CN104152628B - A kind of tilting motor declutches control method and device - Google Patents
A kind of tilting motor declutches control method and device Download PDFInfo
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- CN104152628B CN104152628B CN201410427192.4A CN201410427192A CN104152628B CN 104152628 B CN104152628 B CN 104152628B CN 201410427192 A CN201410427192 A CN 201410427192A CN 104152628 B CN104152628 B CN 104152628B
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Abstract
The present invention is applicable to metallurgy industry field of steel-making, and provide a kind of tilting motor to declutch control method and device, described method comprises: sample the interrupt cycle of setting tilting motor rotating speed, tilting motor moment and electric current; Converter brings into operation, and after band-type brake is all opened and put in place, obtains converter deadweight torque for each of recursion interrupt cycle; When band-type brake starts closed, record the deadweight torque under the Current interrupt cycle, rotational inertia and companion matrix; When upper once converter runs, if converter setting speed is identical with the deadweight torque direction of record, unclamp band-type brake when detecting after the actual current of every platform tilting motor is greater than the magnetizing current of this motor; Otherwise after the converter deadweight torque of recording under four tilting motor synthesis Driving Torque are greater than this position being detected, unclamp band-type brake immediately.The present invention estimates converter deadweight level of torque according to the running state data of converter, and decides best band-type brake thus and unclamp the moment, the smooth running of the rear converter that can ensure to declutch.
Description
Technical field
The invention belongs to metallurgy industry field of steel-making, particularly relate to a kind of tilting motor and to declutch control method and device.
Background technology
Converter is a kind of important steelmaking equipment, tilting mechanism can drive it ± 360 ° rotate to realize the operational process of craft such as hot metal charging, thermometric sampling, tapping, deslagging.Current most of tilting mechanism adopts the integral pattern of four point toothing, and moment equilibrium mechanism is torsion bar device.Tiling arrangement is primarily of four alternating current motors, four covers step-down gear, a set of secondary reducer composition.Controlling System comprises a set of PLC device and four frequency transformers.Four motor synchronous open, brake, synchronous operation.Motor speed is adjustable.Every platform electric motor shaft shaft coupling is configured with a set of hydromagnetic brake (or being called band-type brake, brake facing).When converter stops, stopper is held tightly, relies on the frictiontorque between brake block and Motor Shaft and converter torque of conducting oneself with dignity mutually to balance and maintain the static of converter.When converter runs, releasing of brake, motor drive converter is rotated.Tilting Device of Converter is in smelting operation, because technological operation needs meeting start and stop frequently, so the control of declutching is especially important, if declutch too early so that the driving torque that exports of motor also do not reach the deadweight torque of converter, " slip car " phenomenon may be there is, the driving torque that too late so that motor exports if declutched, much larger than the deadweight torque of converter, may cause starting brief acceleration excessive, cause converter revolution fluctuation and concussion.Traditional control strategy that declutches is using electric current as judging criterion, and when detecting that motor outward current unclamps band-type brake when being greater than certain steady state value, and owing to becoming when the deadweight torque of converter is, this control method effect is also bad.
Summary of the invention
In view of the above problems, the object of the present invention is to provide a kind of tilting motor to declutch control method and device, be intended to solve the technical problem that " slip car " or revolution fluctuation and concussion easily appear in existing Current Control Technology scheme.
On the one hand, the described tilting motor control method that declutches comprises the steps:
From four motor tilting frequency converter, with tilting motor rotating speed of sampling the interrupt cycle set, tilting motor moment and electric current;
Converter brings into operation, and after band-type brake is all opened and put in place, obtains converter deadweight torque for each of recursion interrupt cycle;
When band-type brake starts closed, record the deadweight torque under the Current interrupt cycle, rotational inertia and companion matrix;
When upper once converter runs, if converter setting speed is identical with the deadweight torque direction of record, unclamp band-type brake when detecting after the actual current of every platform tilting motor is greater than the magnetizing current of this motor; If otherwise converter setting speed is contrary with the deadweight torque direction of record, after the converter deadweight torque of recording under four tilting motor synthesis Driving Torque are greater than this position being detected, unclamp band-type brake immediately.
On the other hand, described tilting motor declutches control device, comprising:
Sampling unit, for from four motor tilting frequency converter, with tilting motor rotating speed of sampling the interrupt cycle set, tilting motor moment and electric current;
Recurrence calculation unit, for when converter brings into operation, after band-type brake is all opened and put in place, obtains converter deadweight torque for each of recursion interrupt cycle;
Data record unit, for for when band-type brake starts closed, records the deadweight torque under the Current interrupt cycle, rotational inertia and companion matrix;
Unclamping control unit, for when upper once converter runs, if converter setting speed is identical with the deadweight torque direction of record, unclamping band-type brake when detecting after the actual current of every platform tilting motor is greater than the magnetizing current of this motor; If otherwise converter setting speed is contrary with the deadweight torque direction of record, after the converter deadweight torque of recording under four tilting motor synthesis Driving Torque are greater than this position being detected, unclamp band-type brake immediately.
