CN105739418B - The electrohydraulic control method of blast-furnace distributor - Google Patents
The electrohydraulic control method of blast-furnace distributor Download PDFInfo
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Abstract
The invention discloses a kind of electrohydraulic control methods of blast-furnace distributor, i.e. the programmable logic controller (PLC) of this system by fieldbus respectively with controlling terminal and electrohydraulic proportional controller communication connection, two pilot valves are separately connected the hydraulic control end of electrohydraulic proportional controller, and the signal output end of two displacement sensors is separately connected the signal input part of electrohydraulic proportional controller.This method is moved as motive spindle by set speed by two imaginary axis of setting and two real axis, the imaginary axis, by the linear interpolation function of electrohydraulic proportional controller, makes two real axis that two imaginary axis be followed to start simultaneously at movement, and reach the target point of setting.This electrohydraulic control system and control method realize annular cloth, fan-shaped cloth, screw distribution and the motion control for pinpointing cloth of distributing device, avoid distributor chute overshoot and move unstable phenomenon, ensure that the uniform distribution of high-temp. furnace material.
Description
Technical field
The present invention relates to a kind of electrohydraulic control methods of blast-furnace distributor.
Background technique
The blast furnace of metallurgy industry, reduction shaft furnace molten divide furnace requirement to pass through distributing device distribution dress according to specific cloth form
Enter material.Distributing device is blast furnace, reduction shaft furnace, the molten core equipment for dividing furnace or similar installation.
It is typically based on above the distributing device of universal joint and two oil cylinders is installed, control flexible drive two drivings of two oil cylinders
Bar, two drive rods act on the inner ring or outer ring of universal joint, by the up and down action of two drive rods, drive under universal joint
The distributor chute of side does corresponding rotation cloth movement, bed of material plane high-temp. furnace material being equably dispensed onto blast furnace.
The main controlling difficulties of the distributing device are to control two oil cylinders to move by different tracks, pass through the fortune of two oil cylinders
It is dynamic to drive two drive rod movements, then so that distributor chute is formed annular cloth, fan-shaped cloth, spiral shell by the traction up and down of drive rod
The set motion profile such as cloth is revolved, is that a kind of circumference that the linear motion by two oil cylinders is converted to distributing device cloth is transported
It is dynamic.
In order to keep cloth uniform, especially need to control the flexible displacement of cylinder movement stabilization, each two oil cylinders of moment all
On set tracing point, therefore the speed of the movement of corresponding each moment oil cylinder is not also identical, previous to control straight line at the uniform velocity
Hydraulic motion mode using accelerate, at the uniform velocity, slow down again after reach target position, the disadvantage is that due to using acceleration and deceleration, when control
Between cannot execute according to set time, be easy to appear overshoot or the jiggly phenomenon of movement, influence the uniform distribution of high-temp. furnace material.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of electrohydraulic control method of blast-furnace distributor, this electrichydraulic control
Method realizes annular cloth, fan-shaped cloth, screw distribution and the motion control for pinpointing cloth of distributing device, avoids distributor chute
Unstable phenomenon is overshooted and moved, ensure that the uniform distribution of high-temp. furnace material.
In order to solve the above technical problems, the electrohydraulic control system of blast-furnace distributor of the present invention includes controlling distributing device two respectively
The pilot valve of a cylinder action and the displacement sensor for detecting two oil cylinder strokes of distributing device respectively further include that control is whole
End, programmable logic controller (PLC) and electrohydraulic proportional controller, the programmable logic controller (PLC) by fieldbus respectively with institute
Controlling terminal and electrohydraulic proportional controller communication connection are stated, described two pilot valves are separately connected the electrical-liquid control
The hydraulic control end of device, the signal output end of described two displacement sensors are separately connected the signal of the electrohydraulic proportional controller
Input terminal.
Further, the fieldbus is Profibus-DP bus, and the programmable logic controller (PLC) passes through described
Profibus-DP bus receives the oil cylinder position information and pressure real time data of controlling terminal order and electrohydraulic proportional controller,
And oil cylinder spool action command is sent to electrohydraulic proportional controller, and sends oil cylinder real-time motion data to controlling terminal.
