CN105739418A - Electrohydraulic control system and method for blast furnace distributing device - Google Patents
Electrohydraulic control system and method for blast furnace distributing device Download PDFInfo
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Abstract
The invention discloses an electrohydraulic control system and method for a blast furnace distributing device. A programmable logic controller of the system is in communication connection with a control terminal and an electrohydraulic proportional controller through an onsite bus. Two servo control valves are respectively connected with a hydraulic control end of the electrohydraulic proportional controller, and signal output ends of two displacement sensors are respectively connected with a signal input end of the electrohydraulic proportional controller. According to the invention, two virtual shafts and two real shafts are arranged, and the virtual shafts serve as the movement main axes moving at a set speed. The two real shafts are enabled to start to operate along with the two virtual shafts through a linear interpolation function of the electrohydraulic proportional controller, and reach a set target point. The system and method achieve the movement control of the annular distributing, fan distributing, spiral distributing and fixed-point distributing of the distributing device, avoid the phenomena of distributing chute over-stamping and unstable movement, and guarantee the uniform distributing of high-temperature furnace charge.
Description
Technical field
The present invention relates to the electrohydraulic control system of a kind of blast-furnace distributor and control method.
Background technology
The blast furnace of metallurgy industry, reduction shaft furnace or molten point stove require to load material according to specific cloth form by distributing device distribution.Distributing device is the nucleus equipment of blast furnace, reduction shaft furnace, molten point stove or similar installation.
It is typically based on distributing device two oil cylinders installed above of universal joint; control two drive rods of flexible drive of two oil cylinders; two drive rods act on internal ring or the outer shroud of universal joint; knee-action by two drive rods; drive the distributor chute below universal joint to do corresponding rotation cloth action, high-temp. furnace material is dispensed onto equably the bed of material plane in blast furnace.
The main controlling difficulties of this distributing device is to control two oil cylinders by different orbiting motions, two drive rod motions are driven by the motion of two oil cylinders, make distributor chute form the movement locus that annular cloth, fan-shaped cloth, screw distribution etc. are set again through the traction up and down of drive rod, be namely a kind of rectilinear motion by two oil cylinders circular motion of being converted to distributing device cloth.
In order to make cloth uniform, the displacement that especially desirable control cylinder movement is stable, two oil cylinders of each moment are flexible is all on set tracing point, the speed of the motion of therefore corresponding each moment oil cylinder also differs, controlled in the past straight line hydraulic motion mode at the uniform velocity adopt accelerations, at the uniform velocity, slow down again after arrival target location, shortcoming is owing to adopting acceleration and deceleration, the control time can not perform according to set time, it is easy to the phenomenon of overshoot or bumpy motion occurs, affects the uniform distribution of high-temp. furnace material.
Summary of the invention
The technical problem to be solved is to provide electrohydraulic control system and the control method of a kind of blast-furnace distributor, this electrohydraulic control system and control method realize the motor control of the annular cloth of distributing device, fan-shaped cloth, screw distribution and fixed point cloth, avoid distributor chute overshoot and bumpy motion phenomenon, it is ensured that the uniform distribution of high-temp. furnace material.
For solving above-mentioned technical problem, the electrohydraulic control system of blast-furnace distributor of the present invention includes the pilot valve controlling two cylinder actions of distributing device respectively and the displacement transducer detecting two oil cylinder strokes of distributing device respectively, also include controlling terminal, programmable logic controller (PLC) and electrohydraulic proportional controller, described programmable logic controller (PLC) is connected with described control terminal and electrohydraulic proportional controller communication respectively by fieldbus, said two pilot valve connects the hydraulic control end of described electrohydraulic proportional controller respectively, the signal output part of said two displacement transducer connects the signal input part of described electrohydraulic proportional controller respectively.
Further, described fieldbus is Profibus-DP bus, described programmable logic controller (PLC) receives the oil cylinder position information and pressure real time data that control station command and electrohydraulic proportional controller by described Profibus-DP bus, and send oil cylinder spool action command to electrohydraulic proportional controller, and send oil cylinder real-time motion data to controlling terminal.
