CN104711412A - Walking beam system simulator of steel billet heating furnace, and simulation method thereof - Google Patents
Walking beam system simulator of steel billet heating furnace, and simulation method thereof Download PDFInfo
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Abstract
The invention relates to a walking beam system simulator of a steel billet heating furnace. The walking beam system simulator comprises a mobile beam ascending process stimulator, a mobile beam descending process stimulator, a mobile beam forward travel process simulator and a mobile beam backward travel process stimulator, the circuits of above four process stimulators are same to each other, each of the four process stimulators comprise a resistor R1, one end of the resistor R1 is connected with a control signal for controlling a mobile beam to ascend, the other end of the resistor R1 is connected with the inverted input end of a first amplifier A1, and the output end of the first amplifier A1 is connected with the inverted input end of a third amplifier A3 through a resistor R5; and the output end of a tenth amplifier A10 outputs a walking beam ascending/descending/forward travel/backward travel displacement signal. The invention also discloses a stimulation method of the walking beam system simulator of the steel billet heating furnace. The walking beam system stimulator and the simulation method thereof create conditions for walking beam control method research, control device development and the debugging before control device installation, substantially shorten the onsite debugging time of the walking beam, and greatly reduce the engineering enforcement cost.
Description
Technical Field
The invention relates to the technical field of walking beam type billet heating furnace control, in particular to a walking beam system simulator of a billet heating furnace and a simulation method thereof.
Background
Steel is an industrial grain, and a billet heating furnace is important equipment in steel production. The walking beam is a core component of a walking billet heating furnace and consists of a fixed beam and a movable beam, wherein the movable beam performs actions of ascending, advancing, descending, retreating and the like, and the billets are conveyed forwards step by step in the heating process in the furnace. The moving speed of the moving beam ensures the production rhythm and light supporting and light releasing of the steel billet so as to avoid damaging the moving beam and the fixed beam due to collision. Therefore, the moving beam must be controlled to move exactly according to the set speed profile.
The walking beam system is a huge system consisting of a fixed beam, a movable beam, a horizontal frame, a lifting frame, a double-wheel inclined rail walking mechanism, two hydraulic cylinders for driving to ascend and descend, a hydraulic cylinder for driving to advance and retreat, a control valve table, a hydraulic station and the like. Therefore, a real walking beam system cannot be used as a control object to perform experiments in the process of researching a walking beam control method and developing control equipment so as to check the control effect; in the process of engineering implementation, the construction period is short, the task is heavy, the debugging time can be extremely short, and in addition, due to the differences of design capacity, production process and the like, the very satisfactory control effect for each walking beam with different parameters is difficult to obtain. At present, the control of the walking beam in China also adopts an open loop mode, and the production is often interrupted because the control precision cannot be ensured.
In order to realize control and debugging of the walking beam in the processes of walking beam control method research, control equipment development and engineering implementation, a mathematical model-based walking beam simulator of a billet heating furnace is urgently needed to be developed.
Disclosure of Invention
The invention aims to provide a walking beam system simulator of a billet heating furnace, which can provide experimental conditions for control method research, control equipment development and engineering implementation, shorten the field debugging time of a walking beam and reduce the engineering implementation cost.
In order to achieve the purpose, the invention adopts the following technical scheme: a walking beam system simulator of a billet heating furnace comprises a traveling beam ascending process simulator, a traveling beam descending process simulator, a traveling beam advancing process simulator and a traveling beam retreating process simulator, wherein the circuits of the four simulators are the same, the traveling beam ascending/descending/advancing/retreating process simulator comprises a resistor R1, one end of the resistor R1 is connected with a control signal for controlling ascending/descending/advancing/retreating of a traveling beam, the other end of the resistor R1 is connected with the inverting input end of a first amplifier A1, and the output end of the first amplifier A1 is connected with the inverting input end of a third amplifier A3 through a resistor R5; the inverting input end of the fourth amplifier A4 is connected with a load signal through a capacitor C4, the output end of the fourth amplifier is connected with one end of a resistor R12, the other end of the resistor R12 is respectively connected with the inverting input end of the fifth amplifier A5 and one end of a resistor R13, and the other end of the resistor R13 is connected with the output end of the fifth amplifier A5 and then connected with the non-inverting input end of the third amplifier A3 through the resistor R7; the inverting input end of the second amplifier A2 is connected with a load signal through a resistor R3, and the inverting input end of the second amplifier A2 is connected with the non-inverting input end of the third amplifier A3 through resistors R4 and R6 in sequence; the inverting input end of the sixth amplifier A6 is connected with a hydraulic cylinder oil source pressure signal through a resistor R14, and the output end of the sixth amplifier A6 is connected with the non-inverting input end of the third amplifier A3 through a resistor R8; the output terminal of the third amplifier A3 is connected to the non-inverting input terminal of the seventh amplifier a7 through a resistor R17, the inverting input terminal of the seventh amplifier a7 is connected to the output terminal of the ninth amplifier a9 through a resistor R16, the output terminal of the seventh amplifier a7 is connected to the inverting input terminal of the eighth amplifier A8 through a resistor R20, the output terminal of the eighth amplifier A8 is connected to the inverting input terminal of the ninth amplifier a9 through a resistor R21, the output terminal of the ninth amplifier a9 is connected to the inverting input terminal of the tenth amplifier a10 through a resistor R23, and the output terminal of the tenth amplifier a10 outputs the moving beam up/down/forward/backward displacement signal.