The invention has the beneficial effects as follows: traditional converter declutch control method be judge current of electric be greater than certain particular value after namely unclamp band-type brake, because the size of converter deadweight torque changes with the change of converter angle, and have much relations with molten steel Intake Quantity, fire door dry slag situation etc., so tradition declutches, control method rear motor Driving Torque and the converter torque phase of conducting oneself with dignity that can not ensure at every turn to declutch balances, and also just cannot ensure the smooth running of converter.The present invention estimates converter deadweight level of torque according to the running state data of converter, and decides best band-type brake thus and unclamp the moment, the smooth running of the rear converter that can ensure to declutch.
Accompanying drawing explanation
Fig. 1 is that tilting motor that first embodiment of the invention provides declutches the schema of control method;
Fig. 2 is converter force analysis schematic diagram;
Fig. 3 is that tilting motor that second embodiment of the invention provides declutches the block diagram of control device.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, 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, be not intended to limit the present invention.
In order to technical solutions according to the invention are described, be described below by specific embodiment.
embodiment one:
The tilting motor that Fig. 1 shows the embodiment of the present invention to be provided declutches the flow process of control method, illustrate only the part relevant to the embodiment of the present invention for convenience of explanation.
The tilting motor control method that declutches comprises the steps:
Step S101, from four motor tilting frequency converter, with tilting motor rotating speed of sampling the interrupt cycle set, tilting motor moment and electric current.
With tilting motor rotational speed omega of sampling from four motor tilting frequency converter the interrupt cycle of setting
1, ω
2, ω
3, ω
4, tilting motor moment T
1, T
2, T
3, T
4and electric current I
1, I
2, I
3, I
4.Here interrupt cycle, Tn got 0.01s
Step S102, converter bring into operation, and after band-type brake is all opened and put in place, obtain converter deadweight torque for each of recursion interrupt cycle.
With reference to the converter force analysis schematic diagram shown in Fig. 2.When converter free movement, when not namely being subject to stopper constraint, converter is considered as a whole object, it meets the following equation of motion:
Wherein, ω is converter circular frequency, can be calculated by known motor speed and ratio of gear.Regulation is looked from non-drive side, and rotating speed when converter is rotated counterclockwise is that just rotating speed when converter turns clockwise is negative;
A is the angular aceeleration of converter, is angular velocity omega time differential;
Tm is dynamic torque, and namely motor output torque converts the value of secondary reducer rotating shaft.Regulation is looked from non-drive side, and anticlockwise moment is just, clockwise moment is negative;
T
sTfor resistive torque, i.e. the deadweight torque of converter.Regulation is looked from non-drive side, and clockwise moment is just, anticlockwise moment is negative;
J is converter rotational inertia.
According to above-mentioned formula and definition, in any kth sampling period, meet
Tm(k)＝T
ST(k)+J(k)a(k)(2)
Tm (k) arrives the Driving Torque sum of four tilting motor of secondary reducer for conversion,
Tm(k)＝N[T
1(k)+T
2(k)+T
3(k)+T
4(k)](3)
The calculating of ω (k) adopts four tilting motor rotating speeds to convert the mean value of secondary reducer rotating shaft
Use the mode of consequent difference to substitute to differentiate to calculate a (k)
Formula (2) is seen as physical model, T
sTk () and J (k) are seen as unknown parameter to be identified, use the model parameter optimal estimation method of gradually weaken momery to solve T online
sTthe value of (k) and J (k).The present embodiment is got band forgetting factor λ and is got 0.95.
Consider the existence of measurement noises, and first suppose T
sTk () and J (k) have nothing to do with k, formula (2) is changed into standard form:
Wherein:
θ=[T
sT, J]
t: v (k) is measurement noises.
For an existing k sampled data, make criterion function
the estimated value of minimum θ
for the optimum value of θ.According to this criterion
can by following formula recurrence calculation:
In fact T
sTk () is relevant with k with J (k), they change with the change of converter position, belong to time-varying parameter, needs to introduce forgetting factor λ the weight of data more early when calculating is reduced, so T to the calculating identification of this type of parameter
sTk the calculation formula of the estimated value of the use gradually weakened memory method of () and J (k) is:
Set up due under the condition that formula (1) and formula (2) are just totally released at stopper, so recurrence calculation process need could start when the converter operation phase, stopper was totally released, simultaneously when stopper starts closed, recurrence calculation process should terminate immediately, otherwise will obtain the T of mistake
sTestimated value.