The electrohydraulic control method of a kind of blast-furnace distributor comprises the steps:
Step one, the respectively telescopic location of two oil cylinders of definition are real axis X0 and real axis X1, definition characterizes the axis of distribution chute Plane Rotation angle with the axis of sign distribution chute with vertical plane angle respectively is imaginary axis X2 and imaginary axis X3, distribution chute rotates a circle, then imaginary axis X2 rotating 360 degrees angle, the maximum tilt angle of imaginary axis X3 is 31 ° of angles；
Step 2, imaginary axis X2 and imaginary axis X3 press, as motive spindle, the speed motion that electrohydraulic proportional controller is given, real axis X0 and real axis X1 follows imaginary axis X2 and imaginary axis X3 and starts simultaneously at action, and the movement velocity arriving different impact points, imaginary axis X2 and imaginary axis X3 determines the movement velocity of real axis X0 and real axis X1 simultaneously；
When step 3, distribution chute annular cloth, imaginary axis X3 determines relation such as formula (1) and the formula (2) of cloth radius, real axis X0 and real axis X1 and imaginary axis X2 and imaginary axis X3,
(1)
(2)
Wherein: K1 is correction factor, r is the outer shroud radius of distributing device universal joint；
According to cloth radius, imaginary axis X3 gives a steady state value, its size determines annular cloth radius, linear interpolation function is provided by electrohydraulic proportional controller, real axis X0 and real axis X1 forms approximate cos and sin curve movement by formula (1) and formula (2) respectively, the position of each point of curve movement is determined by imaginary axis X2, and the maximum of curve movement is determined by imaginary axis X3；
When step 4, distribution chute screw distribution, imaginary axis X2 and imaginary axis X3 changes simultaneously, sets
X2=6.2800 × N(3)
X3=K2(4)
Wherein: N is the rotating cycle of imaginary axis X2, and K2 is determined by the inclination maximum of imaginary axis X3, when inclination maximum is 31 ° of angles, K2 adopts radian to be expressed as 0.5407；
Using imaginary axis X2 as capstan, the movement velocity of given imaginary axis X2, imaginary axis X3 movement velocity is determined by imaginary axis X2 movement velocity, when imaginary axis X2 moves to the maximum number of turns, imaginary axis X3 reaches inclination maximum, formula (3) and formula (4) are substituted into formula (1) and formula (2), carries out after linear interpolation through electrohydraulic proportional controller, obtain real axis X0 and the curve movement of real axis X1；
When step 5, distribution chute sector cloth, require that chute moves back and forth the fan-shaped cloth of formation between initial angle a and ending corner b, corresponding imaginary axis X2 moves back and forth between a and b, imaginary axis X3 increases by 3 ° of angles after imaginary axis X2 moves back and forth every time, corresponding radian is 0.0523, until imaginary axis X3 arrives inclination maximum；
The movement locus of real axis X0 and real axis X1 is divided into two steps:
The first step: imaginary axis X3 increases by 3 ° of angles, and imaginary axis X2 is the initial angle of fan-shaped cloth, then real axis X0 and real axis X1 is by formula (5) and formula (6) motion,
(5)
(6)
Second step:, keep imaginary axis X3 inclination angle constant, imaginary axis X2 is run to ending corner b by initial angle a, using imaginary axis X2 as capstan, setting the movement velocity of imaginary axis X2, real axis X0 and real axis X1 follows imaginary axis X2 and does moving interpolation, forming the arc track of chute, imaginary axis X2 is by formula (7) motion
X2=b-a(7)
Repeat the first step and second step, until the inclination angle of imaginary axis X3 reaches the maximum set；
During step 6, distribution chute fixed point cloth, it is desirable to chute is be c and specified point cloth that inclination angle is d in the anglec of rotation, i.e. imaginary axis X2=c, imaginary axis X3=d, then real axis X0 and real axis X1 moves by formula (8) and formula (9),
(8)
(9)
After real axis X0 and real axis X1 movement locus are carried out linear interpolation by electrohydraulic proportional controller, real axis X0 and real axis X1 is made to move to fixed position.
Owing to electrohydraulic control system and the control method of blast-furnace distributor of the present invention have employed technique scheme, namely the programmable logic controller (PLC) of native system is connected with control terminal and electrohydraulic proportional controller communication respectively by fieldbus, two pilot valves connect the hydraulic control end of electrohydraulic proportional controller respectively, and the signal output part of two displacement transducers connects the signal input part of electrohydraulic proportional controller respectively.This method is by arranging two imaginary axis and two real axis, and the imaginary axis by set speed motion as motive spindle, by the linear interpolation function of electrohydraulic proportional controller, makes two real axis follow two imaginary axis and starts simultaneously at action, and arrive the impact point of setting.This electrohydraulic control system and control method realize the motor control of the annular cloth of distributing device, fan-shaped cloth, screw distribution and fixed point cloth, it is to avoid distributor chute overshoot and bumpy motion phenomenon, it is ensured that the uniform distribution of high-temp. furnace material.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, the present invention is described in further detail:
Fig. 1 is the theory diagram of the electrohydraulic control system of blast-furnace distributor of the present invention；
The curve movement schematic diagram of the imaginary axis and real axis when Fig. 2 is distribution chute annular cloth；
The curve movement schematic diagram of the imaginary axis and real axis when Fig. 3 is distribution chute screw distribution；
The curve movement schematic diagram of the imaginary axis and real axis when Fig. 4 is distribution chute sector cloth.
