CN107030121B - A kind of quick self-adapted temperature control method of continuous casting billet induction heating - Google Patents
A kind of quick self-adapted temperature control method of continuous casting billet induction heating Download PDFInfo
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- CN107030121B CN107030121B CN201710240071.2A CN201710240071A CN107030121B CN 107030121 B CN107030121 B CN 107030121B CN 201710240071 A CN201710240071 A CN 201710240071A CN 107030121 B CN107030121 B CN 107030121B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/74—Temperature control, e.g. by cooling or heating the rolls or the product
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B1/00—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations
- B21B1/46—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling metal immediately subsequent to continuous casting
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Abstract
The invention discloses a kind of quick self-adapted temperature control methods of continuous casting billet induction heating, and the invention proposes a kind of quick self-adapted temperature control methods of continuous casting billet induction heating for simplifying adjusting based on mechanism model.Wherein mechanism model is referring to finite element induction heating mesh modeling method, investigate the electromagnetic coupling of electromagnetic induction heating whole process, vortex heat and heat transfer, heat radiation etc. develop, by the abstract mapping status equation for being reduced to " original state " and " end-state " of mechanism model, it is checked by 1-2 data, it can adjust to obtain, and model repeatable accuracy with higher, practical temperature control can be rapidly used for.
Description
Technical field
The invention belongs to industrial process control field, specifically a kind of quick self-adapted temperature control side of continuous casting billet induction heating
Method.
Background technique
Concurrent heating means of the induction heating as substitution conventional gas furnace, are gradually applied in Hot Charging of Continuous Casting Slab rolling production.
Since continuous casting blank temperature directly affects effect of rolling, scene needs to carry out temperature control to continuous casting billet induction heating.Generally pass through
Induction heating simulation and heating process detection control are realized.The former have visual result, information relatively comprehensively, observable continuous casting
Base temperature change does not have the characteristics of real-time control, and the latter has the characteristics that large dead time, is not easy to model, is easily affected by environment.
Currently, actual continuous casting billet induction heating temperature control is based primarily upon process model building and two kinds of experience trial and error procedure.Base
It is divided into two methods of mechanism model and prediction model again in process model building.Though prediction model easily establishes, it is based on prediction model
Interference of the control method vulnerable to environment；Modelling by mechanism based on overall process is almost impossible, but the control method of modelling by mechanism
General strong antijamming capability.Trial and error procedure needs the working experience by worker's many years, and examination gathers process there are blind spots, is not achieved excellent
Change effect.
Summary of the invention
In view of the deficiencies of the prior art, the present invention proposes a kind of continuous casting billet inductions for simplifying adjusting based on mechanism model to add
The quick self-adapted temperature control method of heat.Wherein mechanism model investigates electromagnetic induction referring to finite element induction heating mesh modeling method
Electromagnetic coupling, the vortex differentiation such as heat and heat transfer, heat radiation for heating whole process, mechanism model is abstracted and is reduced to
The mapping status equation of " original state " and " end-state " checks by 1-2 data, can adjust to obtain, and the model
Repeatable accuracy with higher can be rapidly used for practical temperature control.
In order to achieve the above object, the present invention takes following steps:
Step 1: original data processing
Complete heating sample data, including intermediate frequency power supply DC voltage are obtained from steel mill's continuous casting and rolling producing line database
Uin, DC current Iin, continuous casting billet outlet temperature ToutWith initial temperature Tin, wherein UinTo control voltage curve, ToutIt is bent for output
Line；Input power P is acquired according to electric current, voltagein。
Specifically includes the following steps:
Step 1-1: using the power control profile between the rising edge of intermediate frequency power supply DC voltage and failing edge as input,
And using the temperature curve between the rising edge of continuous casting billet outlet temperature and failing edge as output.
Step 1-2: the sparkle noise due to caused by being surveyed the mistake of sensor or environmental factor, then benefit are rejected using 3 δ criterion
With smoothly removing random noise therein.
Step 1-3: resampling is carried out to smoothed out data.
Step 2: the foundation of heating model
Reheating mathematical model is established according to the electromagnetic principles of finite element simulation and induction heating process, the energy mainly considered
Amount is inner heat source Q, heat transfer QcWith heat radiation Qe。
Step 2-1: continuous casting billet is subjected to grid dividing by finite element method, by the axial direction and cross-sectional area of continuous casting billet
Upper carry out grid dividing, using each mesh volume after dividing well as a node unit.
Step 2-2: continuous casting billet heating process considers vortex heat, the heat transfer for being transmitted to core and tail portion and outside heat
Radiation, for suffered inner heat source Q, the heat radiation Q of each node uniteWith heat transfer QcEstablish mechanism equation.
