CN105045949B - A kind of walking beam furnace steel billet temperature modeling and on-line correction method - Google Patents
A kind of walking beam furnace steel billet temperature modeling and on-line correction method Download PDFInfo
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Abstract
The present invention provides a kind of modeling of walking beam furnace steel billet temperature and on-line correction method, first, simplified walking beam furnace Fen Lu areas mechanism model is established using each stove area equivalent heat transfer factor, is ensureing that model is rational while reduces the complexity of model parameter on-line optimization；Then, billet surface infrared measurement of temperature value in stove is gathered, and compared with model temperature calculated value, real time correction is carried out to equivalent heat transfer factor.Trimming process carries out successively since the first Ge Lu areas after heating furnace entrance, until last stove area in exit.Compared with conventional method, the present invention makes full use of the real-time feedback information in production process to correct model district by district, both the independent parameter characteristic for considering each stove area, influence of the previous stove area to latter stove area is taken into account again, reduce the error between model and real system, the precision and adaptability of model are greatly improved, realizes that steel billet is predicted in the accurate temperature of heating process in the stove.
Description
Technical field
The present invention relates to steel production Furnace modeling and control field, more particularly to a kind of walking beam furnace steel billet temperature
Degree modeling and on-line correction method.
Background technology
Heating furnace is that indispensable Thermal Equipment, energy consumption account for 50% of rolling process or so in steel manufacture process, is accounted for
20% or so of whole steel energy consumption, is the big power consumer of steel production.Its task is to heat steel billet by rhythm of production, is made
Steel billet surface temperature and interior temperature distribution when coming out of the stove meet rolling requirements, are evenly heated at the same time, avoid overheat and burning from showing
As reducing the oxidation and decarburization of steel billet, so as to provide heating quality excellent steel billet for milling train, ensureing that production is smoothed out.Step
It is heating steel billet master equipment to be used, wherein steel billet before current steel mill's hot rolling into formula heating furnace as one kind in heating furnace
Heating process be a typical complex nonlinear processes, there is close coupling, big inertia, purely retarded and slow time-varying,
Limited, can't be completed at this stage to heating the real-time, comprehensive of steel billet temperature in heating furnace be subject to the development of current e measurement technology
Measurement.Therefore, in order to realize to the prediction of steel billet tapping temperature and effective optimal control in stove, and then the mesh of energy-saving and emission-reduction is realized
Mark is, it is necessary to establish the heating steel billet model that precision of prediction is high, Generalization Capability is good.Walking beam furnace heating steel billet model can at present
To be roughly divided into two kinds of statistical model and mechanism：
(1) statistical model, is to substantial amounts of experiment, on the basis of industrial historical data pre-processed, clusters, uses
The statistical methods such as SVM, Partial Least Squares, off-line training, which establishes reflection, influences the various factors and steel billet of Furnace Production Process
The black-box model of relation between final tapping temperature.Its advantage is that modeling process is fairly simple, but the class model can not be to steel billet
Internal Temperature Distribution is predicted, it is impossible to meets the process control needs of steel production；
(2) mechanism model, is the heat exchange mechanism based on heating furnace heating steel billet, and passes through finite difference or finite element fraction
The mechanism model that the method implementation model discretization of analysis is established.Due in mechanism model modeling process using heat exchange mechanism as theory
Basis, clear principle, model is accurate, strong applicability.But since mechanism model is that the mathematics of production process under ideal conditions is taken out
As, and actual production process is limited be subject to a variety of external conditions, is unable to reach preferable working condition during modeling, while in reality
Some model parameters are easily influenced and changed be subject to external condition in the production process of border, thus frequently can lead to model meter
The mismatch between output valve and true measurement is calculated, and then influences the operational effect of Optimal Control System.
In order to overcome the mismatch problems between mechanism model and real system, it is necessary to steel billet temperature model in real time exist
Line corrects.Existing related patents domestic at present study model and on-line correction method, such as publication number CN101869915A
Patent《To the forecasting procedure of hot-rolling heating furnace steel billet temperature》, utilize the measured value of polylith steel billet tapping temperature in a period of time
Information, carries out on-line correction, the above method uses single steel billet using genetic algorithm to the thermophysical parameter in mechanism model
Temperature model parameters describe heating furnace Nei Gelu areas slab heating-up process, and in heating furnace actual production, walking beam furnace
Temperature and operating mode in each stove area differ greatly, and are difficult to carry out essence to whole heating steel billet process using single temperature model parameters
Really description, thus existing heating furnace mechanism model and its bearing calibration using single model parameter there are precision of prediction it is relatively low,
The defects of parameter correction effect is poor, practical application effect is bad；In addition, tapping temperature can only reflect steel billet at the end of heating
State of temperature, with the raising of detection technique, current most of heating furnaces have been respectively mounted infrared temperature spy inside each stove area
Head, for detecting surface temperature of the steel billet in stove, effectively can carry out steel billet temperature model using the temperature measurement information
Feedback correction, to further improve the precision of model prediction, existing open method do not consider using online infrared survey information into
The amendment of row model, so as to cause prediction result, there are relatively large deviation with situation in actual stove, it is impossible to effectively instructs heating furnace
Practical operation.
The content of the invention
It is an object of the invention to provide a kind of modeling of walking beam furnace steel billet temperature and on-line correction method, to solve
Model structure present in existing walking beam furnace steel billet temperature mechanism model is complicated, parameter is numerous, temperature model lacks
Effective online feedback study mechanism, parameter correction effect is poor, precision of prediction is relatively low and practical application effect is bad asks
Topic.
The second object of the present invention is to provide a kind of walking beam furnace steel billet temperature modeling and on-line correction method, with
Solve in existing walking beam furnace steel billet temperature mechanism model in-furnace information can not be made full use of to carry out feedback school to model
The problem of matching degree of model and real system caused by the defects of positive is relatively low.
