tail position and each straightening machine straightening roller simulate spacing position, the dummy ingot tail is simulated spacing position and is compared; So that control lifting or depressing of each straightening roller, send, move back the process and the casting cycle of dummy ingot with completion.The control stability of a system of the present invention strengthens greatly, and the situation that can not occur moving back dummy bar because of can't sending of causing of encoder fault occurs, and send and move back precision and satisfy production requirement.Because the present invention does not need the encoder image data through the orientation problem of software realization dummy bar, the manual maintenance work to encoder, has been saved in procedure judges dummy bar position therefore, has reduced use cost.
Claims (1)
1. one kind need not the continuous casting flexible dummy bar control method that encoder is participated in, and it is characterized in that, may further comprise the steps:
Step 1 in sending, move back the dummy bar process, confirms that artificially it is that dummy bar head is simulated spacing point, the dummy ingot tail is simulated spacing point that dummy bar head, afterbody follow the location point that direction into surmounts straightening machine straightening roller center line specific range X; Straightening roller center with terminal straightening machine is " 0 " point, and according to the distance between each straightening machine straightening roller, the distance in straightening roller and the crystallizer calculates the dummy bar head of the straightening roller of each frame straightening machine, the positional value that the dummy ingot tail is simulated spacing point;
Step 2 receives and send the dummy ingot enabling signal that all straightening rollers lift automatically, and the automatic set of dummy bar current location is " 0 ";
Step 3 starts roller-way, and dummy bar is carried to the straightening machine, and when dummy bar head arrived spacing of the dummy bar head simulation of terminal straightening machine, roller-way stopped automatically;
Step 4, terminal straightening machine straightening roller is depressed automatically, simultaneously, is " dummy bar head and terminal straightening roller spacing " with the automatic set of dummy bar present located positional value;
Step 5, straightening machine start, and continue to send dummy ingot, and simultaneously, program begins to read straightening frequency converter speed feedback value, and calculate speed and current dummy bar head, the dummy ingot tail position of dummy bar; The speed of said dummy bar is calculated by following formula: V=Vt/P π D T/27648, and wherein, V represents the speed of dummy bar; Vt represents the rated speed of straightening motor, and P represents the no-load voltage ratio of straightening machine reductor, and D represents the diameter of straightening roller; On behalf of current PLC, T read the feedback speed of frequency converter, and 27648 is dimension, and the T value is between 0 ~ 27648; T/27648 reflection people is the size of the straightening machine straightening roller velocity of rotation chosen, can obtain the actual speed of dummy bar through formula, and speed unit be meter/minute; The every 500ms of PLC sends a pulse; V1=V/120, according to V1 draw every 500ms in the time dummy bar motion apart from S1, the S1 value is added up; Draw the travel distance S (unit rice) of current dummy bar head, confirm that current dummy bar head is with respect to terminal straightening machine straightening roller center line present position value; According to dummy bar length, promptly obtain current dummy ingot afterbody position;
Step 6, in sending the dummy ingot process, constantly with the dummy bar head of current dummy bar head, dummy ingot tail position and each straightening machine straightening roller simulate spacing position, the dummy ingot tail is simulated spacing position and is compared; When dummy bar head arrives spacing of the dummy bar head simulation of a certain straightening machine, then under the straightening roll-in of this straightening machine; When the dummy ingot tail arrived spacing of the dummy ingot tail simulation of a certain straightening machine, then the straightening roller of this straightening machine lifted; Up to the dummy bar head is delivered to the assigned position in the crystallizer, the straightening machine stops automatically, prepares casting;
Step 7, whether detection straightening machine is in the casting pattern is still sent the dummy ingot pattern, if the casting pattern gets into step 8, if send the dummy ingot pattern to get into step 9;
Step 8; Be under the casting pattern, open water signal and arrive after, the straightening machine starts and begins casting; In drawing the steel process, constantly with the dummy ingot tail of going ahead of the rest, after the dummy ingot tail of dummy bar head position and each straightening machine straightening roller simulate spacing point, dummy bar head and simulate the position of spacing point and compare; When the dummy ingot tail of going ahead of the rest arrives spacing of the dummy ingot tail simulation of a certain straightening machine straightening roller, then under the straightening roll-in of this straightening machine; When after dummy bar head guiding steel billet when arriving spacing of the dummy bar head simulation of a certain straightening machine straightening roller, then the straightening roller pressure of this straightening machine transfers low pressure to by high pressure, and the like; Pull out the straightening machine up to dummy bar; All straightening roller pressures all transfer low pressure to, and to drawing steel to finish, system stops;
Step 9; Be in and send under the dummy ingot pattern; Receive and move back the dummy ingot signal; The straightening machine starts and to move back the dummy ingot process, in moving back the dummy ingot process, constantly with the dummy ingot tail of going ahead of the rest, after the dummy ingot tail of dummy bar head position and each straightening machine straightening roller simulate spacing point, dummy bar head and simulate the position of spacing point and compare; When the dummy ingot tail of going ahead of the rest arrives spacing of the dummy ingot tail simulation of a certain straightening machine straightening roller, then under the straightening roll-in of this straightening machine; When after dummy bar head when arriving spacing of the dummy bar head simulation of a certain straightening machine straightening roller, then the straightening roller of this straightening machine lifts, and the like, when dummy bar falls back on last straightening roller and lifts automatically, move back the dummy ingot process and finish, system stops.
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| CN201210361818.7A CN102825235B (en) | 2012-09-26 | 2012-09-26 | Continuous-casting flexible dummy bar control method without utilizing encoder |
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| CN201210361818.7A CN102825235B (en) | 2012-09-26 | 2012-09-26 | Continuous-casting flexible dummy bar control method without utilizing encoder |
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| CN112008055A (en) * | 2019-05-31 | 2020-12-01 | 宝山钢铁股份有限公司 | Positioning detection system and method for continuous casting dummy bar |
| CN113305278A (en) * | 2021-05-07 | 2021-08-27 | 中国重型机械研究院股份公司 | Control device and method for no-slip pulling of dummy bar during starting |
| CN113798462A (en) * | 2021-09-29 | 2021-12-17 | 南京钢铁股份有限公司 | Method for manually calibrating roll gap of withdrawal and straightening machine by using chain dummy bar |
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| CN112008055B (en) * | 2019-05-31 | 2021-10-22 | 宝山钢铁股份有限公司 | Positioning detection system and method for continuous casting dummy bar |
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| CN113305278B (en) * | 2021-05-07 | 2022-07-22 | 中国重型机械研究院股份公司 | Control device and method for no-slip pulling of dummy bar during starting |
| CN113798462A (en) * | 2021-09-29 | 2021-12-17 | 南京钢铁股份有限公司 | Method for manually calibrating roll gap of withdrawal and straightening machine by using chain dummy bar |
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| CN102825235B (en) | 2014-05-07 |
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