Here, TijkIt is the temperature of jth section and longitudinal a height of kth section node, ρ (kg/m for i-th section axial, longitudinal width3) table
Show that density of material, C (J/ (kg DEG C)) indicate material specific heat capacity, vijkThe volume of unit, E where surface nodeijkIt is i-th section
The energy loss by radiation rate (W) of surface node, CijkIndicate the i-th section surface node heat transfer energy loss rate (W).QijkFor
Surface node inner heat source power (W).
Step 2-3: above-mentioned established mechanism model is simplified: mechanism model is abstracted and is reduced to " original state "
The mapping status equation of " end-state ":
Tout=Go·Pin+Y0
In formula, G0For initial temperature coefficient matrix, PinFor input power, continuous casting billet outlet temperature ToutFor output temperature, Y0
It is constant vector, indicates the zero input response component of output.
Step 3: the adjusting of model
By several training sample group (input power P in databasein, output temperature Tout) state equation is substituted into, and utilize
Genetic algorithm successive optimization fitting coefficient matrix thereby determines that initial temperature system so that training sample group average error value is minimum
Matrix number G0。
Step 4: the verification of model
Verifying sample is substituted into state equation, compares continuous casting billet outlet temperature ToutAnd Tmo.Error calculation formula are as follows:
Wherein, continuous casting billet outlet temperature ToutFor the actual value of continuous casting billet, TmoFor the model value of continuous casting billet.If mean error
Within 5%, model checking passes through.Such as mean error > 5%, then needs to update training sample and verifying sample, repeat step 1-
4。
Step 5: the adaptive temperature control method based on model
According to continuous casting billet initial temperature, input power P is calculated by modelin, it is used for practical computer heating control；Secondly, detection outlet temperature
It whether up to standard spends；It is such as up to standard, continue to use "current" model；Such as (exceeding final temperature target) return step 1 not up to standard, correction model ginseng
Number, realizes adaptive temperature control.
Beneficial effects of the present invention: the foundation of heating model is based on inductive heating principle and thermodynamics (heat transfer, hot spoke
Penetrate) principle, it is applicable to the steel billet of other different patterns, there is generalization.On the basis of model corrected parameter can quickly and
It accurately updates, optimize control voltage required for temperature control.Compared with prior art, the beneficial effects of the invention are as follows can be to difference
Steel billet type quickly establish simple, stable mathematical model, controlled for practical, and preferable temperature control effect can be reached.
Detailed description of the invention
Fig. 1: present example induction heating raw data plot
Fig. 2: the method for the present invention flow chart
Specific embodiment
To be readily apparent from the technological means realized of the present invention with creation characteristic, with reference to the accompanying drawing and example, to this hair
Bright embodiment is described in further detail.
As shown in Fig. 2, considering certain steel plant's continuous casting and rolling production process in this example, have 1 week 12 meters * 0.15 meter * 0.15
The rice effective measured data of continuous casting billet induction heating, time range was from September on September 28th, 22,1 2016, wherein September 22
Day, 28 data of September were as verifying sample to September data on the 27th as training sample.
1, original data processing
As shown in Figure 1, obtaining measured data from continuous casting and rolling producing line database, including inductor DC voltage Uin, sense
Answer device DC current Iin, continuous casting billet inlet temperature TinWith continuous casting billet outlet temperature Tout, wherein Uin、IinFor input, continuous casting billet goes out
Mouth temperature ToutFor output.
In view of causality existing between input power and output temperature, power form first is converted by electric current, voltage,
Input power P is calculated using following calculation formulain:
Pin=Uin·Iincosα
Step 1-1: voltage threshold is set as 600V, current threshold 100A, by DC voltage UinWith DC current IinTogether
When meet UinRising edge at the time of greater than threshold value as input control power curve, similarly, DC voltage UinAnd DC current
IinOutlet temperature threshold value, then using the moment as the failing edge of control power curve, is set as 680 DEG C lower than threshold value by middle one,
By practical outlet temperature IinAs output temperature rising edge at the time of greater than threshold value, as output temperature at the time of being similarly lower than threshold value
Spend failing edge；Interception control voltage rising edge to failing edge as control input curve, practical outlet temperature rising edge extremely
Temperature between failing edge is as reality output curve.
Step 1-2: rejecting the exceptional value in input and output sequence using 3 δ criterion, recycles sliding average removal therein
Random noise.Using 3 δ criterion excluding outliers,
P | x- μ | 3 δ of > }≤0.003
In formula, μ is the mathematic expectaion of conceptual data, and δ is the standard deviation of conceptual data.By numerical value in data set not in [μ -3
+ 3 δ of δ, μ] data in range are as abnormality value removing.For the random noise in removal data, using the method for sliding average,
The arithmetic average of 5 data in front and back is replaced to the numerical value in middle position:
Wherein, P is to be originally inputted power,For smoothed out input power, if Pi-3With average valueError is excessive, usesTo replace.