The inverting input end of the first amplifier A1 is connected with the inverting input end of the third amplifier A3 through a resistor R2 and a resistor R5 in sequence, the non-inverting input end of the first amplifier A1 is grounded, and the inverting input end of the third amplifier A3 is connected with the output end of the third amplifier A3 through a resistor R9; the non-inverting input terminal of the fourth amplifier a4 is grounded, the inverting input terminal of the fourth amplifier a4 is connected to the output terminal thereof through the resistor R11, the non-inverting input terminal of the fifth amplifier a5 is grounded, the non-inverting input terminal of the sixth amplifier a6 is grounded, and the inverting input terminal of the sixth amplifier a6 is connected to the output terminal thereof through the resistor R15; the non-inverting input terminal of the third amplifier A3 is grounded through a resistor R10, and the inverting input terminal of the third amplifier A3 is connected to the output terminal thereof through a resistor R9; the non-inverting input terminal of the seventh amplifier a7 is connected to ground through a resistor R18, and the inverting input terminal of the seventh amplifier a7 is connected to the output terminal thereof through a resistor R19; the non-inverting input terminal of the eighth amplifier A8 is grounded, and the inverting input terminal of the eighth amplifier A8 is connected to the output terminal thereof through the capacitor C9; the non-inverting input terminal of the ninth amplifier a9 is grounded, the inverting input terminal of the ninth amplifier a9 is connected to the output terminal thereof through a resistor R22, and the capacitor C11 is connected in parallel to the resistor R22; the tenth amplifier a10 has its non-inverting input terminal connected to ground and its inverting input terminal connected to its output terminal through a capacitor C13.
The resistances of the resistors R2, R4, R13 and R15 in the moving beam ascending process simulator, the moving beam descending process simulator and the moving beam retreating process simulator are different, the resistance of the resistor R3 in the moving beam ascending process simulator, the moving beam descending process simulator and the moving beam retreating process simulator is the same and is different from the resistance of the resistor R3 in the moving beam advancing process simulator, the resistances of the resistors R14 in the moving beam ascending process simulator and the moving beam retreating process simulator are the same, the resistances of the resistors R14 in the moving beam advancing process simulator and the moving beam retreating process simulator are the same, and the resistance of the resistor R14 in the moving beam ascending process simulator is different from the resistance of the resistor R14 in the moving beam advancing process simulator.
