CN104001886A - Continuous-casting withdrawal and straightening unit system and load distributing method - Google Patents
Continuous-casting withdrawal and straightening unit system and load distributing method Download PDFInfo
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- CN104001886A CN104001886A CN201410197957.XA CN201410197957A CN104001886A CN 104001886 A CN104001886 A CN 104001886A CN 201410197957 A CN201410197957 A CN 201410197957A CN 104001886 A CN104001886 A CN 104001886A
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Abstract
The invention discloses the technical field of continuous-casting equipment, and provides a continuous-casting withdrawal and straightening unit system and a load distributing method. The method comprises the steps that the same motor rotating speed set value is set for all driving motors; a load distributing coefficient is set for each driving motor; withdrawal and straightening unit driving roller components needing to participate in load distribution are determined; actual output throwing force of driving rollers participating in load distribution is calculated; the total throwing resultant force is calculated; the throwing force set value of each driving motor participating in load distribution is calculated; a controller outputs the rotating speed compensation dosage; the sum of the rotating speed compensation dosage and the motor rotating speed set value is used as the input ends of the driving motors for rotating speed control, and the actual output throwing force of the driving rollers is used as feedback values to achieve closed-loop control. The load distributing coefficients are introduced to achieve free distribution of withdrawal and straightening unit total loads in withdrawal and straightening units, automatic control over the throwing force is achieved through closed-loop adjustment, and meanwhile according to the method, the pull speed changes can not be caused, and the production technology is not affected.
Description
Technical field
The invention belongs to continuous casting installation for casting technical field, relate in particular to a kind of tension leveller of continuous casting machine system and load distribution method.
Background technology
Withdrawal straightening machine is the continuous casting installation for casting that strand is pulled straight and aligned.Billet caster adopts five roller drawing and straightening machine conventionally, and large square bland continuous-casting machine is made up of 3～5 pair of rollers, and slab caster adopts multiple roll withdrawal straightening machine.The withdrawal straightening machine of modern conticaster all adopts AC Converter Speed Regulation Patterns.In process of production, because the various errors of drive system cause each drive motors sharing of load irregular and uneven, cause the long-term work of part motor in fully loaded even overload, easily cause overcurrent trip accident and cause producing interruption, product rejection, and some motor is in even generating state of zero load, this part electric efficiency is very low, and the motor of generating state also causes energy waste.In addition, because the throwing power that motor load inequality causes driven roller to apply at whole casting billet surface is inhomogeneous, can impact the surface quality of strand.
Summary of the invention
In view of the above problems, the object of the present invention is to provide a kind of tension leveller of continuous casting machine system and load distribution method, be intended to solve in existing tension leveller of continuous casting machine system, because drive motors sharing of load is irregular, make the part drive motors duty in overload for a long time, easily accidents caused technical problem.
On the one hand, described tension leveller of continuous casting machine system, comprise some withdrawal straightening machine driven roller parts, each driven roller parts comprise a driven roller and a drive motors, for each driven roller parts, a subtracter is set, controller and adder, described subtracter output is connected to described controller, the output of described controller is connected to an input of adder, the output of described adder is connected to driven roller parts, the feedback end of described driven roller parts is connected to the negative input of described subtracter, the electrode input end of described subtracter is used for inputting throwing power setting value, another input of described adder is used for inputting motor speed setting value.
On the other hand, described tension leveller of continuous casting machine load distribution method comprises the steps:
For all drive motors are set an identical motor speed setting value wset;
For every drive motors is set a sharing of load coefficient Lsi;
Determine the withdrawal straightening machine driven roller parts that need to participate in sharing of load, each driven roller parts comprise a driven roller and a drive motors;
Calculate the actual output throwing power Facti of the driven roller that participates in sharing of load;
Calculate total throwing F that makes a concerted effort;
Calculate the throwing power setting value Fseti of every the drive motors that participates in sharing of load;
Input using the difference of Fseti and Facti as controller, described controller output speed compensation rate △ wi;
△ wi and wset sum are carried out to rotating speed control as the input of drive motors, and the actual output throwing masterpiece of driven roller is that value of feedback realizes closed-loop control.
The invention has the beneficial effects as follows: the present invention compensates to change the actual output of driven roller throwing power size by drive motors being carried out to rotating speed, change drive motors load, and adopt closed-loop adjustment mode to realize dynamic tracking and accurate control of actual output throwing power to throwing power setting value.The present invention can make the load of the drive motors of withdrawal straightening machine require to distribute according to setting, and eliminates some motor overload and the phenomenon of some empty load of motor, production technology is not impacted simultaneously.Make withdrawal straightening machine in good working order, reduce fault in production rate, enhance productivity, improve product quality.