Step S103, when band-type brake starts closed, record the deadweight torque under the Current interrupt cycle, rotational inertia and companion matrix.
After when band-type brake starts closed, the torque deadweight torque T of band-type brake closing moment under M front interrupt cycle may be estimated according to the formula in step S102
sT(M), also record in addition and rotate used J (M) and companion matrix P (M), when band-type brake close rear converter also by continuation operation Small angle after could stop, the automated torque of now torque is T
sT'.0.05 ° can not be greater than, therefore T through this low-angle value of actual measurement
sTand T (N)
sT' difference will be very little, so can T be used
sT(M) T is substituted
sT' as the parameter of converter releasing of brake Rule of judgment.
Step S104, when upper once converter runs, if converter setting speed is identical with the deadweight torque direction of record, unclamp band-type brake when detecting after the actual current of every platform tilting motor is greater than the magnetizing current of this motor;
If step S105 converter setting speed is contrary with the deadweight torque direction of record, after the converter deadweight torque of recording under four tilting motor synthesis Driving Torque are greater than this position being detected, unclamps band-type brake immediately, namely meet N [T
1+ T
2+ T
3+ T
4]>=T
sT(M) band-type brake is unclamped immediately after condition.
When converter runs again, if setting speed ω direction and deadweight torque T
sT(M) direction is identical, i.e. T
sT(N) × ω>=0 time, torque of then conducting oneself with dignity will accelerate the effect playing power in starting process in converter, can control directly to unclamp band-type brake, but due under frequency transformer vector controlled pattern the start-up course of motor to experience startup, set up excitation, Driving Torque several stage.Start under front motor is not also in velocity close-loop control pattern, is in uncontrollable state, so in order to ensure safety, needs to wait for that excitation could release brake after terminating in the Driving Torque stage.
If setting speed ω direction and deadweight torque T
sT(M) direction is contrary, i.e. T
sT(N) × ω <0 time, then when the Driving Torque Tm of motor equals converter self torque T
sT' (actual treatment T
sT(M) substitute) time to unclamp band-type brake effect best, now converter is not by the effect of brake block frictional force, and make a concerted effort after band-type brake unclamps to be 0, converter is progressively accelerated from 0 acceleration, can realize the most stable Accelerating running of equipment.If Tm<T
sT' time release brake, after releasing of brake, due to power Tm specific filtration resistance T
sT' little, then converter will to T
sT' direction accelerated motion, there is the phenomenon of converter towards reverse " slip car " in setting speed direction.If Tm>T
sT' time release brake, after releasing of brake, the transient acceleration of converter will be greater than zero, if the excessive travelling speed of converter that may cause of this value will substantially exceed setting speed, namely produce excessive overshoot, cause the concussion of converter travelling speed, affect the smooth running of equipment.
After confirmation band-type brake is all opened and put in place, by T
sT(N), J (N) and P (N) carries out recurrence calculation torque as the initial value of new round calculation procedure.
embodiment two:
The tilting motor that Fig. 3 shows the embodiment of the present invention to be provided declutches the structure of control device, illustrate only the part relevant to the embodiment of the present invention for convenience of explanation.
The tilting motor control device that declutches comprises:
Sampling unit 201, for from four motor tilting frequency converter, with tilting motor rotating speed of sampling the interrupt cycle set, tilting motor moment and electric current;
Recurrence calculation unit 202, for when converter brings into operation, after band-type brake is all opened and put in place, obtains converter deadweight torque for each of recursion interrupt cycle;
Data record unit 203, for when band-type brake starts closed, records the deadweight torque under the Current interrupt cycle, rotational inertia and companion matrix;
Unclamping control unit 204, for when upper once converter runs, if converter setting speed is identical with the deadweight torque direction of record, unclamping band-type brake when detecting after the actual current of every platform tilting motor is greater than the magnetizing current of this motor; If otherwise converter setting speed is contrary with the deadweight torque direction of record, after the converter deadweight torque of recording under four tilting motor synthesis Driving Torque are greater than this position being detected, unclamp band-type brake immediately.