Another object of the present invention is to provide a method for simulating a walking beam system simulator of a billet heating furnace, comprising: establishing a mathematical model of the walking beam system、Respectively a rising control signal and a falling control signal,、are respectively a forward control signal and a backward control signal,is the pressure of the oil source and is,in order to be the load,in order to displace the piston of the hydraulic cylinder,、respectively the ascending displacement and the descending displacement of the walking beam,、the model expressions of the forward displacement and the backward displacement of the walking beam are as follows:
electro-hydraulic proportional direction valve spool displacementAnd control signalI.e. by、、、The transfer function between is:
（1）
wherein,、respectively the gain and time constant of the electro-hydraulic proportional directional valve,sis a dynamic factor;
piston displacementTo the spool displacementThe transfer function between is:
（2）
wherein,， ，，，，is gravity acceleration, during the ascending and descending processIn the process of advancing and retreatingIs composed ofThe friction force when the friction force acts on the rubber,the inclination angle of the double-wheel inclined rail type stepping mechanism is adopted;in order to gain the flow rate,、respectively the effective areas of the rodless cavity and the rod cavity of the hydraulic cylinder,the length of the stroke of the hydraulic cylinder is,in order to be the flow rate-pressure coefficient,in order to be effective in terms of bulk modulus of elasticity,、respectively the volume of the rodless cavity and the rod cavity of the hydraulic cylinder,as a coefficient of leakage in the hydraulic cylinder,for the component of the load mass acting on the hydraulic cylinder,the total mass of the steel billet and the walking beam frame,sis a dynamic factor;
piston displacementAnd a loadThe transfer function between is:
（3）
piston displacementWith pressure P of the oil sourcesThe transfer function between(s) is:
（4）
wherein,；
the piston displacement can be known from the combination formulas (2), (3) and (4)Comprises the following steps:
（5）
the moving beam vertical displacement is:
（6）。
the expression of the mathematical model of the ascending process of the movable beam is as follows:
（7）；
the mathematical model of the descending process of the movable beam is as follows:
（8）
the horizontal displacement of the movable beam is as follows:
（9）；
the mathematical model of the advancing process of the movable beam is as follows:
（10）；
the moving beam retreating process mathematical model is as follows:
（11）。
let the flow gain Kq＝1.08m2S, effective area of rodless cavity A1＝0.0616m2Effective area A of rod cavity2＝0.0301m2Effective volume V of rodless cavityt1＝0.076m3Effective volume V of rod cavityt2＝0.0372m3Mass M is 1.31X 105Kg, modulus of elasticity beta of oile＝6.9×108Pa, equivalent internal leakage coefficient Cp＝4.027×10-11m5/(Ngs), flow pressure Kc＝2.16×10-10m5/(Ngs), equivalent external leakage coefficient Cs＝1.027×10-11m5/(Ngs), leakage coefficient Ci＝3.0×10-11m5(Ngs), area ratio η is 0.49, θ is 17 °; substituting the parameters into an expression (7) to obtain a moving beam ascending process simulator, wherein the expression is as follows:
substituting the parameters into an expression (8) to obtain a moving beam descending process simulator, wherein the expression is as follows:
let the flow gain Kq＝2.45m2S, effective area of rodless cavity A1＝0.038m2Effective area A of rod cavity2＝0.0226m2Effective volume V of rodless cavityt1＝0.0157m3Effective volume V of rod cavityt2＝0.0093m3Mass M is 0.729X 105Kg, modulus of elasticity beta of oile＝6.9×108Pa, equivalent internal leakage coefficient Cp＝3.75×10-11m5/(Ngs), flow pressureForce Kc＝2.16×10-10m5/(Ngs), equivalent external leakage coefficient Cs＝7.5×10-11m5/(Ngs), leakage coefficient Ci＝3.0×10-11m5(Ngs), area ratio η is 0.6, θ is 17 °;
substituting the parameters into an equation (10) to obtain a traveling beam advancing process simulator, wherein the expression is as follows:
substituting the parameters into an expression (11) to obtain a moving beam retreating process simulator, wherein the expression is as follows:
according to the technical scheme, on the basis of researching a mathematical model of the walking beam, the simulator is developed based on the operational amplifier circuit, experimental conditions are provided for the research of a walking beam control method, the development of control equipment and the debugging of the control equipment before installation, the time required by the field debugging of the walking beam is greatly shortened, and the implementation cost of engineering can be greatly reduced; aiming at a huge walking beam system, on the basis of establishing a whole set of mathematical model, an operational amplifier is adopted to realize the simulation of four processes of ascending, descending, advancing and retreating of a walking beam of a billet heating furnace. In a word, the invention creates conditions for the research of the control method of the walking beam, the development of the control equipment and the debugging of the control equipment before the installation, can greatly shorten the field debugging time of the walking beam and can greatly reduce the engineering implementation cost.
Drawings
Fig. 1 and 2 are a front view and a side view, respectively, of a walking beam structure.
Fig. 3 is a schematic structural diagram of a two-wheel inclined rail type stepping mechanism.
Fig. 4 is a schematic view of a walking beam system.
Fig. 5 is a schematic structural diagram of a mathematical model of a walking beam system.
Fig. 6 is a structural diagram of a mathematical model of a moving beam ascending process.
Fig. 7 is a structural diagram of a mathematical model of a walking beam descent process.
Fig. 8 is a structural diagram of a mathematical model of a traveling beam advancing process.
Fig. 9 is a structural diagram of a mathematical model of a moving beam retreating process.
Fig. 10 is a circuit diagram of the traveling beam ascending process simulator.
Fig. 11 is a circuit diagram of the traveling beam descent process simulator.