To achieve the above object, the present invention provides a kind of modeling of walking beam furnace steel billet temperature and on-line correction side
Method, comprises the following steps：
S1：For each stove area of walking beam furnace steel billet temperature in each stove area is established offline respectively with heat exchange principle
Mechanism model, the border heat transfer that equivalent heat transfer factor describes billet surface is introduced in model；
S2：Tracking information of the steel billet in heating process in the stove is gathered, the tracking information includes：
1) charging temperature for the steel billet come out of the stove；
2) steel billet the come out of the stove temporal information of each sampling instant, positional information and furnace temperature information in each stove area, wherein
The furnace temperature information detects to obtain by the temperature sensor in each stove area；
3) steel billet come out of the stove passes through the temporal information of the infrared acquisition point arranged on each stove area, and infrared acquisition point is surveyed
The billet surface temperature value obtained；
S3：On-line correction is carried out to steel billet temperature model in each stove area, since the first Ge Lu areas after steel billet enters stove, is adopted
With optimization algorithm, one or more equivalent heat transfer systems corrected successively in steel billet temperature model in the tracking information
Number, until last stove area that steel billet is come out of the stove.
It is preferred that the step S1 is specially：Inside steel billet unsteady heat conduction equation is described and with phase with heat exchange principle
Based on the boundary condition answered, mechanism model of the description steel billet in heating process in the stove is established, equivalent heat transfer system is introduced in model
The border heat transfer of number description billet surface, then spatial discretization is carried out to heating furnace steel billet mechanism model by finite difference method
Processing, establishes the steel billet temperature mechanism model of discrete state.
It is preferred that the temperature sensor is thermocouple.
It is preferred that the steel billet temperature mechanism model is two dimensional model, it is specially：The heat of heating furnace supply passes through steel billet
Surface achievees the purpose that to heat steel billet, it is contemplated that actual production from three length, width, thickness dimensions to inside steel billet transmission
During thermo parameters method in walking beam furnace along width of steel billet direction it is more uniform the characteristics of, the present invention is using two-dimentional mould
Type carries out heating steel billet process Rational Simplification description, i.e., identical everywhere along the steel billet temperature in width of steel billet direction in the model,
And the steel billet temperature distribution on steel billet thickness direction and length direction is different, using the two-dimentional steel billet temperature machine of above-mentioned dimension-reduction treatment
Reason model not only ensure that precision of prediction, but also reduce complexity of the model in line computation and correction.
It is preferred that in the two dimensional model, for any one block of steel billet in stove, its unsteady heat conduction equation and corresponding side
Boundary's condition is：
In formula (1), each variable meaning is as follows：
The two-dimension temperature distribution of T (x, y, t) --- steel billet, x is thickness direction variable, and y is length direction variable；
C (T) --- the specific heat coefficient of steel billet, is the function of steel billet temperature；
ρ (T) --- the bulkfactor of steel billet, is the function of steel billet temperature；
K (T) --- the thermal conductivity factor of steel billet, is the function of steel billet temperature；
Kx(T) --- the Equivalent Thermal Conductivities of steel billet in the x-direction, are the function of steel billet temperature；
Ky(T) --- the Equivalent Thermal Conductivities of steel billet in the y-direction, are the function of steel billet temperature；
L --- steel billet length；
D (y) --- steel billet thickness distribution in stove；
tf--- final moment of the steel billet in the stove area；
T0--- the Temperature Distribution of initial time steel billet；
--- it is respectively that steel billet is upper and lower, forward and backward surface equivalent heat transfer factor；
ub(y, t), utop(y, t), ufr(y, t), uba(y, t) --- it is respectively that steel billet is upper and lower, forward and backward
Surface furnace.
It is preferred that the spatial discretization processing is specially：Steel billet is depicted as by NyA subsystem composition, per height
System includes NxA discrete pieces, for wherein any one subsystem j, j ∈ 1,2 ..., Ny, by the temperature value T of each discrete area
(, j, k) and state variable is used as, by upper surface furnace temperature utop(yj, k), lower surface furnace temperature ub(yj, k) and it is used as input vector Ux
(k), front surface furnace temperature ufr(yj, k), rear surface furnace temperature uba(yj, k) and it is used as input vector Uy(k), then define subsystem j when
Carve the Temperature Distribution X of kj(k) it is as follows：
Then there is Temperature Distribution Xs of the subsystem j in moment k+1j(k+1) it is as follows：
J=1,2 ..., Ny
Wherein, Aj(Xj(k),Ux(k), k) represent influence size of the state to its k+1 moment state of k moment subsystems j,
Cj(Xj(k), k) for k moment subsystems j-1 sub-systems j in the influence size of k+1 moment states, Dj(Xj(k), k) it is the k moment
Subsystem j+1 sub-systems j k+1 moment states influence size, andRepresent k moment upper and lower surfaces
Furnace temperature sub-system j k+1 moment states influence size,Represent k moment front and rear surfaces furnace temperature pair
Influence sizes of the subsystem j in k+1 moment states.
It is preferred that all subsystem variables are merged, then the separate manufacturing firms model of two-dimentional steel billet heating process is：
Xall(k+1)=Aall(Xall(k), Uxall(k), Uyall(k), k) Xall(k)
+Bxall(Xall(k), Uxall(k), k) Uxall(k)
+Byall(Xall(k), Uyall(k), k) Uyall(k) (3)
Wherein,
Each matrix-block A in above formulaj(k)、Cj(k)、Dj(k)、J=1,2 ..., NyIt is A respectivelyj(Xj(k), Ux
(k), k), Cj(Xj(k), k), Dj(Xj(k), k), Abbreviation.
It is preferred that for different stove areas, different equivalent heat transfer factor K is introducedeq, you can obtain independent in each stove area
Two-dimentional steel billet Temperature Mechanism model, at this time, formula (3) simplification are described as：
Xall(k+1)=Aall(Keq...) Xall(k)+Bxαll(Keq...) Uxall(k)+Byall(Keq...) Uyall(k) (4)
Wherein, matrix Aall、Bxall、ByallWith equivalent heat transfer factor KeqCorrelation, at the same also with current state Xall(k),
Furnace temperature inputs Uxall(k)、Uyall(k) it is related.
