CN104049566A - Electrical drive method for safe converter tilting - Google Patents
Electrical drive method for safe converter tilting Download PDFInfo
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- CN104049566A CN104049566A CN201410315220.3A CN201410315220A CN104049566A CN 104049566 A CN104049566 A CN 104049566A CN 201410315220 A CN201410315220 A CN 201410315220A CN 104049566 A CN104049566 A CN 104049566A
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- converter
- tilting motor
- angle
- encoder
- inclining
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Abstract
The invention discloses an electrical drive method for safe converter tilting. The method includes the steps that firstly, a converter tilting control system is configured, and the control system is operated; secondly, one of four tilting motors is selected as a main motor through an HMI, and the rest three of the motors serves as auxiliary motors; thirdly, mutual discrimination is conducted on a converter tilting angle encoder and four tilting motor speed encoders through PLC collection so as to determine whether the encoder breaks down or not, if a main tiling speed encoder breaks down, the main tilting speed encoder is cut off from a program, and another motor is used as the main motor to prevent a converter from being out of control, and if the main tilting encoder does not break down, the angle theta t calculated out through the main motor is used for replacing the angle value of the tilting angle encoder. According to the electrical drive method, the tilting angle encoder and the four tilting motor speed encoders are verified mutually, a PLC is used for obtaining information of the five encoders, monitoring and discriminating are conducted, and the influences, caused by faults of the encoders, on the system of converter tilting are avoided.
Description
Technical field
The invention belongs to the pneumatic steelmaking visual plant device of field of iron and steel smelting, referred more particularly to the control method of the electric control system of converter safety.
Background technology
In large-scale steel industry, adopt converter steelmaking process in occupation of the main status of process for making.Converter tilting system is the core steelmaking equipment of pneumatic steelmaking, integrated alternating-current electric transmission and mechanical gear transport characteristics; Due to the singularity of operating mode, require this equipment adjustable at operational process medium velocity, and can realize quick acceleration; The characteristics such as system performance is hard, is subject to the impact of load variations little, and staring torque is large, fast response time, can realize quick and precisely and stopping, and equipment failure rate is low; And must possess high reliability and security.
Converter tilting system, be mostly now adopt alternating-current actuating system, be set to 4 tilting motor by mechanical gear drive converter ± 360 ° rotatablely move.And according to technology controlling and process requirement, it is chain that converter inclining angle and converter inclining speed exist, traditional turning angle is mainly to obtain by single converter inclining angular encoder; Particularly, in the time that converter moves with molten steel, the feedback of turning angle occurs that mistake will cause more serious consequence.And in the time of shut-down operation, due to the wearing and tearing of converter band-type brake, band-type brake is not in place or because certain factor is given converter band-type brake in situation about opening, converter meeting rotates under the effect of gravity, if do not notify and may bring accident to operating personnel in time in this case.
Summary of the invention
In view of this, object of the present invention provides a kind of Electrified Transmission control method of converter inclining safety, the method takes converter inclining angular encoder and motor speed scrambler to carry out the mechanism of inspection mutually, thereby has avoided causing because of encoder fault the error of converter control; By converter inclining control is improved, improve converter inclining safety and stability, make converter inclining there is better stability, be the generation of accident thereby reduced converter inclining.
One of object of the present invention is achieved through the following technical solutions, and a kind of Electrified Transmission control method of converter inclining safety, specifically comprises the following steps:
S1. configure converter inclining control system, then move this control system;
S2. select a tilting motor in four tilting motor as main tilting motor by HMI, its excess-three platform tilting motor is as from tilting motor;
S3. gather converter inclining angular encoder by PLC and main tilting motor speed encoder is differentiated mutually, to determine whether scrambler breaks down; If main tilting motor speed encoder breaks down, from program, excise this scrambler, and change an other motor as main tilting motor, prevent that converter inclining is out of control; If main tilting motor speed encoder does not break down, the angle θ that uses main tilting motor speed encoder to calculate
treplace the angle value of turning angle scrambler.