Fig. 12 is a circuit diagram of the traveling beam advancing process simulator.
Fig. 13 is a circuit diagram of the traveling beam retracting process simulator.
Detailed Description
As shown in fig. 1, the walking beam is composed of a fixed beam 3 and a movable beam 2, the fixed beam 3 supports the billet 1, the movable beam 2 can lift up the billet 1 to be transported forward, the movable beam 2 is combined with a horizontal frame 4, and the movable beam 2 contacts and lifts up the billet 1 when it is lifted up to be horizontal to the fixed beam 3.
When the movable beam 2 operates, the processes of ascending, descending, advancing and retreating are realized. Although the structures of the mathematical models of the processes are basically the same, the parameters of the hydraulic cylinders have certain differences due to the asymmetry of the hydraulic cylinders. The ascending, descending, advancing and retreating movements of the movable beam are realized by a double-wheel inclined rail type stepping mechanism, as shown in fig. 3. The walking beam system is composed of a plurality of sets of double-wheel inclined rail type walking mechanisms, and the mechanisms are composed of lifting inclined rail seats 10, lifting frames 6 and double rollers 7. Two ascending and descending hydraulic cylinders 8 positioned at two sides of the double-wheel inclined rail type stepping mechanism drive the roller wheels to move on the inclined rails, so that the lifting frame 6 supports the horizontal frame 4 to move up and down; the forward and backward hydraulic cylinder 5 positioned at the end part of the horizontal frame 4 drives the horizontal frame 4 to move forward and backward; the stopper 9 positions the traveling beam 2 at an initial position.
In the context of figure 4 of the drawings,（、、、) Is a control signal input terminal;a signal input end is disturbed by a load;is an oil source pressure signal input end;（、）、（、) Respectively, vertical and horizontal displacement output ends. Pressure of oil sourceProvided by a hydraulic station, substantially constant;is the load, i.e. the weight of the billet.
The method comprises the following steps: establishing a mathematical model of the walking beam system、Respectively a rising control signal and a falling control signal,、are respectively a forward control signal and a backward control signal,is the pressure of the oil source and is,in order to be the load,in order to displace the piston of the hydraulic cylinder,、respectively the ascending displacement and the descending displacement of the walking beam,、the model expressions of the forward displacement and the backward displacement of the walking beam are as follows:
as shown in fig. 5, electro-hydraulic proportional directional valve spool displacementAnd control signal（、、、) The transfer function between is:
（1）
wherein,、respectively the gain and time constant of the electro-hydraulic proportional directional valve,sis a dynamic factor;
piston displacementTo the spool displacementThe transfer function between is:
（2）
wherein,， ，，，，is gravity acceleration, during the ascending and descending processIn the process of advancing and retreatingIs composed ofThe friction force when the friction force acts on the rubber,the inclination angle of the double-wheel inclined rail type stepping mechanism is adopted;in order to gain the flow rate,、respectively the effective areas of the rodless cavity and the rod cavity of the hydraulic cylinder,the length of the stroke of the hydraulic cylinder is,in order to be the flow rate-pressure coefficient,in order to be effective in terms of bulk modulus of elasticity,、respectively the volume of the rodless cavity and the rod cavity of the hydraulic cylinder,as a coefficient of leakage in the hydraulic cylinder,for the component of the load mass acting on the hydraulic cylinder,the total mass of the steel billet and the walking beam frame,sis a dynamic factor;
piston displacementAnd a loadThe transfer function between is:
（3）
piston displacementWith pressure P of the oil sourcesThe transfer function between(s) is:
（4）
wherein,；
the piston displacement can be known from the combination formulas (2), (3) and (4)Comprises the following steps:
（5）
the moving beam vertical displacement is:
（6）。
as shown in fig. 6, the expression of the mathematical model of the walking beam ascending process is:
（7）；
as shown in fig. 7, the mathematical model of the walking beam descent process is:
（8）
the horizontal displacement of the movable beam is as follows:
（9）；
as shown in fig. 8, the mathematical model of the traveling beam advancing process is:
（10）；
as shown in fig. 9, the mathematical model of the moving beam retreating process is:
（11）。