It is preferred that the trimming process is specially：
S301：The 1st Ge Lu areas calculate stove area as current correction after setting entrance, at this time i=1, steel in Ze Gailu areas
The initial temperature of all discrete points of base is both configured to its charging temperature, and imports the tracking information of steel billet at this time；
S302：The steel billet temperature model for calculating current correction stove area is corrected, and the target of correction is the searching stove area
Optimal equivalent heat transfer factor KeqSo that m blocks reach minimum by the average prediction temperature difference of the steel billet of the infrared measuring point in stove area；
Wherein, the prediction temperature difference calculates the actual measured value of the upper surface temperature of the infrared measurement of temperature point in stove area for steel billet in current correction
And the difference for the predicted surface temperature in this position that temperature model is calculated；
S303：The initial temperature that stove area steel billet is calculated according to current correction is distributed X0,allAnd the furnace temperature input of each sampling instant
Equivalent heat transfer factor K after being corrected with step S302eqCalculate the Temperature Distribution that each steel billet calculates Lu Qu exits in current correction
Value；Wherein, X0,allAnd the furnace temperature of each sampling instant is inputted and given during the stove area information initializing；
S304：I+1 Ge Lu areas are calculated into stove area as current correction and are corrected, are specially：Each steel billet it is initial
Temperature Distribution is that the Temperature Distribution value in i-th of Lu Qu exit is calculated in S303, and imports steel billet in i+1 Ge Lu areas
Temporal information, steel billet position tracking information and the furnace temperature information in moment i+1 Ge Lu areas of each sampling instant；Steel billet is by the
The temporal information of i+1 Ge Lu areas infrared acquisition point, and infrared acquisition point measured temperature, and carry out by step S302 continuing school
Just, until having corrected n Ge Lu areas.
It is preferred that the trimming process of steel billet temperature mechanism model Δ t at regular intervalsiOr several steel billets go out
Triggering performs once during stove.
It is preferred that the optimization algorithm is Sensitivity Method or grid computing method.
It is preferred that the correction formula that the Sensitivity Method optimizes equivalent heat transfer factor is：
Wherein, KeqFor modified equivalent heat transfer factor,For the equivalent heat transfer factor before amendment, s is sensitivity,For the initial consensus forecast temperature difference；
Wherein, Δ T is the difference of consensus forecast temperature and mean temperature before amendment, and Δ K is for equivalent heat transfer
Number step value.
It is preferred that the grid computing method optimizes concretely comprising the following steps for equivalent heat transfer factor：
Step 1:Determine equivalent complex heat transfer coefficient KeqOptimizing space is Keq∈[Kmin,Kmax]；
Step 2:Given optimizing space division, it is assumed that searching times Ns, then step-size in search be：
L5=(Kmax-Kmin)/Ns；
Step 3:Make Keq=Kmin；
Step 4:Calculate the consensus forecast temperature difference of m block slab models
Wherein, Tj,ST_MODIt is jth block steel billet in the model calculation value of k moment upper surfaces temperature, Tj,ST_MESFor jth block steel
The infrared survey value of base upper surface temperature；
Step 5:Judge prediction resultWhether it is less than previously given threshold value, terminates trimming process if meeting；
If not satisfied, Keq=Keq+Ls, enter step 4.
Walking beam furnace steel billet temperature modeling provided by the invention and on-line correction method can realize following technique effect：
(1) model accuracy higher, complexity are lower.The present invention establishes different parameters value for the different stove area of heating furnace
Mechanism model, compared with using the prior art of single form mechanism model, the model parameter that the method for the present invention provides is easier to
Calculate, and model accuracy higher, more can the real heating state of steel billet in reacting furnace.In addition, introduce equivalent heat transfer factor description
The summation of three parts border heat transfer effect, and discretization is carried out to heating furnace steel billet mechanism model by the method for finite difference,
Separate manufacturing firms model is established, the complexity of model is greatly reduced on the basis of ensureing that model is rational and needs school
Positive number of parameters, significantly reduces the complexity and difficulties of the on-line correction of model parameter.
(2) calibration result is more preferable.The present invention is using the measured value of the infrared acquisition point in each stove area as control information, base
In control information and the deviation of model predication value, the model Correction Problemss in each stove area are converted into optimization problem using optimization algorithm
Solved.This bearing calibration is compared with the method being corrected only with steel billet tapping temperature, obtained feedback information
More fully and in real time, more real time data information of acquisition are to the correction of Fen Lu areas mechanism model parameter, the study of model
Effect and precision are more preferable, also more efficiently carry out the correction of optimized parameter.
(3) closer to the practical operation situation of heating furnace process.Currently used heating-furnace temperature control system is to be directed to
Each stove area carries out the control respectively of furnace temperature, therefore uses the mechanism model of Fen Lu areas foundation and sequentially Fen Lu areas progress model parameter
The method of correction, closer to the practical operation situation of heating furnace process, and the design of furnace temperature model cootrol algorithm is more convenient.Specifically
For, the method for the present invention by the first Ge Lu areas after heating furnace entrance carry out successively, and by previous stove area correct
The model parameter obtained afterwards be used for calculate next stove area initial temperature distribution, afterwards divide stove section model parameter correction successively
Carry out, until completing the correction to last stove section model before coming out of the stove.Timing, which can efficiently use, has corrected stove section model
Feedback information, it is not only independent to consider the parameter characteristic in each stove area, but also take into account and consider that stove area is to stove area below before heating steel billet process
Influence, system boundary temperature non-continuous event caused by avoiding each stove area parameter independence timing, improve model be applicable in
Property and reasonability.