(1) resampling
For 6 meters, 10 meters, 12 meters of continuous casting billet sampling numbers it is different, herein without exception to parameter carry out resampling, input
Power PinWith output temperature ToutMeet ratio, this example input sample point 250 or so, output sampled point 165 or so,
Input point 25, output point 17 are taken after resampling, proportionally convenient for the simplification of following model.
2, the foundation of heating model
Reheating mathematical model is established according to the electromagnetic principles of finite element simulation and induction heating process.It is main in continuous casting billet
The energy of consideration is inner heat source Q, heat transfer QcWith heat radiation Qe。
Step 2-1: grid dividing is carried out to continuous casting billet with reference to finite element method, the axial direction of continuous casting billet is divided into 120
Section, width is divided into 5 sections, is divided into 5 sections in height on cross section.
Step 2-2: continuous casting billet mainly considers the heat transfer for being transmitted to core and tail portion and outside heat radiation.Heat radiation follows
Fourier law:
Wherein, q is heat flow density, KmFor thermal coefficient,For along to temperature gradient, negative sign indicate heat flow to temperature
Reduced direction.
The heat transfer that heat radiation occurs is calculated using Shi Difen-Boltzmann equation:
Q=ε σ A1F12(T1 4-T2 4)
Wherein, Q is heat flow, and ε is absorptivity, and σ is Shi Difen-Boltzmann constant, A1For the area of radiating surface 1, F12
For the form factor by radiating surface 1 to radiating surface 2, T1 4For the absolute temperature of radiating surface 1, T2 4For the absolute temperature of radiating surface 2.
Step 2-3: for the node unit in continuous casting billet, there is following energy-balance equation:
Here, TijkIt is the temperature of jth section and longitudinal a height of kth section node, ρ (kg/m for i-th section axial, longitudinal width3) table
Show that density of material, C (J/ (kg DEG C)) indicate material specific heat capacity, vijkThe volume of unit, E where surface nodeijkIt is i-th section
The energy loss by radiation rate (W) of surface node, CijkIndicate the i-th section surface node heat transfer energy loss rate (W).QijkFor
Surface node inner heat source power (W).
Step 2-4:: by the abstract mapping status for being reduced to " original state " and " end-state " of above-mentioned energy balance model
Equation:
Tout=G0·Pin+y0
Wherein, G0For input-output mappings matrix, PinFor input power；y0For constant vector, zero input of output is indicated
Response vector；M is longitudinal steel pipe number of segment, and N is inductor number of segment；GiFor initial temperature matrix coefficient, value 1,2 ..., M；H
It (i) is power partition coefficient of the steel pipe in inductor, value 1,2 ..., N.
3, the adjusting of model
Several training sample groups (input power Pin, continuous casting billet outlet temperature Tout) in database are substituted into state side
Journey, and genetic algorithm successive optimization fitting coefficient matrix is utilized, wherein firstly, setting maximum number of iterations is in genetic algorithm
50, roulette wheel selection；Secondly, selection target function is (as fitness function) min f=(Tout-TIt is practical)/TIt is practical；Finally
Be arranged select probability be 0.95, crossover probability 0.88, mutation probability 0.05；Wherein, select, intersect, variation be selected as using
Roulette wheel selection；It is minimum to acquire training sample group average error value, thereby determines that initial temperature coefficient matrix G0。
4, the verification of model
State equation is substituted by sample data is verified in database, obtains the outlet temperature T of modelmo, and compare outlet temperature
Spend TmoT is exported with actual temperatureout, calculate its mean error e.Error calculation formula are as follows:
Wherein, outlet temperature TmoFor the model value of continuous casting billet, continuous casting billet outlet temperature ToutFor the actual value of continuous casting billet.If
Within 5%, model checking passes through mean error e.Such as mean error > 5%, then need to update training sample and verifying sample,
Repeat step 1-4.
5, the adaptive temperature control method based on model
According to continuous casting billet initial temperature, the model after verifying by step 4 calculates input power Pin, and power control profile is pressed
Uin=Pin/(IinCos α) formula is converted to voltage control curve, it is used for practical computer heating control；It is adopted from induction heating system
Collect data, and detects outlet temperature Tout, check whether temperature value up to standard? it is such as up to standard, continue to use "current" model；If not up to standard
(exceeding target final temperature regional scope) return step 1, corrects mathematical model parameter, realizes adaptive temperature control.