A kind of electrohydraulic control method of blast-furnace distributor includes the following steps:
Step 1: the telescopic location for defining two oil cylinders respectively is real axis X0 and real axis X1, definition characterizes distributing device respectively
The axis and characterization distribution chute and the axis of vertical plane angle of chute Plane Rotation angle are imaginary axis X2 and imaginary axis X3,
Distribution chute rotates a circle, then imaginary axis X2 is rotated by 360 ° angle, and the maximum tilt angle of imaginary axis X3 is 31 ° of angles；
Step 2: the speed movement that imaginary axis X2 and imaginary axis X3 is given as motive spindle by electrohydraulic proportional controller, real axis
X0 and real axis X1 follows imaginary axis X2 and imaginary axis X3 to start simultaneously at movement, and reaches different target points simultaneously, imaginary axis X2 and the imaginary axis
The movement velocity of X3 determines the movement velocity of real axis X0 and real axis X1；
Step 3: imaginary axis X3 determines cloth radius, real axis X0 and real axis X1 and the imaginary axis X2 when distribution chute annular cloth
With the relationship such as formula (1) and formula (2) of imaginary axis X3,
(1)
(2)
Wherein: K1 is correction factor, and r is the outer ring radius of distributing device universal joint；
According to cloth radius, imaginary axis X3 gives a steady state value, and size determines annular cloth radius, by electric-hydraulic proportion control
Device processed provides linear interpolation function, and real axis X0 and real axis X1 press formula (1) respectively and formula (2) forms approximation cos and sin movement song
The position of line, each point of curve movement is determined that the maximum value of curve movement is determined by imaginary axis X3 by imaginary axis X2；
Step 4: imaginary axis X2 and imaginary axis X3 change simultaneously when distribution chute screw distribution, setting
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
When, K2 is expressed as 0.5407 using radian；
Using imaginary axis X2 as capstan, the movement velocity of imaginary axis X2 is given, imaginary axis X3 movement velocity moves speed by imaginary axis X2
Degree determine, when imaginary axis X2 moves to most great circle number, imaginary axis X3 reaches inclination maximum, by formula (3) and formula (4) substitution formula (1) and
Formula (2) obtains the curve movement of real axis X0 and real axis X1 after electrohydraulic proportional controller carries out linear interpolation；
Step 5: when distribution chute sector cloth, it is desirable that chute moves back and forth shape between initial angle a and ending corner b
At fan-shaped cloth, corresponding imaginary axis X2 is moved back and forth between a and b, and imaginary axis X3 increases by 3 ° after imaginary axis X2 is moved back and forth every time
Angle, corresponding radian is 0.0523, until imaginary axis X3 reaches inclination maximum；
The motion profile of real axis X0 and real axis X1 are divided into two steps:
Step 1: imaginary axis X3 increases by 3 ° of angles, imaginary axis X2 is the initial angle of fan-shaped cloth, then real axis X0 and real axis X1 presses formula
(5) it is moved with formula (6),
(5)
(6)
Step 2: keeping the inclination angle imaginary axis X3 constant, imaginary axis X2 runs to ending corner b by initial angle a, with imaginary axis X2 work
For capstan, the movement velocity of imaginary axis X2 is set, real axis X0 and real axis X1 follow imaginary axis X2 to do moving interpolation, form the circle of chute
Arc track, imaginary axis X2 are moved by formula (7),
X2=b-a (7)
The first step and second step are repeated, until the inclination angle of imaginary axis X3 reaches the maximum value of setting；
Step 6: when distribution chute pinpoints cloth, it is desirable that chute is in the specified point cloth that rotation angle is c and inclination angle is d
Material, i.e. imaginary axis X2=c, imaginary axis X3=d, then real axis X0 and real axis X1 is moved by formula (8) and formula (9),
(8)
(9)
After electrohydraulic proportional controller carries out linear interpolation to real axis X0 and real axis X1 motion profile, make real axis X0 and real axis
X1 moves to fixed position.
Since the electrohydraulic control system and control method of blast-furnace distributor of the present invention use above-mentioned technical proposal, i.e., this is
By fieldbus respectively with controlling terminal and electrohydraulic proportional controller communication connection, two are watched the programmable logic controller (PLC) of system
The hydraulic control end that control valve is separately connected electrohydraulic proportional controller is taken, the signal output end of two displacement sensors is separately connected
The signal input part of electrohydraulic proportional controller.This method is by two imaginary axis of setting and two real axis, and the imaginary axis is as motive spindle
It is moved by set speed, by the linear interpolation function of electrohydraulic proportional controller, two real axis is made to follow two imaginary axis simultaneously
Start to act, and reaches the target point of setting.This electrohydraulic control system and control method realize the annular cloth of distributing device, sector
Cloth, screw distribution and the motion control for pinpointing cloth avoid distributor chute overshoot and move unstable phenomenon, ensure that height
The uniform distribution of warm furnace charge.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and embodiments:
Fig. 1 is the functional block 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.