Brief description of the drawings
Fig. 1 models establishment of coordinate system schematic diagram for mechanism model provided by the invention；
Fig. 2 is the mechanism model discretization and system subdivision schematic diagram that the embodiment of the present invention one provides；
Fig. 3 is the trimming process schematic diagram that the embodiment of the present invention one provides；
Fig. 4 is the mechanism model trimming process flow chart that the embodiment of the present invention one provides；
Fig. 5 A are the design sketch of preheating section in the method that the embodiment of the present invention one provides；
Fig. 5 B are the design sketch of 1 bringing-up section in the method that the embodiment of the present invention one provides；
Fig. 5 C are the design sketch of 2 bringing-up sections in the method that the embodiment of the present invention one provides；
Fig. 5 D are the design sketch of soaking zone in the method that the embodiment of the present invention one provides.
Embodiment
For the present invention is better described, hereby with a preferred embodiment, and attached drawing is coordinated to elaborate the present invention, specifically
It is as follows：
Embodiment one:
Foundation to walking beam furnace steel billet temperature model and trimming process in the present embodiment is specific as follows：
Step S1：Heat exchange principle is used to establish the steel in each stove area offline respectively for each stove area of walking beam furnace
Base Temperature Mechanism model.
In the present embodiment by taking steel billet two-dimension temperature model as an example, description steel billet temperature mechanism model establishes process.This implementation
To establish the slab tracing model based on space coordinate in example, space coordinates are established as shown in Figure 1.
Steel billet two-dimension temperature model ignores distribution of the steel billet temperature along width of steel billet direction (i.e. z-axis direction) in heating furnace,
Think that steel billet temperature is identical everywhere in this direction, i.e., heat exchange is not present in the z-axis direction.Thus with any one stove area
Anticipate exemplified by one block of steel billet, the two dimensions and unstable heat conduction equation and corresponding boundary condition and primary condition of its heating process can be with
It is described as：
In formula (1), the two-dimension temperature distribution of T (x, y, t) --- steel billet, x is thickness direction variable, and y becomes for length direction
Amount；
C (T) --- the specific heat coefficient of steel billet, is the function of steel billet temperature；
ρ (T) --- the bulkfactor of steel billet, is the function of steel billet temperature, since it is varied with temperature less, uses below
Constant ρ is replaced；
K (T) --- the thermal conductivity factor of steel billet, is the function of steel billet temperature；
Kx(T) --- the Equivalent Thermal Conductivities of steel billet in the x-direction, are the function of steel billet temperature；
Ky(T) --- the Equivalent Thermal Conductivities of steel billet in the y-direction, are the function of steel billet temperature；
L --- steel billet length
D (y) --- steel billet thickness distribution in stove；
tf--- final moment of the steel billet in the stove area；
T0--- the Temperature Distribution of initial time steel billet；
--- it is respectively that steel billet is upper and lower, forward and backward surface equivalent heat transfer factor；
ub(y, t), utop(y, t), ufr(y, t), uba(y, t) --- it is respectively that steel billet is upper and lower, forward and backward
Surface furnace
Wherein, formula (1.1) is based on Fourier Heat Conduction law (heat exchange principle), describes the unsteady heat conduction of inside steel billet
Journey.Equivalent heat coefficient is respectively adopted in formula (1.2), (1.3), (1.4), (1.5)Passed with heat
The formal approximation led describes the process that steel billet is upper and lower, forward and backward surface carries out heat exchange with heating furnace furnace gas.
Then, discretization is carried out to mechanism model using the method for finite difference, specifically as shown in Figure 2 along the thickness of steel billet
Direction and length direction carry out discretization respectively.Wherein, discrete steps are respectively Δ x, Δ y, and discrete number is respectively Nx、Ny, together
When, discretization is also carried out to the time, i.e. the sampling period is Δ t.Then thickness direction be i-th, j-th of length direction, the time
Temperature for the discrete area at k-th of moment is defined as, can be with for the discrete area
Partial differential item in formula (1) is substituted using the approximation relation between finite difference and partial differential, i.e.,
It can obtain an Algebraic Equation set.
, can be by N identical length direction centrifugal pump j to represent convenientxA discrete pieces are considered as a subsystem altogether
System.So, monolithic steel billet can be depicted as by NyA subsystem forms (as shown in Figure 2), and each subsystem includes NxIt is a
Discrete pieces, for wherein any one subsystem j, regard the temperature value T of each discrete area (, j, k) as state variable.Will be upper
Surface temperature utop(yj, k), underlaying surface temperature ub(yj, k) and it is used as input vector Ux(k), front surface temperature ufr(yj, k), rear table
Face temperature uba(yj, k) and it is used as input vector Uy(k), then Temperature Distribution Xs of the subsystem j in moment k can be definedj(k) it is as follows：
After deriving and arranging, the nonlinear discrete state space equation of any subsystem j, i.e. its temperature in moment k+1
It is distributed Xj(k+1) it is as follows：
J=1,2 ..., Ny
Wherein, Aj(Xj(k),Ux(k), k) represent that influence of the state at current time subsystem j to its k+1 moment state is big
It is small, Cj(Xj(k), k) for current time subsystem j-1 sub-systems j in the influence size of k+1 moment states, Dj(Xj(k), k)
For current time subsystem j+1 sub-systems j k+1 moment states influence size, andIn expression
Lower furnace temperature sub-system j k+1 moment states influence size,Furnace temperature sub-system j before and after expression
In the influence size of k+1 moment states.