Detailed description of the invention
The embodiment of this control system is as shown in Figure 1, this control system includes the pilot valve 4 controlling two cylinder actions of distributing device respectively and the displacement transducer 5 detecting two oil cylinder strokes of distributing device respectively, also include controlling terminal 1, programmable logic controller (PLC) 2 and electrohydraulic proportional controller 3, programmable logic controller (PLC) 2 is connected with control terminal 1 and electrohydraulic proportional controller 3 communication respectively by fieldbus, two pilot valves 4 connect the hydraulic control end of electrohydraulic proportional controller 3 respectively, the signal output part of two displacement transducers 5 connects the signal input part of electrohydraulic proportional controller 3 respectively.
Wherein programmable logic controller (PLC) can adopt SIEMENS PLC 400 controller, electrohydraulic proportional controller can adopt BOSCH-REXROTH MAC8 hydraulic controller, BOSCH-REXROTH MAC8 hydraulic controller is the Open motion control device that BOSCH-REXROTH company releases for especially complex application, multiaxis can be controlled simultaneously, and there is the functions such as Synchronization Control, interpolated movements control, associated shaft control, complicated closed loop moving control.
Preferably, fieldbus is Profibus-DP bus, programmable logic controller (PLC) 2 is received by Profibus-DP bus and controls terminal 1 and order and the oil cylinder position information of electrohydraulic proportional controller 3 and pressure real time data, and send oil cylinder spool action command to electrohydraulic proportional controller 3, and send oil cylinder real-time motion data to controlling terminal 1.
The electrohydraulic control method of this blast-furnace distributor comprises the steps:
Step one, the respectively telescopic location of two oil cylinders of definition are real axis X0 and real axis X1, definition characterizes the axis of distribution chute Plane Rotation angle with the axis of sign distribution chute with vertical plane angle respectively is imaginary axis X2 and imaginary axis X3, distribution chute rotates a circle, then imaginary axis X2 rotating 360 degrees angle, the maximum tilt angle of imaginary axis X3 is 31 ° of angles；
Step 2, imaginary axis X2 and imaginary axis X3 press, as motive spindle, the speed motion that electrohydraulic proportional controller is given, real axis X0 and real axis X1 follows imaginary axis X2 and imaginary axis X3 and starts simultaneously at action, and the movement velocity arriving different impact points, imaginary axis X2 and imaginary axis X3 determines the movement velocity of real axis X0 and real axis X1 simultaneously；
When step 3, distribution chute annular cloth, imaginary axis X3 determines relation such as formula (1) and the formula (2) of cloth radius, real axis X0 and real axis X1 and imaginary axis X2 and imaginary axis X3,
(1)
(2)
Wherein: K1 is correction factor, r is the outer shroud radius of distributing device universal joint；
According to cloth radius, imaginary axis X3 gives a steady state value, its size determines annular cloth radius, linear interpolation function is provided by electrohydraulic proportional controller, real axis X0 and real axis X1 forms approximate cos and sin curve movement by formula (1) and formula (2) respectively, the position of each point of curve movement is determined by imaginary axis X2, and the maximum of curve movement is determined by imaginary axis X3；In this step real axis X0 and real axis X1 and imaginary axis X2 and imaginary axis X3 movement locus as in figure 2 it is shown, wherein real axis X0 move with approximate cos curve 6, real axis X1 moves with approximate sin curve 7, and imaginary axis X2 and imaginary axis X3 moves with straight line 8 and straight line 9 respectively；
When step 4, distribution chute screw distribution, imaginary axis X2 and imaginary axis X3 changes simultaneously, sets
X2=6.2800 × N(3)
X3=K2(4)
Wherein: N is the rotating cycle of imaginary axis X2,6.2800 is that the radian at 360 ° of angles represents, K2 is determined by the inclination maximum of imaginary axis X3, and when inclination maximum is 31 ° of angles, K2 adopts radian to be expressed as 0.5407；
Using imaginary axis X2 as capstan, the movement velocity of given imaginary axis X2, imaginary axis X3 movement velocity is determined by imaginary axis X2 movement velocity, when imaginary axis X2 moves to the maximum number of turns, imaginary axis X3 reaches inclination maximum, formula (3) and formula (4) are substituted into formula (1) and formula (2), carries out after linear interpolation through electrohydraulic proportional controller, obtain real axis X0 and the curve movement of real axis X1；In this step, the movement locus of real axis X0 and real axis X1 and imaginary axis X2 and imaginary axis X3 is as shown in Figure 3, wherein curve 10 is the movement locus of real axis X0, curve 11 is the movement locus of real axis X1, and straight line 12 is the movement locus of imaginary axis X2, and straight line 13 is the movement locus of imaginary axis X3；