Further, converter inclining angular encoder and four tilting motor speed encoders are mutually sentenced method for distinguishing and are:
S31. after converter brings into operation by position verification, initial converter inclining angle is kept in the variable of program; And after converter is out of service, converter inclining angle is upgraded and is kept in this variable, the initial turning angle of converter is θ
s;
S32. by the speed of main converter tilting motor scrambler, draw main tilting motor scrambler angle value by discrete integration method, computing formula is:
Formula by discretize is:
the travelling speed that v (t) is converter,
v
0(k) be the speed that main tilting motor was moved in the current k moment; λ is the reduction gear ratio of converter tilting speed reducer structure; The pass through turning angle that main tilting motor speed encoder calculate of converter in operational process is: θ
t=θ
s+ θ
i;
S33. judge that turning angle difference that the main tilting motor speed encoder of converter inclining angle and converter calculates is whether in threshold range,
When | θ
0-θ
t| when≤ξ, the main tilting motor speed encoder of converter inclining angular encoder and converter is working properly, finishes judgement;
When | θ
0-θ
t| when > ξ, judge the angle θ of the main tilting motor speed encoder conversion of converter
iwith other three the angle θ from the conversion of tilting motor speed encoder
jbetween difference whether in threshold range, wherein, ξ is judgment threshold, θ
0for converter inclining angular encoder feedback angle;
When | θ
i-θ
j|≤ξ j=1,2,3,4, i ≠ j, the angle θ that main tilting motor speed encoder is calculated
treplace the angle value of turning angle scrambler; Converter inclining operating speed is defined as to low speed, and alarm converter inclining angular encoder breaks down on HMI.
When | θ
i-θ
j| > ξ j=1,2,3,4, i ≠ j, needs manually to determine whether main tilting motor speed encoder breaks down, if break down, judge out of order scrambler and change an other tilting motor as main tilting motor from the excision of program the inside.
Further, described judgment threshold ξ meets following relation,
the selection of this value, is the changing value of turning angle in 0.5s clock, and this value can be adjusted in actual debugging.
The present invention also provides a kind of and judges that converter slips the method for stove, and the method is applicable to differentiate after converter blowing out, and the method is specially:
By gathering main tilting motor speed encoder value of feedback v
0(k):
Work as v
0(k), show that blowing out slips stove with rear converter at=0 o'clock;
Work as v
0(k) ≠ 0 o'clock, time delay 2s, judged v again
0(k) whether be 0; If 0, do not slip stove; In the time being not 0, can judge the later stove that slips of converter blowing out, will on HMI, notify operating personnel to process with the form of reporting to the police.
The present invention also provides another kind of and judges that converter slips the method for stove, and the method is applicable to differentiate after converter blowing out, and the method is specially:
By the converter in converter inclining angular encoder Real-time Collection current k moment of converter and the k-1 moment running angle of inclining,
When | θ
k-θ
k-1| when > δ, judge that converter exists in the time of shut-down operation to slip stove, will on HMI, notify operating personnel with the form of reporting to the police;
When | θ
k-θ
k-1| when≤δ, judge that converter do not slip stove in the time of shut-down operation; Wherein
θ
kthe converter inclining angle in current k-1 moment; θ
k-1the converter inclining angle in k-1 moment; δ judges the threshold value that converter angle changes.
Further, described threshold value is 0.5.
Useful technique effect:
1) proposed a kind of by turning angle scrambler and four methods that tilting motor speed encoder is verified mutually, obtain the information of these five scramblers by PLC, monitor and differentiate, thereby having prevented that converter inclining from exerting an influence to system because scrambler breaks down.
2) proposed in the time of converter shut-down operation, by judging converter inclining angle, judged whether converter exists to slip stove, slipped stove if existed, on HMI, notified operating personnel by the form of reporting to the police.
Described in above comprehensive, the present invention has strengthened converter inclining reliability of operation, effectively raises safety and the stability of traditional converter control.
Brief description of the drawings
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, the present invention is described in further detail, wherein:
Fig. 1 is that encoder fault judges schematic diagram;
Fig. 2 is the electric drive control system block diagram of converter inclining safety;
Fig. 3 judges by main tilting motor scrambler whether converter exists to slip the schematic diagram of stove;
Fig. 4 judges by turning angle scrambler whether converter exists to slip the schematic diagram of stove.
Embodiment
Below with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail; Should be appreciated that preferred embodiment is only for the present invention is described, instead of in order to limit the scope of the invention.