Specifically, for any one non-steel billet foremost or back subsystem j (i.e. j=2 ..., Ny- 1) come
Say, its subsequent time temperature distribution only with this moment Temperature Distribution X of its ownj(k), the temperature of its left side subsystem j-1
It is distributed Xj-1(k), the Temperature Distribution X of the right subsystem j+1j+1(k), and upper and lower surface heat exchange Ux(k) it is related, at this timeAnd for subsystem 1, since its back does not have subsystem, but heat exchange directly is carried out with furnace gas, so C1=
0,It is not 0；Similarly, for subsystem Ny, It is not 0 yet；Matrix A in above formulaj(Xj(k), Ux(k), k),
Cj(Xj(k), k), Dj(Xj(k), k),Expression
It will be provided below.Above-mentioned all subsystem variables are combined, define two-dimentional steel billet trace model complete set
The state vector and dominant vector of system be Then the separate manufacturing firms model of two-dimentional steel billet heating process is：
Xall(k+1)=Aall(Xall(k), Uxall(k), Uyall(k), k) Xall(k)
+Bxall(Xall(k), Uxall(k), k) Uxall(k) (3)
+Byall(Xall(k), Uyall(k), k) Uyall(k)
In formula：
Each matrix-block A in above formulaj(k)、Cj(k)、Dj(k)、J=1,2 ..., NyIt is A respectivelyj(Xj
(k), Ux(k), k), Cj(Xj(k), k), Dj(Xj(k), k),
Abbreviation, the calculation formula of wherein nonzero element is：
In formula：--- subsystem steel billet is in thickness direction thermal diffusion coefficient；
--- subsystem steel billet is in length direction thermal diffusion coefficient；
--- the mean temperature of subsystem steel billet, using the average value approximate calculation
The specific heat coefficient and thermal conductivity factor of the subsystem；
Parameter in formula (5) The equivalent of upper and lower, the forward and backward surface of steel billet is represented respectively
Complex heat transfer coefficient.In practice, for the various discrete block of one block of steel billet, physical parameter itself be it is basically identical, again
It is because billet surface temperature contacts the furnace temperature of furnace area substantially direct proportionality with it, one block of steel billet is each
The equivalent complex heat transfer coefficient on surface be considered as it is identical, i.e.,：
Using KeqInstead of owning in formula (5) By above step, you can establish a stove
Two-dimentional steel billet Temperature Mechanism model in area.And different stove areas is directed to, introduce different equivalent heat transfer factor Keq, you can obtain each
Independent two-dimentional steel billet Temperature Mechanism model in stove area.At this time, the steel billet temperature model in formula (3), which can simplify, is described as：
Xall(k+1)=Aall(Keq...) Xall(k)+Bxall(Keq...) Uxall(k)
+Byall(Keq...) Uyall(k) (6)
Wherein, matrix Aall、Bxall、ByallWith equivalent heat transfer factor KeqCorrelation, at the same also with current state Xall(k)、
Furnace temperature inputs Uxall(k)、Uyall(k) it is related, above formula explanation, as long as the initial temperature distribution T of given steel billet0, and each moment
Furnace temperature inputs Uxall(k)、Uyall(k) and equivalent heat transfer factor Keq, you can recursion goes out the Temperature Distribution of following any time steel billet.
To realize the on-line correction of each stove area two dimension steel billet Temperature Mechanism model, it is necessary to adding in all steel billet stoves of having come out of the stove
The tracking information of thermal process is acquired, then starts to perform step S2, specific as follows：
Step S2：Every tracking information of the steel billet in heating process in the stove is gathered, tracking information includes herein below：
1) charging temperature for the steel billet come out of the stove；
2) steel billet the come out of the stove temporal information of each sampling instant, the moment in each stove area track the position letter of steel billet
The furnace temperature information in stove area where breath and the moment.Wherein, furnace temperature information passes through the temperature sensing such as the thermocouple in each stove area
Device detects to obtain；
3) steel billet come out of the stove passes through the temporal information of each infrared acquisition point in heating furnace, and infrared acquisition point institute
The billet surface temperature value measured；
Information above, which is at least preserved to on-line correction process next time, to be terminated.
Step S3：Steel billet temperature model in each stove area is carried out according to the every tracking information gathered in step S2 online
Correction, it is specific as follows：
Steel billet temperature model on-line correction schematic diagram is as shown in figure 3, assume stepped heating in each stove area in the present embodiment
Stove is divided into n Ge Lu areas, then trimming process carries out successively since the 1st Ge Lu areas near steel billet entrance, until n-th of stove
Area.Wherein, after the completion of the steel billet temperature model correction in i-th (i=1,2 ..., n-1) Ge Lu areas, the model that has been corrected using this
Exit temperature distribution of the steel billet in the stove area is calculated, and as the primary condition of i+1 Ge Lu areas steel billet temperature model correction.
And so on, the correction until completing last stove area steel billet temperature model.Model correction idiographic flow as shown in figure 4,
Details are as follows for wherein each step：
S301：Set after entrance the 1st Ge Lu areas (i=1) and calculate stove area as current correction, all discrete points of steel billet just
Beginning temperature is both configured to its charging temperature, and imports the steel billet temporal information of each sampling instant, position of steel billet in the 1st Ge Lu areas
Confidence ceases and the furnace temperature information in the 1st Ge Lu areas of moment；Steel billet passes through the temporal information of first infrared acquisition point, and infrared
Sensing point measured surface temperatures.
S302：Without loss of generality, below with any i-th (i=1,2 ..., n) the steel billet temperature model in Ge Lu areas corrected
Exemplified by journey, the principle and specific implementation step of equivalent heat transfer factor correcting algorithm are described in detail.To avoid measurement noise and other factors
Interference, the present invention is not when every block of steel billet passes through infrared measurement of temperature point, is just corrected process, but at regular intervals
ΔtiOr when thering is the steel billet of certain amount such as h to come out of the stove, the just trimming process of triggering steel billet temperature mechanism model, i.e., to some
It is corrected again after a steel billet statistical disposition.It is assumed here that a shared m blocks steel billet pass through the stove area infrared measurement of temperature point, h for less than
Positive integer equal to m.