When step 5, distribution chute sector cloth, require that chute moves back and forth the fan-shaped cloth of formation between initial angle a and ending corner b, corresponding imaginary axis X2 moves back and forth between a and b, imaginary axis X3 increases by 3 ° of angles after imaginary axis X2 moves back and forth every time, corresponding radian is 0.0523, until imaginary axis X3 arrives inclination maximum；
The movement locus of real axis X0 and real axis X1 is divided into two steps:
The first step: imaginary axis X3 increases by 3 ° of angles, and imaginary axis X2 is the initial angle of fan-shaped cloth, then real axis X0 and real axis X1 is by formula (5) and formula (6) motion,
(5)
(6)
Second step:, keep imaginary axis X3 inclination angle constant, imaginary axis X2 is run to ending corner b by initial angle a, using imaginary axis X2 as capstan, setting the movement velocity of imaginary axis X2, real axis X0 and real axis X1 follows imaginary axis X2 and does moving interpolation, forming the arc track of chute, imaginary axis X2 is by formula (7) motion
X2=b-a(7)
Repeat the first step and second step, until the inclination angle of imaginary axis X3 reaches the maximum set；In this step, the movement locus of real axis X0 and real axis X1 and imaginary axis X2 and imaginary axis X3 is as shown in Figure 4, it is illustrated as the fan-shaped cloth of chute initial angle 90 °, ending corner 180 °, wherein curve 14 is the movement locus of real axis X0, curve 15 is the movement locus of real axis X1, multistage straight line 16 is the movement locus of imaginary axis X2, and multistage straight line 17 is the movement locus of imaginary axis X3；
During step 6, distribution chute fixed point cloth, it is desirable to chute is be c and specified point cloth that inclination angle is d in the anglec of rotation, i.e. imaginary axis X2=c, imaginary axis X3=d, then real axis X0 and real axis X1 moves by formula (8) and formula (9),
(8)
(9)
After real axis X0 and real axis X1 movement locus are carried out linear interpolation by electrohydraulic proportional controller, real axis X0 and real axis X1 is made to move to fixed position.
The especially desirable stability controlling to drive cylinder movement of distributing device, the displacement that each moment two drives oil cylinder flexible all need on set tracing point, therefore corresponding each moment drives the speed of the motion of oil cylinder also to differ, this method is by defining two imaginary axis and two real axis and providing the movement relation of the imaginary axis and real axis, the inclination imaginary axis at the imaginary axis respectively 360o Plane Rotation imaginary axis X2 and maximum 31o angle, two real axis X0 and X1 corresponding distributing devices two respectively drive the telescopic location of oil cylinder, the orbiting motion that the imaginary axis sets by this method as capstan, by the linear interpolation function of electrohydraulic proportional controller, two real axis are followed the imaginary axis and are started simultaneously at action, and arrive the different target point of cloth, the speed of imaginary axis X2 and imaginary axis X3 determines the speed being interpolated real axis X0 and real axis X1.
This control system and method can make cloth stable, uniform, accurate, improves cloth efficiency, it is not necessary to extra encoder, and easy to use, improves usefulness and the quality of blast furnace ironmaking.
Claims (3)
1. the electrohydraulic control system of a blast-furnace distributor, including controlling the pilot valve of two cylinder actions of distributing device respectively and detecting the displacement transducer of two oil cylinder strokes of distributing device respectively, it is characterized in that: also include controlling terminal, programmable logic controller (PLC) and electrohydraulic proportional controller, described programmable logic controller (PLC) is connected with described control terminal and electrohydraulic proportional controller communication respectively by fieldbus, said two pilot valve connects the hydraulic control end of described electrohydraulic proportional controller respectively, the signal output part of said two displacement transducer connects the signal input part of described electrohydraulic proportional controller respectively.
2. the electrohydraulic control system of blast-furnace distributor according to claim 1, it is characterized in that: described fieldbus is Profibus-DP bus, described programmable logic controller (PLC) receives the oil cylinder position information and pressure real time data that control station command and electrohydraulic proportional controller by described Profibus-DP bus, and send oil cylinder spool action command to electrohydraulic proportional controller, and send oil cylinder real-time motion data to controlling terminal.