Specific embodiment
The embodiment of this control system is as shown in Figure 1, this control system includes controlling two cylinder actions of distributing device respectively
Pilot valve 4 and detect the displacement sensors 5 of two oil cylinder strokes of distributing device respectively, further include controlling terminal 1, programmable
Logic controller 2 and electrohydraulic proportional controller 3, programmable logic controller (PLC) 2 by fieldbus respectively with controlling terminal 1 and electricity
3 communication connection of liquor ratio csr controller, two pilot valves 4 are separately connected the hydraulic control end of electrohydraulic proportional controller 3, and two
The signal output end of displacement sensor 5 is separately connected the signal input part of electrohydraulic proportional controller 3.
Wherein 400 controller of SIEMENS PLC can be used in programmable logic controller (PLC), and man of great strength can be used in electrohydraulic proportional controller
Happy MAC8 hydraulic controller, Rexroth MAC8 hydraulic controller is Rexroth company for especially complex application and that releases open
Formula motion control device is put, can control multiaxis simultaneously, and with synchronously control, interpolated movements control, associated shaft control, complicated
The functions such as closed loop moving control.
Preferably, fieldbus is Profibus-DP bus, and programmable logic controller (PLC) 2 passes through Profibus-DP bus
The oil cylinder position information and pressure real time data of the order of controlling terminal 1 and electrohydraulic proportional controller 3 are received, and to electric-hydraulic proportion
Controller 3 sends oil cylinder spool action command, and sends oil cylinder real-time motion data to controlling terminal 1.
The electrohydraulic control method of this blast-furnace distributor includes the following steps:
Step 1: the telescopic location for defining two oil cylinders respectively is real axis X0 and real axis X1, definition characterizes distributing device respectively
The axis and characterization distribution chute and the axis of vertical plane angle of chute Plane Rotation angle are imaginary axis X2 and imaginary axis X3,
Distribution chute rotates a circle, then imaginary axis X2 is rotated by 360 ° angle, and the maximum tilt angle of imaginary axis X3 is 31 ° of angles；
Step 2: the speed movement that imaginary axis X2 and imaginary axis X3 is given as motive spindle by electrohydraulic proportional controller, real axis
X0 and real axis X1 follows imaginary axis X2 and imaginary axis X3 to start simultaneously at movement, and reaches different target points simultaneously, imaginary axis X2 and the imaginary axis
The movement velocity of X3 determines the movement velocity of real axis X0 and real axis X1；
Step 3: imaginary axis X3 determines cloth radius, real axis X0 and real axis X1 and the imaginary axis X2 when distribution chute annular cloth
With the relationship such as formula (1) and formula (2) of imaginary axis X3,
(1)
(2)
Wherein: K1 is correction factor, and r is the outer ring radius of distributing device universal joint；
According to cloth radius, imaginary axis X3 gives a steady state value, and size determines annular cloth radius, by electric-hydraulic proportion control
Device processed provides linear interpolation function, and real axis X0 and real axis X1 press formula (1) respectively and formula (2) forms approximation cos and sin movement song
The position of line, each point of curve movement is determined that the maximum value of curve movement is determined by imaginary axis X3 by imaginary axis X2；In this step
The motion profile of real axis X0 and real axis X1 and imaginary axis X2 and imaginary axis X3 is as shown in Fig. 2, wherein real axis X0 is with approximate cos curve 6
Movement, real axis X1 are moved with approximate sin curve 7, and imaginary axis X2 and imaginary axis X3 are moved respectively with straight line 8 and straight line 9；
Step 4: imaginary axis X2 and imaginary axis X3 change simultaneously when distribution chute screw distribution, setting
X2=6.2800 × N (3)
X3=K2 (4)
Wherein: N is the rotating cycle of imaginary axis X2, and 6.2800 indicate that K2 is inclined by the maximum of imaginary axis X3 for the radian at 360 ° of angles
Angle determines that, when inclination maximum is 31 ° of angles, K2 is expressed as 0.5407 using radian；