The target of steel billet temperature model correction is the optimal equivalent heat transfer factor K of searchingeqSo that m blocks are red by the stove area
The average prediction temperature difference of the steel billet of outer measuring point reaches minimum.The prediction temperature difference is infrared measurement of temperature point of the steel billet in i-th of stove area
Upper surface temperature actual measured value and the difference of predicted surface temperature in this position that is calculated of model.With current time
For initial time, i.e. k=0, it is assumed that the infrared measurement of temperature point in k=r moment steel billet by i-th of stove area, then the target letter corrected
Counting expression formula is：
Meet following constraints：
Xall(k+1)=Aall(Keq...) Xall(k)+Bxall(Keq...) Uxall(k）
+Byall(Keq...) Uyall(k)
K=0,1,2, k ... r-1 (8)
Xall(0)=X0, all (9)
TJ, ST_MOD=Surface (Xall(r)) (10)
T in formula (7)J, ST_MODIt is jth block steel billet in k moment upper surfaces temperature model calculated value；TJ, ST_MESFor the steel billet
Upper surface temperature infrared measured value.Formula (8) is the formula (6) that mechanism model modeling process obtains.Formula (9) is given steel billet
Initial temperature Distribution Value, as i=1, initial temperature distribution X0, allAll values be steel billet charging temperature, during and i ≠ 1, just
Beginning Temperature Distribution X0, allThe temperature value that the temperature model completed using the correction of the i-th -1 Ge Lu areas is calculated.In formula (10)
All upper surface discrete points, which are averaged, in Surface () function selection state vector is calculated temperature model calculated value.
The equivalent heat transfer factor obtained to above-mentioned model optimizes, and is optimized in the present embodiment with Sensitivity Method, excellent
Change process is as follows：
Step 1：Utilize current equivalent heat transfer factor Keq, steel billet initial temperature stupe X0,allAnd formula (8), (9), (10),
Calculate the upper surface mean temperature that m blocks slab model calculatesAnd the current consensus forecast temperature difference
Step 2：Judge whether prediction result meets end condition, i.e.,Whether a previously given threshold value is less than.
Terminate trimming process if meeting；If not satisfied, then enter following steps 3
Step 3：Order
Step 4：A K is given at randomeqMicrovariations amount Δ K, orderFormula (8),
The calculating of m block steel billet temperatures model is re-started, and then obtains new consensus forecast temperature
Order
Step 5：Definition Model sensitivity exports step value Δ Ks of the result Δ T on equivalent complex heat transfer coefficient for model
Slope, be denoted as s：
Step 6：According to the current consensus forecast temperature differenceWith sensitivity s, revised equivalent complex heat transfer coefficient is calculated：
Step 7：Return to step 2
The value of the equivalent heat transfer factor after correction can be tried to achieve using above method.
S303：Each steel billet is calculated when the Temperature Distribution in forehearth area (i-th of stove area) exit using formula (6)
Value, the calculating process need to be distributed X according to the initial temperature of steel billet0,all, and the furnace temperature input of each sampling instant and equivalent biography
Hot COEFFICIENT Keq.Wherein, the initial temperature distribution X of steel billet0,all, the furnace temperature input of each sampling instant is in the stove area information initializing
During give, and equivalent heat transfer factor KeqThen use equivalent heat transfer after forehearth area corrects being calculated in S302 steps
Coefficient value.
S304：I+1 Ge Lu areas are corrected.The stove area code i of current correction is added 1, the initial temperature point of each steel billet
Cloth is the Temperature Distribution value in Shang Yilu areas (i-th of the stove area) exit being calculated in S303, and imports steel billet and working as forehearth
The furnace temperature letter in its place stove area of temporal information, steel billet positional information and moment of each sampling instant in area (i+1 Ge Lu areas)
Breath；Steel billet passes through the temporal information when forehearth area infrared acquisition point, and infrared acquisition point measured temperature.To being pressed when forehearth area
Step S302 carries out continuing to correct, until having corrected n Ge Lu areas.
Certain heating furnace is imitated using the heating furnace steel billet temperature model described in the present embodiment and on-line correction method
True to run, the heating furnace in the present embodiment has preheating section, the first bringing-up section, the second bringing-up section, four Ge Lu areas of soaking zone, continuously
Then five blocks of steel billets of heating start on-line correction method until come out of the stove, effect such as Fig. 5 A before and after more each stove area correction, 5B, 5C,
Shown in 5D.It can be found that in each stove area after contrast effect figure, the model after the method for the present invention correction calculate temperature with it is true
System temperature is sufficiently close to, and steel billet temperature prediction error is very small, increases significantly compared to the model accuracy before correction.Can
See, the method for the present invention can greatly improve the precision and adaptability of model, realize accurate temperature of the steel billet in heating process in the stove
Prediction.
Embodiment two：
In the present embodiment in addition to used optimization algorithm is different from embodiment one, remaining content and step with implementation
Example one is identical.
Grid computing method is employed in the present embodiment to be optimized to equivalent heat transfer factor, wherein, grid calculating method
Embodiment it is as follows：
Step 1:Equivalent complex heat transfer coefficient K is determined according to knowhow and model mechanismeqOptimizing space, i.e. Keq∈
[Kmin,Kmax]；
Step 2:Given optimizing space division, it is assumed that searching times Ns, then step-size in search be
Ls=(Kmax-Kmin)/Ns
Step 3:Make Keq=Kmin；
Step 4:Using current equivalent heat transfer factor Keq, steel billet initial temperature stupe X0,allAnd formula (8), (9), (10),
Calculate the consensus forecast temperature difference that m blocks slab model calculates
Step 5:Judge whether prediction result meets end condition, i.e.,Whether a previously given threshold value is less than.
Terminate trimming process if meeting；If not satisfied, Keq=Keq+Ls, enter step 4 and continue to execute optimization process.
The above only illustrates how to establish steel billet temperature with equivalent heat transfer factor by taking two-dimentional steel billet temperature model as an example
The method of mechanism model, in other preferred embodiments, can also establish one-dimensional or three-dimensional steel billet temperature model or in this model
On the basis of be improved.Wherein, one-dimensional model is specially：Along width of steel billet direction and the steel billet temperature of length direction in the model
It is identical everywhere, and the steel billet temperature on steel billet thickness direction is different；Threedimensional model is specially：Along width of steel billet side in the model
Differed to the steel billet temperature of, thickness direction and length direction.On one-dimensional model and threedimensional model be correspondingly improved and
Correction also should be regarded as protection scope of the present invention.
In addition, the above explanation only by taking Sensitivity Method and grid computing method as an example is corrected using optimization Algorithm for Solving model
Problem, for those skilled in the art, other optimization algorithms can also be used (such as based on present invention
Genetic algorithm etc.) equivalent heat transfer factor is solved, the method for these correction optimizations also should be regarded as the deformation of the present invention and replace
Change, therefore be covered by the protection scope of the present invention.