Brief description of the drawings
Fig. 1 is the principle assumption diagram of the tension leveller of continuous casting machine system that provides of the embodiment of the present invention;
Fig. 2 is the flow chart of the tension leveller of continuous casting machine load distribution method that provides of the embodiment of the present invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
First analyze the reason that withdrawal straightening machine drive motors produces load deviation.The F of the throwing power of driven roller to strand can represent that approximate representation is
F＝N×u (1)
Wherein: N is the pressure that driven roller is subject in strand normal direction, u is the coefficient of friction between strand and driven roller; The withdrawal straightening machine lifting for pinch roll, its N=0, this withdrawal straightening machine can not produce throwing power, so do not participate in necessity and the meaning of sharing of load, the withdrawal straightening machine that below narration is all only depressed for pinch roll yet.
When the relative sliding velocity of driven roller surface and casting billet surface hour, approximate has:
u＝av+b (2)
Wherein v is the relative sliding velocity of driven roller surface and casting billet surface, a, and b is the constant relevant with casting billet surface material to driven roller surface.
Suppose that casting speed is Vc, the angular speed of driven roller is w, and driven roller radius is R,
v＝wR-Vc (3)
Obtain according to (1), (2), (3)
F＝N×(a(wR-Vc)+b) (4)
Even if the angular speed of all driven roller motors is identical, but because the withdrawal straightening machine driven roller of diverse location is different from the pressure between strand, the radius of every driven roller also exists certain error, make the throwing power of each driven roller output have certain difference.Generally speaking, pressure N between withdrawal straightening machine driven roller and strand is larger, driven roller is surperficial larger with relative sliding velocity casting billet surface, and the throwing power that driven roller produces is larger, and vice versa.
Because the pressure between withdrawal straightening machine driven roller and strand is generally specified by hydraulic pressure Specialty Design and cannot regulate change, so can only be by regulating drive motors angular speed w to realize the load control of withdrawal straightening machine driven roller.The embodiment of the present invention is carried out closed-loop control to throwing power can realize actual throwing power to setting the dynamic tracking of throwing power and accurately controlling, and for technical solutions according to the invention are described, describes below by specific embodiment.
Fig. 1 shows the theory structure of the tension leveller of continuous casting machine system that the embodiment of the present invention provides, and only shows for convenience of explanation the part relevant to the embodiment of the present invention.
The tension leveller of continuous casting machine system that the present embodiment provides comprises some withdrawal straightening machine driven roller parts 101, each driven roller parts comprise a driven roller and a drive motors, for each driven roller parts, a subtracter 102 is set, controller 103 and adder 104, described subtracter 102 outputs are connected to described controller 103, the output of described controller 103 is connected to an input of adder 104, the output of described adder 104 is connected to driven roller parts 101, the feedback end of described driven roller parts 101 is connected to the negative input of described subtracter 102, the electrode input end of described subtracter 102 is used for inputting throwing power setting value Fseti, another input of described adder 104 is used for inputting motor speed setting value wset.Wherein, described controller comprises proportional controller sum-product intergrator.Described controller, for throwing power setting value and the difference of actual output throwing power are regulated and integration in proportion, obtains rotating speed compensation rate.
In said system, each drive motors has an identical machine speed setting value wset, the actual speed of drive motors is determined by machine speed setting value wset and rotating speed compensation rate △ wi sum, and be that feed back input is to subtracter by the actual output throwing masterpiece of driven roller, subtracter output throwing power setting value and the actual difference of exporting throwing power, and controller obtains rotating speed compensation rate according to this difference, continue loop control, until actual output throwing power equals throwing power setting value.Realize dynamic tracking and the accurately control of actual output throwing power to throwing power setting value.
For said system, as shown in Figure 2, the present embodiment also provides a kind of tension leveller of continuous casting machine load distribution method, comprises the steps:
Step S201, be that all drive motors are set an identical motor speed setting value.
The motor speed setting value wset of each drive motors is identical, and wset obtains according to setting casting speed and speed reducing ratio conversion.
Step S202, be that every drive motors is set a sharing of load coefficient.
Be that every drive motors is set a sharing of load coefficient according to the actual output throwing power demand of each driven roller, described sharing of load coefficient has determined throwing power setting value.
Step S203, definite withdrawal straightening machine driven roller parts that need to participate in sharing of load.
Need to depress or lifting status according to withdrawal straightening machine roll for slab caster, determine the driven roller parts that participate in sharing of load, only have to the roll pressing down and just contact with casting billet surface, produce throwing power.Suppose to have n platform driven roller to participate in sharing of load, their numbering is followed successively by 1,2,3 ..., n.
Step S204, calculating participate in the actual output throwing power of the driven roller of sharing of load.
For i platform driven roller, its actual output throwing power is Facti, i.e. active force between driven roller surface and casting billet surface.