As shown in Figure 2, the electric drive control system of converter inclining safety comprises, four converter inclining motors, four frequency converters, one contains four mechanical hatching gate tilting motor band-type brake systems, a PLC logic programmable controller, four tilting motor incremental encoders and a turning angle absolute value type scrambler.Wherein, PLC carries out communication by Profibus-DP network and four converter inclining frequency converters, four frequency converters that are equipped with Simolink plate form looped network by optical fiber and between four tilting frequency converter, carry out transmitting torque component, primary transducer operates in speed ring, operate in torque ring from frequency converter, its three torques from frequency converter are given is to realize transmission of torque by primary transducer by Simolink.Between PLC and frequency converter, net given Frequency Converter Control word and main motor speed with Profibus-DP, and transmit the status word of frequency converter, the rotating speed of tilting motor, torque and current component.
According to above-mentioned control system, the invention provides a kind of Electrified Transmission control method of converter inclining safety, specifically comprise the following steps:
S1. configure converter inclining control system, then move this control system;
S2. select a tilting motor in four tilting motor as main tilting motor by HMI, its excess-three platform tilting motor is as from tilting motor; Main tilting motor adopts speed control, and other three tilting motor are by the torque of the main motor of Simolink bus tracking;
S3. gather converter inclining angular encoder by PLC and four tilting motor speed encoders are differentiated mutually, to determine whether scrambler breaks down; If the main speed encoder that fascinates breaks down, from program, excise this scrambler, and change an other motor as main tilting motor, prevent that converter inclining is out of control; If the main speed encoder that fascinates does not break down, the angle θ that uses main tilting motor to calculate
treplace the angle value of turning angle scrambler.
As shown in Figure 1, converter inclining angular encoder and four tilting motor speed encoders are mutually sentenced method for distinguishing and are:
S31. after converter brings into operation by position verification, initial converter inclining angle is kept in the variable of program; And after converter is out of service, converter inclining angle is upgraded and is kept in this variable, the initial turning angle of converter is θ
s;
S32. by the speed of main converter tilting motor scrambler, draw a scrambler angle value by discrete integration method, computing formula is:
Formula by discretize is:
The travelling speed that v (t) is converter, this speed is main tilting motor drives converter operation speed by reducing gear device,
V
0(k) be the speed that main tilting motor was moved in the current k moment;
λ is the reduction gear ratio of converter tilting speed reducer structure, and this reduction gear ratio is defined as fixed value while design according to mechanical drive; The pass through current k moment turning angle that main tilting motor calculate of converter in operational process is: θ
t=θ
s+ θ
i;
S33. judge that scrambler difference that the main tilting motor of converter inclining angle and converter calculates is whether in threshold range,
When | when θ 0-θ t≤ξ, the main tilting motor scrambler of converter inclining angular encoder and converter is working properly, finishes judgement;
Work as θ
0-θ
t| when > ξ, judge the angle θ of the main speed encoder conversion of fascinating of converter
iwith other three the angle θ from the conversion of tilting motor speed encoder
jbetween difference whether in threshold range, wherein, ξ is judgment threshold, θ
0for converter inclining angular encoder feedback angle;
When | θ
i-θ
j|≤ξ j=1,2,3,4, i ≠ j, the angle θ that main tilting motor is calculated
treplace the angle value of turning angle scrambler; Converter inclining operating speed is defined as to low speed, and alarm converter inclining angular encoder breaks down on HMI.
When | θ
i-θ
j| > ξ j=1,2,3,4, i ≠ j, needs manually to determine whether main tilting motor speed encoder breaks down, if break down, judge out of order scrambler and change an other motor as main tilting motor from the excision of program the inside.
Described judgment threshold ξ can, according to the speed dynamic change of converter actual motion, be taken as 0.5s in the present embodiment, and judgment threshold ξ meets following relation,
v (k) is the speed r/s of current k moment converter operation.
The present invention takes converter inclining angular encoder and motor speed scrambler to carry out the mechanism of inspection mutually, thereby has avoided causing because of encoder fault the error of converter control.
The present invention also provides two kinds to judge whether converter exists the method for stove of slipping in stopping,
Fig. 3 judges by main tilting motor scrambler whether converter exists to slip the schematic diagram of stove; The method is by gathering main tilting motor speed encoder value of feedback v
0(k):
Work as v
0(k), show that blowing out slips stove with rear converter at=0 o'clock;
Work as v
0(k) ≠ 0 o'clock, time delay 2s, judged v again
0(k) whether be 0; If 0, do not slip stove; In the time being not 0, can judge the later stove that slips of converter blowing out, will on HMI, notify operating personnel to process with the form of reporting to the police.