Using imaginary axis X2 as capstan, the movement velocity of imaginary axis X2 is given, imaginary axis X3 movement velocity moves speed by imaginary axis X2
Degree determine, when imaginary axis X2 moves to most great circle number, imaginary axis X3 reaches inclination maximum, by formula (3) and formula (4) substitution formula (1) and
Formula (2) obtains the curve movement of real axis X0 and real axis X1 after electrohydraulic proportional controller carries out linear interpolation；It is real in this step
The motion profile of 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 rail of real axis X0
Mark, curve 11 are the motion profile of real axis X1, and straight line 12 is the motion profile of imaginary axis X2, and straight line 13 is the movement rail of imaginary axis X3
Mark；
Step 5: when distribution chute sector cloth, it is desirable that chute moves back and forth shape between initial angle a and ending corner b
At fan-shaped cloth, corresponding imaginary axis X2 is moved back and forth between a and b, and imaginary axis X3 increases by 3 ° after imaginary axis X2 is moved back and forth every time
Angle, corresponding radian is 0.0523, until imaginary axis X3 reaches inclination maximum；
The motion profile of real axis X0 and real axis X1 are divided into two steps:
Step 1: imaginary axis X3 increases by 3 ° of angles, imaginary axis X2 is the initial angle of fan-shaped cloth, then real axis X0 and real axis X1 presses formula
(5) it is moved with formula (6),
(5)
(6)
Step 2: keeping the inclination angle imaginary axis X3 constant, imaginary axis X2 runs to ending corner b by initial angle a, with imaginary axis X2 work
For capstan, the movement velocity of imaginary axis X2 is set, real axis X0 and real axis X1 follow imaginary axis X2 to do moving interpolation, form the circle of chute
Arc track, imaginary axis X2 are moved by formula (7),
X2=b-a (7)
The first step and second step are repeated, until the inclination angle of imaginary axis X3 reaches the maximum value of setting；It is real in this step
The motion profile of axis X0 and real axis X1 and imaginary axis X2 and imaginary axis X3 is as shown in figure 4, be illustrated as 90 ° of chute initial angle, ending corner
180 ° of fan-shaped cloth, wherein curve 14 is the motion profile of real axis X0, and curve 15 is the motion profile of real axis X1, multistage straight line
16 be the motion profile of imaginary axis X2, and multistage straight line 17 is the motion profile of imaginary axis X3；
Step 6: when distribution chute pinpoints cloth, it is desirable that chute is in the specified point cloth that rotation angle is c and inclination angle is d
Material, i.e. imaginary axis X2=c, imaginary axis X3=d, then real axis X0 and real axis X1 is moved by formula (8) and formula (9),
(8)
(9)
After electrohydraulic proportional controller carries out linear interpolation to real axis X0 and real axis X1 motion profile, make real axis X0 and real axis
X1 moves to fixed position.
Distributing device especially needs to control the stability of drive cylinder movement, the flexible displacement of each two drive cylinders of moment
All need to be on set tracing point, therefore the speed of the movement of corresponding each moment drive cylinder is not also identical, this method is logical
It crosses two imaginary axis of definition and two real axis and the movement relation for providing the imaginary axis and real axis, the imaginary axis is respectively the 360o Plane Rotation imaginary axis
The inclination imaginary axis at X2 and the maximum angle 31o, two real axis X0 and X1 respectively correspond the telescopic location of two drive cylinders of distributing device, empty
Axis, by the track movement of this method setting, passes through the linear interpolation function of electrohydraulic proportional controller, two real axis as capstan
It follows the imaginary axis to start simultaneously at movement, and reaches the different target point of cloth, the speed of imaginary axis X2 and imaginary axis X3, which determine, to be interpolated
The speed of real axis X0 and real axis X1.
This control system and method can make cloth it is stable, uniformly, it is accurate, improve cloth efficiency, without additional encoder,
And it is easy to use, improve the efficiency and quality of blast furnace ironmaking.