Facti＝Tacti×Gi/Ri
Wherein: Tacti is the electromagnetic torque (unit: Nm) of the actual output of i platform drive motors, Tacti can read from control the frequency converter of this drive motors;
Gi is the transmission efficiency of i platform driven roller, Gi<1;
Ri is the roller-way radius of i platform driven roller, the m of unit.
Step S205, calculate total throwing make a concerted effort.
Total throwing F=Fact1+Fact2+...+Factn that makes a concerted effort.
Step S206, calculating participate in the throwing power setting value of every drive motors of sharing of load.
Throwing power setting value Fseti=F × Lsi/ (Ls1+Ls2+Ls3+ of i platform drive motors ... + Lsn).Here Lsi is the sharing of load coefficient of i platform drive motors.Sharing of load coefficient is larger, and the throwing power of output is larger.Bear more load if wish certain drive motors, the sharing of load coefficient setting of this drive motors can be greater than to other drive motors, if otherwise wish that certain drive motors bears less load, the sharing of load coefficient of this drive motors can be less than to other drive motors with arranging.Can realize by adjusting sharing of load coefficient in a word the adjustment of drive motors power output.If wish that all driven rollers export identical throwing power, withdrawal straightening machine balancing the load distributes, and Ls1=Ls2=Ls3=can be set ...=Lsn.
Step S207, input using the difference of described throwing power setting value and actual output throwing power as controller, described controller output speed compensation rate.
For i platform drive motors, throwing power setting value Fseti is exported to the difference of throwing power Facti as the output of controller with reality, controller, after ratio adjusting and integral adjustment, generates rotating speed compensation rate △ wi.For the withdrawal straightening machine drive motors that does not participate in sharing of load, △ wi=0, drive motors is according to motor speed setting value wset operation.
Step S208, rotating speed compensation rate and motor speed setting value sum is carried out to rotating speed control as the input of drive motors, the actual output throwing masterpiece of driven roller is that value of feedback realizes closed-loop control.
For i platform drive motors, its actual speed wi is motor speed setting value and rotating speed compensation rate sum, be wi=wset+ △ wi, in the time of the Facti<Fseti of i platform motor, due to the effect of integrator, △ wi continues to increase, the throwing power Facti of this driven roller output also will constantly increase, until Facti=Fseti, otherwise in the time of Facti>Fseti, because the effect △ wi of integrator constantly reduces, the throwing power Facti of this driven roller output also will constantly reduce, until Facti=Fseti.
The present embodiment method has adopted Closed-loop Control Strategy, for calculating the motor speed setting value Fseti of every drive motors after a sharing of load coefficient of every drive motors distribution, the actual output throwing power Facti of driven roller is input to subtracter as value of feedback, then the difference of Fseti and Facti is inputed to controller, after via controller alignment processing, generate rotating speed compensation rate, drive motors is further carried out to rotating speed control, through above-mentioned feedback circulation, until actual output throwing power Facti equals throwing power setting value Fseti.Realize the dynamic tracking of actual output throwing power to throwing power setting value.In the time of drive motors steady operation, the actual output throwing power of driven roller is the throwing power setting value of setting.
The setting throwing of the withdrawal straightening machine Fset=Fset1+Fset2+Fset3+ that makes a concerted effort ... + FsetN=F × (Ls1+Ls2+Ls3+ ... + LsN)/(Ls1+Ls2+Ls3+ ... + LsN)=F.Be that the actual throwing that the setting throwing of withdrawal straightening machine makes a concerted effort to equal withdrawal straightening stands is made a concerted effort, although this shows that each drive motors, through rotating speed and throwing power separately after adjustment of rotational speed, change has occurred, but it is identical with joint efforts with the actual throwing of withdrawal straightening machine all the time that the setting of whole withdrawal straightening machine is made a concerted effort, if withdrawal straightening machine is considered as to a whole object, although distributing, its internal force there is change, but external force is constant, the motion state of strand is constant.This motion state that just ensures strand will can not be subject to the impact of rotation speed change of the driven roller motor that Control System of Load Distribution method causes.Prove that the use of the method can not cause the variation of pulling rate, can not impact production technology.
In order to verify the implementation result of the embodiment of the present invention, on the continuous casting unit of Shandong iron company, do not adopting respectively laod sharing mode and adopting under laod sharing mode the output torque of withdrawal straightening machine drive motors is being measured, twice measurement all same on same platen billet continuous casting machine watered and time carried out, and pulling rate is 1m/min.Result of the test is listed in the following table, and wherein motor output torque is to adopt the sampling interval of 100ms to carry out 10 minutes average torque values after 6000 continuous sampling.
Can see by upper table contrast, adopt after technical solution of the present invention, eliminated part motor high load capacity and part motor in unloaded phenomenon, simultaneously throwing load distributes between withdrawal straightening machine according to sharing of load coefficient, has obtained extraordinary implementation result.