To sum up, the present invention proposes a kind of method：First, simplified step-by-step movement is established using each stove area equivalent heat transfer factor to add
Hot stove Fen Lu areas mechanism model, is ensureing that model is rational while reduces the complexity of model parameter on-line optimization；Then,
Using billet surface infrared measurement of temperature value in the infrared sensor collection stove in each stove area, and compared with model temperature calculated value
Compared with, real time correction is carried out to equivalent heat transfer factor, should during obtain more more fully boiler flow field information so that correcting
Process is more accurate.Trimming process carries out, until last of exit successively since the first Ge Lu areas after heating furnace entrance
Ge Lu areas, the model after previous stove area correction are used to calculate the initial temperature distribution in next stove area.Using above method,
The information for having corrected stove area can be made full use of, the factor of consideration is more comprehensive, and corrected model parameter effect is more preferable, amplitude peak
Reduce the error between model and real system, improve model accuracy.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those skilled in the art the invention discloses technical scope in, to the present invention deformation or replacement done, should all cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the scope of the claims.
Claims (10)
1. a kind of walking beam furnace steel billet temperature modeling and on-line correction method, it is characterised in that comprise the following steps：
S1：Steel billet temperature mechanism mould in each stove area is established respectively with heat exchange principle for each stove area of walking beam furnace
Type, the border heat transfer that equivalent heat transfer factor describes billet surface is introduced in model；
S2：Tracking information of the steel billet in heating process in the stove is gathered, the tracking information includes：
1) come out of the stove the charging temperature of steel billet；
2) come out of the stove the steel billet temporal information of each sampling instant, positional information and furnace temperature information in each stove area, wherein the stove
Warm information detects to obtain by the temperature sensor in each stove area；
3) steel billet of having come out of the stove passes through the temporal information of the infrared acquisition point arranged on each stove area, and the steel measured by infrared acquisition point
Base surface temperature value；
S3：On-line correction is carried out to steel billet temperature model in each stove area, since the first Ge Lu areas after steel billet enters stove, use is excellent
Change algorithm, one or more equivalent heat transfer factors corrected successively in steel billet temperature model in the tracking information, directly
Last the stove area come out of the stove to steel billet；
The optimization algorithm is Sensitivity Method or grid computing method；
To represent convenient, it is assumed that heating furnace shares n Ge Lu areas, represents that current correction calculates stove area using i below, described to correct
Journey is specially：
S301：The 1st Ge Lu areas calculate stove area as current correction after setting entrance, at this time i=1, steel billet institute in Ze Gailu areas
The initial temperature for having discrete point is both configured to its charging temperature, and imports the tracking information of steel billet at this time；
S302：The steel billet temperature model for calculating current correction stove area is corrected, and the target of correction is optimal to find the stove area
Equivalent heat transfer factor KeqSo that m blocks reach minimum by the average prediction temperature difference of the steel billet of the infrared measuring point in stove area；Its
In, the prediction temperature difference calculated for steel billet in current correction the actual measured value of the upper surface temperature of the infrared measurement of temperature point in stove area with
The difference for the predicted surface temperature in this position that temperature model is calculated；
S303：The initial temperature that stove area steel billet is calculated according to current correction is distributed X0,allAnd the furnace temperature input of each sampling instant and step
Equivalent heat transfer factor K after rapid S302 correctionseqCalculate the Temperature Distribution value that each steel billet calculates Lu Qu exits in current correction；Its
In, X0,allAnd the furnace temperature of each sampling instant is inputted and given during the stove area information initializing；
S304：I+1 Ge Lu areas are calculated into stove area as current correction and are corrected, are specially：The initial temperature of each steel billet
It is distributed as being calculated the Temperature Distribution value in i-th of Lu Qu exit in S303, and imports steel billet in i+1 Ge Lu area Nei Gecai
Temporal information, steel billet position tracking information and the furnace temperature information in moment i+1 Ge Lu areas at sample moment；Steel billet passes through i+1
The temporal information of Ge Lu areas infrared acquisition point, and infrared acquisition point measured temperature, and carry out continuing to correct by step S302,
Until having corrected n Ge Lu areas.
2. walking beam furnace steel billet temperature modeling according to claim 1 and on-line correction method, it is characterised in that institute
Stating step S1 is specially：Inside steel billet unsteady heat conduction equation is described and using corresponding boundary condition as base using heat exchange principle
Plinth, establishes mechanism model of the description steel billet in heating process in the stove, and introducing equivalent heat transfer factor in model describes billet surface
Border is conducted heat, then carries out spatial discretization processing to heating furnace steel billet mechanism model by finite difference method, establishes discrete shape
The steel billet temperature mechanism model of state.
3. walking beam furnace steel billet temperature modeling according to claim 2 and on-line correction method, it is characterised in that institute
It is two dimensional model to state steel billet temperature mechanism model, is specially：
It is identical everywhere along the steel billet temperature in width of steel billet direction in the model, and the steel billet on steel billet thickness direction and length direction
Temperature Distribution is different.
4. walking beam furnace steel billet temperature modeling according to claim 3 and on-line correction method, it is characterised in that institute
State in two dimensional model, for any one block of steel billet in stove, its unsteady heat conduction equation and corresponding boundary condition are：
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In formula (1), each variable meaning is as follows：
The two-dimension temperature distribution of T (x, y, t) --- steel billet, x is thickness direction variable, and y is length direction variable；
C (T) --- the specific heat coefficient of steel billet, is the function of steel billet temperature；
ρ (T) --- the bulkfactor of steel billet, is the function of steel billet temperature；
K (T) --- the thermal conductivity factor of steel billet, is the function of steel billet temperature；
Kx(T) --- the Equivalent Thermal Conductivities of steel billet in the x-direction, are the function of steel billet temperature；
Ky(T) --- the Equivalent Thermal Conductivities of steel billet in the y-direction, are the function of steel billet temperature；
L --- steel billet length；
D (y) --- steel billet thickness distribution in stove；
tf--- final moment of the steel billet in the stove area；
T0--- the Temperature Distribution of initial time steel billet；
--- it is respectively that steel billet is upper and lower, forward and backward surface equivalent heat transfer factor；
ub(y, t), utop(y, t), ufr(y, t), uba(y, t) --- it is respectively that steel billet is upper and lower, forward and backward surface furnace.