Claims (1)
1. a kind of electrohydraulic control method of blast-furnace distributor, the electrohydraulic control system of blast-furnace distributor includes controlling distributing device respectively
The pilot valve of two cylinder actions and the displacement sensor for detecting two oil cylinder strokes of distributing device respectively, further include control eventually
End, programmable logic controller (PLC) and electrohydraulic proportional controller, the programmable logic controller (PLC) by fieldbus respectively with institute
Controlling terminal and electrohydraulic proportional controller communication connection are stated, two pilot valves are separately connected the electrical-liquid control
The signal output end at the hydraulic control end of device, two institute's displacement sensors is separately connected the signal of the electrohydraulic proportional controller
Input terminal, it is characterised in that this method includes the following steps:
Step 1: the telescopic location for defining two oil cylinders respectively is real axis X0 and real axis X1, definition characterizes distribution chute respectively
The axis and characterization distribution chute and the axis of vertical plane angle of Plane Rotation angle are imaginary axis X2 and imaginary axis X3, cloth
Device chute rotates a circle, then imaginary axis X2 is rotated by 360 ° angle, and the maximum tilt angle of imaginary axis X3 is 31 ° of angles；
Step 2: imaginary axis X2 and imaginary axis X3 as motive spindle by electrohydraulic proportional controller give speed movement, real axis X0 and
Real axis X1 follows imaginary axis X2 and imaginary axis X3 to start simultaneously at movement, and reaches different target points simultaneously, imaginary axis X2 and imaginary axis X3's
The movement velocity of movement velocity decision real axis X0 and real axis X1；
Step 3: imaginary axis X3 determines cloth radius, real axis X0 and real axis X1 and imaginary axis X2 and void when distribution chute annular cloth
The relationship of axis X3 such as formula (1) and formula (2),
(1)
(2)
Wherein: K1 is correction factor, and r is the outer ring radius of distributing device universal joint；
According to cloth radius, imaginary axis X3 gives a steady state value, and size determines annular cloth radius, by electrohydraulic proportional controller
Linear interpolation function is provided, real axis X0 and real axis X1 press formula (1) respectively and formula (2) forms approximation cos and sin curve movement, fortune
The position of each point of moving curve is determined that the maximum value of curve movement is determined by imaginary axis X3 by imaginary axis X2；
Step 4: imaginary axis X2 and imaginary axis X3 change simultaneously when distribution chute screw distribution, setting
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
0.5407 is expressed as using radian；
Using imaginary axis X2 as capstan, the movement velocity of imaginary axis X2 is given, imaginary axis X3 movement velocity is determined by imaginary axis X2 movement velocity
Fixed, when imaginary axis X2 moves to most great circle number, imaginary axis X3 reaches inclination maximum, and formula (3) and formula (4) are substituted into formula (1) and formula
(2), after electrohydraulic proportional controller carries out linear interpolation, the curve movement of real axis X0 and real axis X1 are obtained；
Step 5: when distribution chute sector cloth, it is desirable that chute moves back and forth formation fan between initial angle a and ending corner b
Shape cloth, corresponding imaginary axis X2 are moved back and forth between a and b, and imaginary axis X3 increases by 3 ° of angles after imaginary axis X2 is moved back and forth every time, right
Answering radian is 0.0523, until imaginary axis X3 reaches inclination maximum；
The motion profile of real axis X0 and real axis X1 are divided into two steps:
Step 1: imaginary axis X3 increases by 3 ° of angles, imaginary axis X2 is the initial angle of fan-shaped cloth, then real axis X0 and real axis X1 by formula (5) and
Formula (6) movement,
(5)
(6)
Step 2: keeping the inclination angle imaginary axis X3 constant, imaginary axis X2 runs to ending corner b by initial angle a, using imaginary axis X2 as master
Guide shaft sets the movement velocity of imaginary axis X2, and real axis X0 and real axis X1 follow imaginary axis X2 to do moving interpolation, form the circular arc rail of chute
Mark, imaginary axis X2 are moved by formula (7),
X2=b-a (7)
The first step and second step are repeated, until the inclination angle of imaginary axis X3 reaches the maximum value of setting；
Step 6: when distribution chute pinpoints cloth, it is desirable that in the specified point cloth that rotation angle is c and inclination angle is d, i.e., chute is
Imaginary axis X2=c, imaginary axis X3=d, then real axis X0 and real axis X1 is moved by formula (8) and formula (9),
(8)
(9)
After electrohydraulic proportional controller carries out linear interpolation to real axis X0 and real axis X1 motion profile, transport real axis X0 and real axis X1
It moves to fixed position.
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| CN201297849Y (en) * | 2008-11-12 | 2009-08-26 | 山西太钢不锈钢股份有限公司 | Automatic distribution control device of a sintering machine |
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| KR100402125B1 (en) * | 2001-11-15 | 2003-10-17 | 주식회사 포스코 | Method and apparatus for charging cokes and ores in blast furnace after amending inner walls of the furnace |
| CN2639311Y (en) * | 2003-08-08 | 2004-09-08 | 石家庄三环阀门股份有限公司 | Blast-furnace top chute distributing gear of electrohydraulic proportional control |
| CN101714001B (en) * | 2009-11-30 | 2013-06-26 | 中冶东方工程技术有限公司 | Automatic control device and method of rotary chute pair transmission tilt angle of blast furnace bell-less top |
| CN201785421U (en) * | 2010-08-23 | 2011-04-06 | 四川省川威集团有限公司 | Blast furnace distribution control system |
| CN202969957U (en) * | 2012-12-27 | 2013-06-05 | 中联重科股份有限公司 | Compound drive control system of cloth equipment and cloth equipment |
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