To sum up, system stability of the present invention is reliable, and implementation method is simple, can reduce rate of breakdown, reduces manual maintenance amount, enhances productivity, and improves product quality.Owing to having avoided the part motor duty in overload for a long time, extend the service life of this part motor.Eliminate some motor phenomenon in generating state for a long time simultaneously, avoided energy dissipation, improved the operating efficiency of withdrawal straightening machine.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (8)
1. a tension leveller of continuous casting machine system, it is characterized in that, described system comprises some withdrawal straightening machine driven roller parts, each driven roller parts comprise a driven roller and a drive motors, for each driven roller parts, a subtracter is set, controller and adder, described subtracter output is connected to described controller, the output of described controller is connected to an input of adder, the output of described adder is connected to driven roller parts, the feedback end of described driven roller parts is connected to the negative input of described subtracter, the electrode input end of described subtracter is used for inputting throwing power setting value, another input of described adder is used for inputting motor speed setting value.
2. system as claimed in claim 1, is characterized in that, described controller comprises proportional controller sum-product intergrator.
3. system as claimed in claim 1 or 2, is characterized in that, described controller, for the throwing power setting value that participates in Load Regulation driven roller is regulated and integration in proportion with the difference of actual output throwing power, obtains rotating speed compensation rate.
4. system as claimed in claim 3, is characterized in that, participates in throwing power setting value Fseti=F × Lsi/ (Ls1+Ls2+Ls3+ of the i platform driven roller of Load Regulation ... + Lsn);
Wherein, Lsi is the sharing of load coefficient of i platform driven roller motor, and n is the number of units that participates in the driven roller parts of sharing of load;
Total throwing F=Fact1+Fact2+...+Factn that makes a concerted effort;
Facti is the actual output throwing power of i platform driven roller;
Facti＝Tacti×Gi/Ri；
Tacti is the electromagnetic torque of the actual output of i platform drive motors;
Gi is the transmission efficiency of i platform driven roller, Gi<1;
Ri is the roller-way radius of i platform driven roller, the m of unit.
5. a tension leveller of continuous casting machine load distribution method, is characterized in that, described method comprises:
For all drive motors are set an identical motor speed setting value;
For every drive motors is set a sharing of load coefficient;
Determine the withdrawal straightening machine driven roller parts that need to participate in sharing of load, each driven roller parts comprise a driven roller and a drive motors;
Calculate the actual output throwing power of the driven roller that participates in sharing of load;
Calculating total throwing makes a concerted effort;
Calculate the throwing power setting value of every the drive motors that participates in sharing of load;
Described throwing power setting value and reality are exported to the difference of throwing power as the input of controller, described controller output speed compensation rate;
Rotating speed compensation rate and motor speed setting value sum are carried out to rotating speed control as the input of drive motors, and the actual output throwing masterpiece of driven roller is that value of feedback realizes closed-loop control.
6. method as claimed in claim 5, is characterized in that, described controller carries out ratio to throwing power setting value with the difference of actual output throwing power and regulates and integral adjustment control, output speed compensation rate.
7. method as described in claim 5 or 6, is characterized in that:
The actual output throwing power Facti=Tacti × Gi/Ri of i platform driven roller;
Tacti is the electromagnetic torque of the actual output of i platform drive motors;
Gi is the transmission efficiency of i platform driven roller, Gi<1;
Ri is the roller-way radius of i platform driven roller, the m of unit.
8. method as claimed in claim 7, is characterized in that,
Total throwing F=Fact1+Fact2+...+Factn that makes a concerted effort;
Throwing power setting value Fseti=F × Lsi/ (Ls1+Ls2+Ls3+ of i platform drive motors ... + Lsn);
Wherein, Lsi is the sharing of load coefficient of i platform driven roller motor, and n is the number of units that participates in the driven roller parts of sharing of load.
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| CN105251956A (en) * | 2015-10-20 | 2016-01-20 | 山东钢铁股份有限公司 | Continuous casting tension leveler control method and device and terminal |
| CN106111929A (en) * | 2016-07-25 | 2016-11-16 | 江苏联峰能源装备有限公司 | A kind of round billet continuous casting straightening motor load dynamically distributes control system and control method thereof |
| CN110434305A (en) * | 2019-08-30 | 2019-11-12 | 中国重型机械研究院股份公司 | A kind of system and method controlling the driven loads dynamic equilibrium of sheet billet continuous casting host area |
| CN113523214A (en) * | 2021-06-18 | 2021-10-22 | 首钢集团有限公司 | Slab throwing force distribution method for continuous casting high-reduction process |
| CN113798460A (en) * | 2021-09-01 | 2021-12-17 | 中冶南方连铸技术工程有限责任公司 | Tension leveler system and method for adjusting load factor of transmission device of tension leveler |
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