The preferred embodiments of the present invention are described in the above embodiments and the description, is not intended to limit the invention, not
Under the premise of being detached from spirit and scope of the invention, various changes and improvements may be made to the invention, these changes and improvements are both fallen within
In scope of the claimed invention.
Claims (1)
1. a kind of quick self-adapted temperature control method of continuous casting billet induction heating, which is characterized in that this method specifically includes the following steps:
Step 1: original data processing
Complete heating sample data, including intermediate frequency power supply DC voltage U are obtained from steel mill's continuous casting and rolling producing line databasein、
DC current Iin, continuous casting billet outlet temperature ToutWith initial temperature Tin, wherein intermediate frequency power supply DC voltage UinIt is bent for control voltage
Line, continuous casting billet outlet temperature ToutFor curve of output；Input power P is acquired according to electric current, voltagein；
Specifically includes the following steps:
Step 1-1: using the power control profile between the rising edge of intermediate frequency power supply DC voltage and failing edge as input, and incite somebody to action
Temperature curve between the rising edge and failing edge of continuous casting billet outlet temperature is as output；
Step 1-2: the sparkle noise due to caused by being surveyed the mistake of sensor or environmental factor is rejected using 3 δ criterion, is recycled flat
It is sliding to remove random noise therein；
Step 1-3: resampling is carried out to smoothed out data；
Step 2: the foundation of heating model
Heating model is established according to the electromagnetic principles of finite element simulation and induction heating process；
Step 2-1: carrying out grid dividing by finite element method for continuous casting billet, and the axial direction of continuous casting billet and cross-sectional area is enterprising
Row grid dividing, using each mesh volume after dividing well as a node unit；
Step 2-2: continuous casting billet heating process considers vortex heat, the heat transfer for being transmitted to core and tail portion and outside heat radiation,
For suffered inner heat source Q, the heat radiation Q of each node uniteWith heat transfer QcEstablish mechanism equation；
Here, TijkIt is the temperature of jth section and longitudinal a height of kth section node for i-th section axial, longitudinal width, ρ indicates density of material,
Unit is kg/m3, C expression material specific heat capacity, unit is J/ (kg DEG C), vijkThe volume of unit, E where surface nodeijk
For the energy loss by radiation rate of the i-th section surface node, CijkIndicate the i-th section surface node heat transfer energy loss rate；Qijk
For surface node inner heat source power；
Step 2-3: the heating model of foundation is simplified: heating model is abstracted and is reduced to " original state " and " final shape
The mapping status equation of state ":
Tout=Go·Pin+Y0
In formula, G0For initial temperature coefficient matrix, PinFor input power, continuous casting billet outlet temperature Tout, Y0It is constant vector, indicates
The zero input response component of output；
Step 3: the adjusting of heating model
Several training sample groups in database are substituted into state equation, i.e., by input power Pin, continuous casting billet outlet temperature ToutGeneration
Enter state equation, and utilizes genetic algorithm successive optimization fitting coefficient matrix, so that training sample group average error value is minimum, by
This determines initial temperature coefficient matrix G0；
Step 4: the verification of heating model
Verifying sample is substituted into state equation, compares continuous casting billet outlet temperature ToutAnd Tmo；Error calculation formula are as follows:
Wherein, continuous casting billet outlet temperature ToutFor the actual value of continuous casting billet, TmoFor the model value of continuous casting billet；If mean error is 5%
Within, heating model verification passes through；Such as mean error > 5%, then needs to update training sample and verifying sample, repeat step 1-
4；
Step 5: the adaptive temperature control method based on heating model
According to continuous casting billet initial temperature, input power P is calculated by heating modelin, it is used for practical computer heating control；Secondly, detection outlet temperature
It whether up to standard spends；It is such as up to standard, continue to use "current" model；Such as exceed final temperature target return step 1, correct heating model parameter,
Realize adaptive temperature control.
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| CN111669853A (en) * | 2019-03-06 | 2020-09-15 | 南京航景信息科技有限公司 | Temperature control system of electromagnetic induction type metal surface attachment removing equipment |
| CN110918655A (en) * | 2019-11-30 | 2020-03-27 | 宝钢特钢韶关有限公司 | Refined heating control method |
| CN113015279B (en) * | 2021-02-03 | 2022-12-13 | 昆明理工大学 | Temperature control method for microwave heating of silicon carbide ceramic based on sharp point mutation model |
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Effective date of registration: 20190904 Address after: 311305 No. 59 South Ring Road, Qingshan Lake Street, Linan District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Sida Electric Cooker Complete Plant Co., Ltd. Address before: Hangzhou City, Zhejiang province 310018 Xiasha Higher Education Park No. 2 street Patentee before: Hangzhou Electronic Science and Technology Univ |