3. the electrohydraulic control method of a blast-furnace distributor, it is characterised in that this method comprises the steps:
Step one, the respectively telescopic location of two oil cylinders of definition are real axis X0 and real axis X1, definition characterizes the axis of distribution chute Plane Rotation angle with the axis of sign distribution chute with vertical plane angle respectively is imaginary axis X2 and imaginary axis X3, distribution chute rotates a circle, then imaginary axis X2 rotating 360 degrees angle, the maximum tilt angle of imaginary axis X3 is 31 ° of angles；
Step 2, imaginary axis X2 and imaginary axis X3 press, as motive spindle, the speed motion that electrohydraulic proportional controller is given, real axis X0 and real axis X1 follows imaginary axis X2 and imaginary axis X3 and starts simultaneously at action, and the movement velocity arriving different impact points, imaginary axis X2 and imaginary axis X3 determines the movement velocity of real axis X0 and real axis X1 simultaneously；
When step 3, distribution chute annular cloth, imaginary axis X3 determines relation such as formula (1) and the formula (2) of cloth radius, real axis X0 and real axis X1 and imaginary axis X2 and imaginary axis X3,
(1)
(2)
Wherein: K1 is correction factor, r is the outer shroud radius of distributing device universal joint；
According to cloth radius, imaginary axis X3 gives a steady state value, its size determines annular cloth radius, linear interpolation function is provided by electrohydraulic proportional controller, real axis X0 and real axis X1 forms approximate cos and sin curve movement by formula (1) and formula (2) respectively, the position of each point of curve movement is determined by imaginary axis X2, and the maximum of curve movement is determined by imaginary axis X3；
When step 4, distribution chute screw distribution, imaginary axis X2 and imaginary axis X3 changes simultaneously, sets
X2=6.2800 × N(3)
X3=K2(4)
Wherein: N is the rotating cycle of imaginary axis X2, and K2 is determined by the inclination maximum of imaginary axis X3, when inclination maximum is 31 ° of angles, K2 adopts radian to be expressed as 0.5407；
Using imaginary axis X2 as capstan, the movement velocity of given imaginary axis X2, imaginary axis X3 movement velocity is determined by imaginary axis X2 movement velocity, when imaginary axis X2 moves to the maximum number of turns, imaginary axis X3 reaches inclination maximum, formula (3) and formula (4) are substituted into formula (1) and formula (2), carries out after linear interpolation through electrohydraulic proportional controller, obtain real axis X0 and the curve movement of real axis X1；
When step 5, distribution chute sector cloth, require that chute moves back and forth the fan-shaped cloth of formation between initial angle a and ending corner b, corresponding imaginary axis X2 moves back and forth between a and b, imaginary axis X3 increases by 3 ° of angles after imaginary axis X2 moves back and forth every time, corresponding radian is 0.0523, until imaginary axis X3 arrives inclination maximum；
The movement locus of real axis X0 and real axis X1 is divided into two steps:
The first step: imaginary axis X3 increases by 3 ° of angles, and imaginary axis X2 is the initial angle of fan-shaped cloth, then real axis X0 and real axis X1 is by formula (5) and formula (6) motion,
(5)
(6)
Second step:, keep imaginary axis X3 inclination angle constant, imaginary axis X2 is run to ending corner b by initial angle a, using imaginary axis X2 as capstan, setting the movement velocity of imaginary axis X2, real axis X0 and real axis X1 follows imaginary axis X2 and does moving interpolation, forming the arc track of chute, imaginary axis X2 is by formula (7) motion
X2=b-a(7)
Repeat the first step and second step, until the inclination angle of imaginary axis X3 reaches the maximum set；
During step 6, distribution chute fixed point cloth, it is desirable to chute is be c and specified point cloth that inclination angle is d in the anglec of rotation, i.e. imaginary axis X2=c, imaginary axis X3=d, then real axis X0 and real axis X1 moves by formula (8) and formula (9),
(8)
(9)
After real axis X0 and real axis X1 movement locus are carried out linear interpolation by electrohydraulic proportional controller, real axis X0 and real axis X1 is made to move to fixed position.
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Cited By (1)
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Address after: No. 3520 Tongji Road, Baoshan District, Shanghai, 201900 Patentee after: Baowu equipment Intelligent Technology Co., Ltd Address before: 201900, 335, Pu Pu Road, Shanghai, Baoshan District Patentee before: SHANGHAI BAOSTEEL INDUSTRY TECHNOLOGICAL SERVICE Co.,Ltd. |