For a kth interrupt cycle, have
wherein T
sTk () estimates the converter deadweight torque obtained for a kth cycle, J (k) estimates the converter rotational inertia reached for a kth cycle;
Wherein Tm (k)=N [T
1(k)+T
2(k)+T
3(k)+T
4(k)];
N is the total velocity ratio of converter motor to secondary reducer;
T
1(k), T
2(k), T
3(k), T
4k () is respectively four actual Driving Torque of motor;
ω
1(k), ω
2(k), ω
3(k), ω
4k () is respectively the actual speed of four motors;
The acceleration that a (k) is converter;
Tn is interrupt cycle;
λ is forgetting factor;
l (k), P (k) are subsidiary variable, and they are 2 × 1 column vectors, 2 × 1 column vectors and 2 × 2 matrixes respectively.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. tilting motor declutches a control method, and it is characterized in that, described method comprises:
From four motor tilting frequency converter, with tilting motor rotating speed of sampling the interrupt cycle set, tilting motor moment and electric current;
Converter brings into operation, and after band-type brake is all opened and put in place, obtains converter deadweight torque for each of recursion interrupt cycle;
When band-type brake starts closed, record the deadweight torque under the Current interrupt cycle, rotational inertia and companion matrix;
When upper once converter runs, if converter setting speed is identical with the deadweight torque direction of record, unclamp band-type brake when detecting after the actual current of every platform tilting motor is greater than the magnetizing current of this motor; If otherwise converter setting speed is contrary with the deadweight torque direction of record, after the converter deadweight torque of recording under four tilting motor synthesis Driving Torque are greater than this position being detected, unclamp band-type brake immediately;
Wherein said for each recursion acquisition converter deadweight interrupt cycle torque step, specifically comprise:
For a kth interrupt cycle, have
wherein T
sTk () estimates the converter deadweight torque obtained for a kth cycle, J (k) estimates the converter rotational inertia reached for a kth cycle;
Wherein Tm (k)=N [T
1(k)+T
2(k)+T
3(k)+T
4(k)];
N is the total velocity ratio of converter motor to secondary reducer;
T
1(k), T
2(k), T
3(k), T
4k () is respectively four actual Driving Torque of motor;
ω
1(k), ω
2(k), ω
3(k), ω
4k () is respectively the actual speed of four motors;
The acceleration that a (k) is converter;
Tn is interrupt cycle;
λ is forgetting factor;
l (k), P (k) are subsidiary variable, and they are 2 × 1 column vectors, 2 × 1 column vectors and 2 × 2 matrixes respectively.
2. tilting motor declutches a control device, and it is characterized in that, described device comprises:
Sampling unit, for from four motor tilting frequency converter, with tilting motor rotating speed of sampling the interrupt cycle set, tilting motor moment and electric current;
Recurrence calculation unit, for when converter brings into operation, after band-type brake is all opened and put in place, obtains converter deadweight torque for each of recursion interrupt cycle;
Data record unit, for when band-type brake starts closed, records the deadweight torque under the Current interrupt cycle, rotational inertia and companion matrix;
Unclamping control unit, for when upper once converter runs, if converter setting speed is identical with the deadweight torque direction of record, unclamping band-type brake when detecting after the actual current of every platform tilting motor is greater than the magnetizing current of this motor; If otherwise converter setting speed is contrary with the deadweight torque direction of record, after the converter deadweight torque of recording under four tilting motor synthesis Driving Torque are greater than this position being detected, unclamp band-type brake immediately;
In wherein said recurrence calculation unit, for a kth interrupt cycle, have
wherein T
sTk () estimates the converter deadweight torque obtained for a kth cycle, J (k) estimates the converter rotational inertia reached for a kth cycle;
Wherein Tm (k)=N [T
1(k)+T
2(k)+T
3(k)+T
4(k)];
N is the total velocity ratio of converter motor to secondary reducer;
T
1(k), T
2(k), T
3(k), T
4k () is respectively four actual Driving Torque of motor;
ω
1(k), ω
2(k), ω
3(k), ω
4k () is respectively the actual speed of four motors;
The acceleration that a (k) is converter;
Tn is interrupt cycle;
λ is forgetting factor;
l (k), P (k) are subsidiary variable, and they are 2 × 1 column vectors, 2 × 1 column vectors and 2 × 2 matrixes respectively.
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| CN109687806B (en) * | 2018-11-29 | 2020-09-29 | 大连华冶联自动化有限公司 | Method for ensuring mechanical shock elimination and device output torque balance |
| CN111850231B (en) * | 2020-06-17 | 2022-03-22 | 重庆川仪自动化股份有限公司 | Method and device for counting number of start-stop times of converter tilting mechanism and accumulated running time of trunnion bearing |
| CN115786631B (en) * | 2021-09-09 | 2024-03-15 | 上海宝信软件股份有限公司 | Control method, system, equipment and medium suitable for converter tilting zero-speed hovering |
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