it can be seen that the model structures of the processes of ascending, descending, advancing and retreating are completely the same, and only the difference of local parameters is caused by the asymmetry of the hydraulic cylinder. The model consists of a control channel, a load and an oil source pressure disturbance channel. Let the flow gain Kq＝1.08m2S, effective area of rodless cavity A1＝0.0616m2Effective area A of rod cavity2＝0.0301m2Effective volume V of rodless cavityt1＝0.076m3Effective volume V of rod cavityt2＝0.0372m3Mass M is 1.31X 105Kg, modulus of elasticity beta of oile＝6.9×108Pa, equivalent internal leakage coefficient Cp＝4.027×10-11m5/(Ngs), flow pressure Kc＝2.16×10-10m5/(Ngs), equivalent external leakage coefficient Cs＝1.027×10-11m5/(Ngs), leakage coefficient Ci＝3.0×10-11m5(Ngs), area ratio η is 0.49, θ is 17 °;
the above parameters are substituted into formula (7) to obtain a walking beam ascending process simulator, as shown in fig. 10, the expression formula is as follows:
the above parameters are substituted into formula (8) to obtain a walking beam descent process simulator, as shown in fig. 11, whose expression is as follows:
let the flow gain Kq＝2.45m2S, effective area of rodless cavity A1＝0.038m2Effective area A of rod cavity2＝0.0226m2Effective volume V of rodless cavityt1＝0.0157m3Effective volume V of rod cavityt2＝0.0093m3Mass M is 0.729X 105Kg, modulus of elasticity beta of oile＝6.9×108Pa, equivalent internal leakage coefficient Cp＝3.75×10-11m5/(Ngs), flow pressure Kc＝2.16×10-10m5/(Ngs), equivalent external leakage coefficient Cs＝7.5×10-11m5/(Ngs), leakage coefficient Ci＝3.0×10-11m5(Ngs), area ratio η is 0.6, θ is 17 °;
the above parameters are substituted into formula (10), so as to obtain a traveling beam advancing process simulator, as shown in fig. 12, the expression of which is as follows:
the above parameters are substituted into formula (11) to obtain a walking beam retreating process simulator, as shown in fig. 13, whose expression is as follows:
as shown in fig. 10, 11, 12 and 13, a walking beam system simulator of a billet heating furnace comprises a walking beam ascending process simulator, a walking beam descending process simulator, a walking beam advancing process simulator and a walking beam retreating process simulator, wherein the circuits of the four simulators are the same, the walking beam ascending/descending/advancing/retreating process simulator comprises a resistor R1, one end of the resistor R1 is connected with a control signal for controlling ascending/descending/advancing/retreating of a walking beam, the other end of the resistor R1 is connected with an inverting input end of a first amplifier a1, and an output end of the first amplifier a1 is connected with an inverting input end of a third amplifier A3 through a resistor R5; the inverting input end of the fourth amplifier A4 is connected with a load signal through a capacitor C4, the output end of the fourth amplifier is connected with one end of a resistor R12, the other end of the resistor R12 is respectively connected with the inverting input end of the fifth amplifier A5 and one end of a resistor R13, and the other end of the resistor R13 is connected with the output end of the fifth amplifier A5 and then connected with the non-inverting input end of the third amplifier A3 through the resistor R7; the inverting input end of the second amplifier A2 is connected with a load signal through a resistor R3, and the inverting input end of the second amplifier A2 is connected with the non-inverting input end of the third amplifier A3 through resistors R4 and R6 in sequence; the inverting input end of the sixth amplifier A6 is connected with a hydraulic cylinder oil source pressure signal through a resistor R14, and the output end of the sixth amplifier A6 is connected with the non-inverting input end of the third amplifier A3 through a resistor R8; the output terminal of the third amplifier A3 is connected to the non-inverting input terminal of the seventh amplifier a7 through a resistor R17, the inverting input terminal of the seventh amplifier a7 is connected to the output terminal of the ninth amplifier a9 through a resistor R16, the output terminal of the seventh amplifier a7 is connected to the inverting input terminal of the eighth amplifier A8 through a resistor R20, the output terminal of the eighth amplifier A8 is connected to the inverting input terminal of the ninth amplifier a9 through a resistor R21, the output terminal of the ninth amplifier a9 is connected to the inverting input terminal of the tenth amplifier a10 through a resistor R23, and the output terminal of the tenth amplifier a10 outputs the moving beam up/down/forward/backward displacement signal. A1, R1, R2 and C1 form a proportional link of a control signal input channel; a2, R3, R4 and C2 form a proportional link of a load disturbance signal input channel; a3, R5, R6, R7, R8, R9, R10 and C3 form a signal adder-subtractor; a4, A5, R11, R12, R13, C5 and C6 form a proportional differential link of a load signal input channel; a6, R14, R15 and C7 form a proportional link of an oil source pressure signal input channel; a7, A8, A9 and R16, R17, R18, R19, R20, R21, R22, R23, C8, C9, C10 and C12 form a second-order link; a10, C13 and C14 form an integral element.