Fig. 4 judges by turning angle scrambler whether converter exists to slip the schematic diagram of stove, as shown in Figure 4, and by the converter in converter inclining angular encoder Real-time Collection current k moment of converter and the k-1 moment running angle of inclining,
When | θ
k-θ
k-1| when > δ, judge that converter exists in the time of shut-down operation to slip stove, will on HMI, notify operating personnel with the form of reporting to the police;
When | θ
k-θ
k-1| when≤δ, judge that converter do not slip stove in the time of shut-down operation; Wherein, θ
kthe converter inclining angle in current k moment; θ
k-1the converter inclining angle in k-1 moment; δ judges the threshold value that converter angle changes.
Further, described threshold value δ is 0.5.
The present invention is by Real-Time Monitoring converter inclining angle value, and while judging shut-down operation, whether converter exists and slip stove.By converter inclining control is improved, improve converter inclining safety and stability, make converter inclining there is better stability, be the generation of accident thereby reduced converter inclining.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the present invention.Like this, if these amendments of the present invention and within modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (6)
1. an Electrified Transmission control method for converter inclining safety, is characterized in that: specifically comprise the following steps:
S1. configure converter inclining control system, then move this control system;
S2. select a tilting motor in four tilting motor as main tilting motor by HMI, its excess-three platform tilting motor is done
For from tilting motor;
S3. gather converter inclining angular encoder by PLC and main tilting motor speed encoder is differentiated mutually, to determine whether scrambler breaks down; If main tilting motor speed encoder breaks down, from program, excise this scrambler, and change an other motor as main tilting motor, prevent that converter inclining is out of control; If main tilting motor speed encoder does not break down, the angle θ that uses main tilting motor speed encoder to calculate
treplace the angle value of turning angle scrambler.
2. the Electrified Transmission control method of converter inclining safety according to claim 1, is characterized in that: converter inclining angle
Scrambler and four tilting motor speed encoders are mutually sentenced method for distinguishing and are:
S31. after converter brings into operation by position verification, initial converter inclining angle is kept in the variable of program; And after converter is out of service, converter inclining angle is upgraded and is kept in this variable, the initial turning angle of converter is θ
s;
S32. by the speed of main converter tilting motor scrambler, draw main tilting motor scrambler angle value by discrete integration method, computing formula is:
Formula by discretize is:
the travelling speed that v (t) is converter,
v
0(k) be the speed that main tilting motor was moved in the current k moment; λ is the reduction gear ratio of converter tilting speed reducer structure;
The turning angle that converter calculates by main tilting motor speed encoder in operational process is: θ
t=θ
s+ θ
i;
S33. the difference that judges the turning angle that the main tilting motor speed encoder of converter inclining angle and converter calculates whether in threshold range,
When | θ
0-θ
t| when≤ξ, the main tilting motor speed encoder of converter inclining angular encoder and converter is working properly, finishes judgement;
When | θ
0-θ
t| when > ξ, judge the angle θ of the main tilting motor speed encoder conversion of converter
iwith other three the angle θ from the conversion of tilting motor speed encoder
jbetween difference whether in threshold range, wherein, ξ is judgment threshold, θ
0for converter inclining angular encoder feedback angle;
When || θ
i-θ
j||≤ξ j=1,2,3,4, i ≠ j, the angle θ that main tilting motor speed encoder is calculated
treplace the angle value of turning angle scrambler; Converter inclining operating speed is defined as to low speed, and alarm converter inclining angular encoder breaks down on HMI;
When | θ
i-θ
j| > ξ j=1,2,3,4, i ≠ j, needs manually to determine whether main tilting motor speed encoder breaks down, if break down, judge out of order scrambler and change an other tilting motor as main tilting motor from the excision of program the inside.
3. the Electrified Transmission control method of converter inclining safety according to claim 2, is characterized in that: described judgment threshold ξ meets following relation,
4. judge that converter slips the method for stove, it is characterized in that: by gathering main tilting motor speed encoder value of feedback v
0(k):
Work as v
0(k), show that blowing out slips stove with rear converter at=0 o'clock;
Work as v
0(k) ≠ 0 o'clock, time delay 2s, judged v again
0(k) whether be 0; If 0, do not slip stove; In the time being not 0, can judge the later stove that slips of converter blowing out, will on HMI, notify operating personnel to process with the form of reporting to the police.