5. walking beam furnace steel billet temperature modeling according to claim 4 and on-line correction method, it is characterised in that institute
Stating spatial discretization processing is specially：Steel billet is depicted as by NyA subsystem composition, each subsystem include NxIt is a discrete small
Block, for wherein any one subsystem j, j ∈ 1,2 ..., Ny, the temperature value T of each discrete area (, j, k) is become as state
Amount, by upper surface furnace temperature utop(yj, k), lower surface furnace temperature ub(yj, k) and it is used as input vector Ux(k), front surface furnace temperature ufr(yj,
K), rear surface furnace temperature uba(yj, k) and it is used as input vector Uy(k), then Temperature Distribution Xs of the subsystem j in moment k is definedj(k) such as
Under：
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Then there is Temperature Distribution Xs of the subsystem j in moment k+1j(k+1) it is as follows：
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Wherein, Aj(Xj(k),Ux(k), k) represent the state of k moment subsystems j to the influence size of its k+1 moment state, Cj(Xj
(k), k) for k moment subsystems j-1 sub-systems j in the influence size of k+1 moment states, Dj(Xj(k), k) it is k moment subsystems
Unite j+1 sub-systems j k+1 moment states influence size, andRepresent k moment upper and lower surface furnace temperature
Sub-system j k+1 moment states influence size,Represent k moment front and rear surfaces furnace temperature to subsystem
Influence sizes of the system j in k+1 moment states.
6. walking beam furnace steel billet temperature modeling according to claim 5 and on-line correction method, it is characterised in that will
All subsystem variables merge, then the separate manufacturing firms model of two-dimentional steel billet heating process is：
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Wherein,
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Each matrix-block A in above formulaj(k)、Cj(k)、Dj(k)、J=1,2 ..., NyIt is A respectivelyj(Xj(k),
Ux(k), k), Cj(Xj(k), k), Dj(Xj(k), k), Contracting
Write.
7. walking beam furnace steel billet temperature modeling according to claim 6 and on-line correction method, it is characterised in that pin
To different stove areas, different equivalent heat transfer factor K is introducedeq, you can obtain two-dimentional steel billet Temperature Mechanism independent in each stove area
Model, at this time, formula (3) simplification are described as：
Xall(k+1)=Aall(Keq...) Xall(k)+Bxall(Keq...) Uxall(k)+Byall(Keq...) Uyall(k) (4)
Wherein, matrix Aall、Bxall、ByallWith equivalent heat transfer factor KeqCorrelation, at the same also with current state Xall(k), furnace temperature is defeated
Enter Uxall(k)、Uyall(k) it is related.
8. walking beam furnace steel billet temperature modeling according to claim 1 and on-line correction method, it is characterised in that institute
State the trimming process of steel billet temperature mechanism model Δ t at regular intervalsiOr several steel billets when coming out of the stove triggering perform once.
9. walking beam furnace steel billet temperature modeling according to claim 1 and on-line correction method, it is characterised in that institute
State Sensitivity Method and optimize the correction formula of equivalent heat transfer factor and be：
<mrow>
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</mrow>
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</mover>
<mn>0</mn>
</msub>
<mi>s</mi>
</mfrac>
</mrow>
Wherein, KeqFor modified equivalent heat transfer factor,For the equivalent heat transfer factor before amendment, s is sensitivity,For
The initial consensus forecast temperature difference；
Wherein, Δ T is the difference of consensus forecast temperature and mean temperature before amendment, and Δ K is equivalent heat transfer factor rank
Jump value.
10. walking beam furnace steel billet temperature modeling according to claim 1 and on-line correction method, it is characterised in that
The grid computing method optimizes concretely comprising the following steps for equivalent heat transfer factor：
Step 1:Determine equivalent complex heat transfer coefficient KeqOptimizing space is Keq∈[Kmin,Kmax]；
Step 2:Given optimizing space division, it is assumed that searching times Ns, then step-size in search be：
Ls=(Kmax-Kmin)/Ns；
Step 3:Make Keq=Kmin；
Step 4:Calculate the consensus forecast temperature difference of m block slab models
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<mi>j</mi>
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<mi>M</mi>
<mi>O</mi>
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</msub>
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<msub>
<mi>T</mi>
<mrow>
<mi>j</mi>
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<mi>S</mi>
<mi>T</mi>
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</mrow>
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</mrow>
<mo>/</mo>
<mi>m</mi>
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</mrow>
Wherein, Tj,ST_MODIt is jth block steel billet in the model calculation value of k moment upper surfaces temperature, Tj,ST_MESFor jth block steel billet upper table
The infrared survey value of face temperature；
Step 5:Judge prediction resultWhether it is less than previously given threshold value, terminates trimming process if meeting；It is if discontented
Foot, Keq=Keq+Ls, enter step 4.
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| CN106636610B (en) * | 2016-11-25 | 2018-07-06 | 浙江中控研究院有限公司 | A kind of double dimension walking beam furnace heating curve optimal setting methods based on time and furnace superintendent |
| CN106636606B (en) * | 2016-12-30 | 2018-10-12 | 北京和隆软件有限公司 | A kind of method for controlling furnace temperature of heating furnace based on simulation model |
| CN108256265B (en) * | 2017-11-02 | 2021-07-23 | 中冶华天南京电气工程技术有限公司 | Mathematical model modeling method for heating process of H-shaped billet heating furnace |
| CN108895855B (en) * | 2018-05-29 | 2019-09-27 | 中南大学 | Temperature optimization method is arranged in walking beam furnace |
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