The inverting input end of the first amplifier A1 is connected with the inverting input end of the third amplifier A3 through a resistor R2 and a resistor R5 in sequence, the non-inverting input end of the first amplifier A1 is grounded, and the inverting input end of the third amplifier A3 is connected with the output end of the third amplifier A3 through a resistor R9; the non-inverting input terminal of the fourth amplifier a4 is grounded, the inverting input terminal of the fourth amplifier a4 is connected to the output terminal thereof through the resistor R11, the non-inverting input terminal of the fifth amplifier a5 is grounded, the non-inverting input terminal of the sixth amplifier a6 is grounded, and the inverting input terminal of the sixth amplifier a6 is connected to the output terminal thereof through the resistor R15; the non-inverting input terminal of the third amplifier A3 is grounded through a resistor R10, and the inverting input terminal of the third amplifier A3 is connected to the output terminal thereof through a resistor R9; the non-inverting input terminal of the seventh amplifier a7 is connected to ground through a resistor R18, and the inverting input terminal of the seventh amplifier a7 is connected to the output terminal thereof through a resistor R19; the non-inverting input terminal of the eighth amplifier A8 is grounded, and the inverting input terminal of the eighth amplifier A8 is connected to the output terminal thereof through the capacitor C9; the non-inverting input terminal of the ninth amplifier a9 is grounded, the inverting input terminal of the ninth amplifier a9 is connected to the output terminal thereof through a resistor R22, and the capacitor C11 is connected in parallel to the resistor R22; the tenth amplifier a10 has its non-inverting input terminal connected to ground and its inverting input terminal connected to its output terminal through a capacitor C13.
The resistances of the resistors R2, R4, R13 and R15 in the moving beam ascending process simulator, the moving beam descending process simulator and the moving beam retreating process simulator are different, the resistance of the resistor R3 in the moving beam ascending process simulator, the moving beam descending process simulator and the moving beam retreating process simulator is the same and is different from the resistance of the resistor R3 in the moving beam advancing process simulator, the resistances of the resistors R14 in the moving beam ascending process simulator and the moving beam retreating process simulator are the same, the resistances of the resistors R14 in the moving beam advancing process simulator and the moving beam retreating process simulator are the same, and the resistance of the resistor R14 in the moving beam ascending process simulator is different from the resistance of the resistor R14 in the moving beam advancing process simulator.
In summary, on the basis of researching a mathematical model of the walking beam, the invention develops a set of simulator based on an operational amplifier circuit, provides experimental conditions for the research of a walking beam control method, the development of control equipment and the debugging of the control equipment before installation, greatly shortens the time required by the field debugging of the walking beam, and can greatly reduce the implementation cost of engineering; aiming at a huge walking beam system, on the basis of establishing a whole set of mathematical model, the simulator realizes four processes of ascending, descending, advancing and retreating of the walking beam of the billet heating furnace by adopting an operational amplifier.
Claims (7)
1. The utility model provides a walking beam system simulator of steel billet heating furnace which characterized in that: the moving beam ascending/descending/advancing/retreating simulator comprises a resistor R1, one end of the resistor R1 is connected with a control signal for controlling ascending/descending/advancing/retreating of the moving beam, the other end of the resistor R1 is connected with the inverting input end of a first amplifier A1, and the output end of the first amplifier A1 is connected with the inverting input end of a third amplifier A3 through a resistor R5; the inverting input end of the fourth amplifier A4 is connected with a load signal through a capacitor C4, the output end of the fourth amplifier is connected with one end of a resistor R12, the other end of the resistor R12 is respectively connected with the inverting input end of the fifth amplifier A5 and one end of a resistor R13, and the other end of the resistor R13 is connected with the output end of the fifth amplifier A5 and then connected with the non-inverting input end of the third amplifier A3 through the resistor R7; the inverting input end of the second amplifier A2 is connected with a load signal through a resistor R3, and the inverting input end of the second amplifier A2 is connected with the non-inverting input end of the third amplifier A3 through resistors R4 and R6 in sequence; the inverting input end of the sixth amplifier A6 is connected with a hydraulic cylinder oil source pressure signal through a resistor R14, and the output end of the sixth amplifier A6 is connected with the non-inverting input end of the third amplifier A3 through a resistor R8; the output terminal of the third amplifier A3 is connected to the non-inverting input terminal of the seventh amplifier a7 through a resistor R17, the inverting input terminal of the seventh amplifier a7 is connected to the output terminal of the ninth amplifier a9 through a resistor R16, the output terminal of the seventh amplifier a7 is connected to the inverting input terminal of the eighth amplifier A8 through a resistor R20, the output terminal of the eighth amplifier A8 is connected to the inverting input terminal of the ninth amplifier a9 through a resistor R21, the output terminal of the ninth amplifier a9 is connected to the inverting input terminal of the tenth amplifier a10 through a resistor R23, and the output terminal of the tenth amplifier a10 outputs the moving beam up/down/forward/backward displacement signal.