5. judge that converter slips the method for stove, it is characterized in that: by the converter in converter inclining angular encoder Real-time Collection converter k moment and the k-1 moment running angle of inclining,
When | θ
k-θ
k-1| when > δ, judge that converter exists in the time of shut-down operation to slip stove, will on HMI, notify operating personnel with the form of reporting to the police;
When | θ
k-θ
k-1| when≤δ, judge that converter do not slip stove in the time of shut-down operation; Wherein
θ
kthe converter inclining angle in k moment; θ
k-1the converter inclining angle in k-1 moment; δ judges the threshold value that converter angle changes.
6. the method for stove is slipped in judgement converter according to claim 5, it is characterized in that: described threshold value is 0.5.
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|---|---|---|---|
| CN201410315220.3A CN104049566B (en) | 2014-07-03 | 2014-07-03 | A kind of Electrified Transmission control method of converter inclining safety |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410315220.3A CN104049566B (en) | 2014-07-03 | 2014-07-03 | A kind of Electrified Transmission control method of converter inclining safety |
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| CN104049566A true CN104049566A (en) | 2014-09-17 |
| CN104049566B CN104049566B (en) | 2016-05-11 |
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Cited By (8)
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| CN105021055A (en) * | 2015-07-31 | 2015-11-04 | 共享铸钢有限公司 | Anti-derailing electric furnace tilting warning device |
| CN106834609A (en) * | 2017-03-14 | 2017-06-13 | 许昌学院 | A kind of AOD furnace is fascinated control system |
| CN107641680A (en) * | 2017-10-27 | 2018-01-30 | 江苏永钢集团有限公司 | Converter body fascinates delay contracting control method |
| CN111118249A (en) * | 2019-12-13 | 2020-05-08 | 首钢京唐钢铁联合有限责任公司 | Method and system for detecting running torque synchronization of converter tilting equipment |
| CN111850207A (en) * | 2020-08-19 | 2020-10-30 | 山东钢铁股份有限公司 | Control system and control method for tilting angle of distribution chute of blast furnace |
| CN113567857A (en) * | 2021-07-19 | 2021-10-29 | 首钢京唐钢铁联合有限责任公司 | Motor encoder fault detection method and device |
| CN113885429A (en) * | 2021-10-22 | 2022-01-04 | 南阳汉冶特钢有限公司 | Method for controlling converter tilting system by using S120 frequency converter |
| CN114959166A (en) * | 2022-05-10 | 2022-08-30 | 首钢京唐钢铁联合有限责任公司 | Control method, device, equipment and medium for steelmaking converter |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105021055A (en) * | 2015-07-31 | 2015-11-04 | 共享铸钢有限公司 | Anti-derailing electric furnace tilting warning device |
| CN106834609A (en) * | 2017-03-14 | 2017-06-13 | 许昌学院 | A kind of AOD furnace is fascinated control system |
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| CN111118249A (en) * | 2019-12-13 | 2020-05-08 | 首钢京唐钢铁联合有限责任公司 | Method and system for detecting running torque synchronization of converter tilting equipment |
| CN111850207A (en) * | 2020-08-19 | 2020-10-30 | 山东钢铁股份有限公司 | Control system and control method for tilting angle of distribution chute of blast furnace |
| CN111850207B (en) * | 2020-08-19 | 2024-04-09 | 山东钢铁股份有限公司 | Control system and control method for tilting angle of blast furnace distribution chute |
| CN113567857A (en) * | 2021-07-19 | 2021-10-29 | 首钢京唐钢铁联合有限责任公司 | Motor encoder fault detection method and device |
| CN113567857B (en) * | 2021-07-19 | 2024-02-09 | 首钢京唐钢铁联合有限责任公司 | Motor encoder fault detection method and device |
| CN113885429A (en) * | 2021-10-22 | 2022-01-04 | 南阳汉冶特钢有限公司 | Method for controlling converter tilting system by using S120 frequency converter |
| CN114959166A (en) * | 2022-05-10 | 2022-08-30 | 首钢京唐钢铁联合有限责任公司 | Control method, device, equipment and medium for steelmaking converter |
| CN114959166B (en) * | 2022-05-10 | 2023-08-15 | 首钢京唐钢铁联合有限责任公司 | Control method, device, equipment and medium for steelmaking converter |
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| CN104049566B (en) | 2016-05-11 |
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