2. The walking beam system simulator of a billet heating furnace according to claim 1, wherein: the inverting input end of the first amplifier A1 is connected with the inverting input end of the third amplifier A3 through a resistor R2 and a resistor R5 in sequence, the non-inverting input end of the first amplifier A1 is grounded, and the inverting input end of the third amplifier A3 is connected with the output end of the third amplifier A3 through a resistor R9; the non-inverting input terminal of the fourth amplifier a4 is grounded, the inverting input terminal of the fourth amplifier a4 is connected to the output terminal thereof through the resistor R11, the non-inverting input terminal of the fifth amplifier a5 is grounded, the non-inverting input terminal of the sixth amplifier a6 is grounded, and the inverting input terminal of the sixth amplifier a6 is connected to the output terminal thereof through the resistor R15; the non-inverting input terminal of the third amplifier A3 is grounded through a resistor R10, and the inverting input terminal of the third amplifier A3 is connected to the output terminal thereof through a resistor R9; the non-inverting input terminal of the seventh amplifier a7 is connected to ground through a resistor R18, and the inverting input terminal of the seventh amplifier a7 is connected to the output terminal thereof through a resistor R19; the non-inverting input terminal of the eighth amplifier A8 is grounded, and the inverting input terminal of the eighth amplifier A8 is connected to the output terminal thereof through the capacitor C9; the non-inverting input terminal of the ninth amplifier a9 is grounded, the inverting input terminal of the ninth amplifier a9 is connected to the output terminal thereof through a resistor R22, and the capacitor C11 is connected in parallel to the resistor R22; the tenth amplifier a10 has its non-inverting input terminal connected to ground and its inverting input terminal connected to its output terminal through a capacitor C13.
3. The walking beam system simulator of a billet heating furnace according to claim 1, wherein: the resistances of the resistors R2, R4, R13 and R15 in the moving beam ascending process simulator, the moving beam descending process simulator and the moving beam retreating process simulator are different, the resistance of the resistor R3 in the moving beam ascending process simulator, the moving beam descending process simulator and the moving beam retreating process simulator is the same and is different from the resistance of the resistor R3 in the moving beam advancing process simulator, the resistances of the resistors R14 in the moving beam ascending process simulator and the moving beam retreating process simulator are the same, the resistances of the resistors R14 in the moving beam advancing process simulator and the moving beam retreating process simulator are the same, and the resistance of the resistor R14 in the moving beam ascending process simulator is different from the resistance of the resistor R14 in the moving beam advancing process simulator.
4. A simulation method of a walking beam system simulator of a billet heating furnace is characterized by comprising the following steps: establishing a mathematical model of the walking beam system, and setting Uup、UdownRespectively rising and falling control signals, Uforw、UbackRespectively forward and backward control signals, PsAs pressure of oil source, FLIs a load, xpFor cylinder piston displacement, yup、ydownRespectively the rising and falling displacements of the walking beam, xforw、xbackThe model expressions of the forward displacement and the backward displacement of the walking beam are as follows:
valve core displacement X of electro-hydraulic proportional direction valvev(s) and a control signal U(s), i.e. Uup、Udown、Uforw、UbackThe transfer function between is:
wherein, Ksv、TsvRespectively is the gain and time constant of the electro-hydraulic proportional direction valve, and s is a dynamic factor;
piston displacement XPx(s) and spool displacement XvThe transfer function between(s) is:
wherein, Cp＝2Ci/(1+η)，Vt1＝4V1/(1+η)，η＝A2/A1，V1＝A1L/2，FLG is gravity acceleration, and M is M in the ascending and descending processssin θ, M is M during forward and backward movementsThe friction force during acting is theta which is the slope angle of the double-wheel inclined rail type stepping mechanism; kqTo gain the flow, A1、A2Respectively the effective areas of the rodless cavity and the rod cavity of the hydraulic cylinder, L is the stroke length of the hydraulic cylinder, and KcIs the flow pressure coefficient, betaeEffective bulk modulus, V1、V2Volumes of rodless and rod chambers of the hydraulic cylinder, respectively, CiIs the leakage coefficient in the cylinder, M is the component of the load mass acting on the cylindersThe total mass of the steel billet and the walking beam frame is obtained, and s is a dynamic factor;
piston displacement Xpf(s) and a load FLThe transfer function between(s) is:
pistonDisplacement Xpp(s) with the pressure P of the oil sourcesThe transfer function between(s) is:
wherein, Cs＝Ci(1-η)/(1+η)；
The piston displacement X is shown by the combined formulas (2), (3) and (4)p(s) is:
the moving beam vertical displacement is:
Y(s)＝Xp(s)sinθ (6)。
5. the method of simulating a walking beam system simulator of a billet heating furnace according to claim 4, wherein: the expression of the mathematical model of the ascending process of the movable beam is as follows:
（7）；
the mathematical model of the descending process of the movable beam is as follows:
（8）
the horizontal displacement of the movable beam is as follows:
（9）；
the mathematical model of the advancing process of the movable beam is as follows:
（10）；
the moving beam retreating process mathematical model is as follows:
（11）。
6. the method of simulating a walking beam system simulator of a billet heating furnace according to claim 5, wherein: let the flow gain Kq＝1.08m2S, effective area of rodless cavity A1＝0.0616m2Effective area A of rod cavity2＝0.0301m2Effective volume V of rodless cavityt1＝0.076m3Effective volume V of rod cavityt2＝0.0372m3Mass M is 1.31X 105Kg, modulus of elasticity beta of oile＝6.9×108Pa, equivalent internal leakage coefficient Cp＝4.027×10- 11m5/(Ngs), flow pressure Kc＝2.16×10-10m5/(Ngs), equivalent external leakage coefficient Cs＝1.027×10-11m5/(Ngs), leakage coefficient Ci＝3.0×10-11m5(Ngs), area ratio η is 0.49, θ is 17 °; substituting the parameters into an expression (7) to obtain a moving beam ascending process simulator, wherein the expression is as follows:
substituting the parameters into an expression (8) to obtain a moving beam descending process simulator, wherein the expression is as follows:
7. the walking beam system simulation of steel billet heating furnace of claim 5The simulation method of the device is characterized in that: let the flow gain Kq＝2.45m2S, effective area of rodless cavity A1＝0.038m2Effective area A of rod cavity2＝0.0226m2Effective volume V of rodless cavityt1＝0.0157m3Effective volume V of rod cavityt2＝0.0093m3Mass M is 0.729X 105Kg, modulus of elasticity beta of oile＝6.9×108Pa, equivalent internal leakage coefficient Cp＝3.75×10- 11m5/(Ngs), flow pressure Kc＝2.16×10-10m5/(Ngs), equivalent external leakage coefficient Cs＝7.5×10-11m5/(Ngs), leakage coefficient Ci＝3.0×10-11m5(Ngs), area ratio η is 0.6, θ is 17 °;
substituting the parameters into an equation (10) to obtain a traveling beam advancing process simulator, wherein the expression is as follows:
substituting the parameters into an expression (11) to obtain a moving beam retreating process simulator, wherein the expression is as follows:
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| CN1674031A (en) * | 2004-09-14 | 2005-09-28 | 上海宝信软件股份有限公司 | Process control hierarchy analog steel rolling system |
| CN101726189A (en) * | 2009-11-25 | 2010-06-09 | 南京钢铁股份有限公司 | Stepping beam lifting synchronous control method of stepping plate blank heating furnace |
| CN103146906A (en) * | 2013-02-28 | 2013-06-12 | 首钢总公司 | Parameter adjustment and control method for two-stage control model of walking beam heating furnace |
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| CN1674031A (en) * | 2004-09-14 | 2005-09-28 | 上海宝信软件股份有限公司 | Process control hierarchy analog steel rolling system |
| CN101726189A (en) * | 2009-11-25 | 2010-06-09 | 南京钢铁股份有限公司 | Stepping beam lifting synchronous control method of stepping plate blank heating furnace |
| CN103146906A (en) * | 2013-02-28 | 2013-06-12 | 首钢总公司 | Parameter adjustment and control method for two-stage control model of walking beam heating furnace |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106650133A (en) * | 2016-12-28 | 2017-05-10 | 中南大学 | Simulation method of heat conducting fluid in heating furnace |
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