CN111651891B - Dynamic modeling method for analyzing horizontal self-excited vibration of working roll of hot-rolling finishing mill - Google Patents

Dynamic modeling method for analyzing horizontal self-excited vibration of working roll of hot-rolling finishing mill Download PDF

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CN111651891B
CN111651891B CN202010507881.1A CN202010507881A CN111651891B CN 111651891 B CN111651891 B CN 111651891B CN 202010507881 A CN202010507881 A CN 202010507881A CN 111651891 B CN111651891 B CN 111651891B
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张明
彭艳
孙建亮
姚瑶
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Yanshan University
Hebei University of Engineering
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Abstract

The invention provides a dynamic modeling method for analyzing horizontal self-excited vibration of a working roll of a hot rolling finishing mill, which comprises the following steps: a. calculating the dynamic speed of the rolled piece according to the principle that the flow volume of the rolled piece in the deformation area is not changed
Figure DEST_PATH_IMAGE002
To obtain a neutral angle
Figure DEST_PATH_IMAGE004
Horizontal vibration speed of roller
Figure DEST_PATH_IMAGE006
A differential equation; b. based on the principle that the rolled piece satisfies the plastic fluid mechanics in the rolling process, the average shear stress applied to the rolled piece in the rolling process is calculated
Figure DEST_PATH_IMAGE008
(ii) a c. Calculating stress state coefficient of rolled piece when upper and lower rollers of rolling mill move asymmetrically
Figure DEST_PATH_IMAGE010
(ii) a d. Obtaining a calculation formula of the dynamic rolling force P of the hot rolling; e. establishing a horizontal dynamic model of the working roll; f. and obtaining a dynamic analysis equation of the horizontal self-excited vibration of the working roll of the hot finishing mill. The invention has important significance for improving the product quality and the production safety.

Description

Dynamic modeling method for analyzing horizontal self-excited vibration of working roll of hot-rolling finishing mill
Technical Field
The invention relates to the field of rolling mill vibration analysis, in particular to a dynamic modeling method for analyzing horizontal self-excited vibration of a working roll of a hot rolling finishing mill.
Background
With the development of large-scale, high-load and high-speed rolling equipment in the steel industry, the dynamic effect of a rolling mill is prominent in the rolling process, the vibration problem of the rolling mill becomes obvious, and particularly the horizontal self-excited vibration of a working roll occurs very frequently. The severe vibration not only threatens the safe production of the rolling mill, but also reduces the surface quality of the strip steel, even causes major equipment accidents, and becomes a bottleneck which troubles the production of the strip steel and the development of new products.
Because the horizontal direction of the working roll in the rolling mill system has structural gaps and the constraint strength is low, the horizontal vibration performance of the working roll is the most severe. The horizontal self-excited vibration frequency of the working roll is 40-80 Hz, and the vibration directions of the upper working roll and the lower working roll are opposite. In order to study the vibration mechanism and solve the vibration problem, researchers have conducted a series of studies on the horizontal vibration problem of the rolling mill, which have revealed some vibration phenomena of the rolling mill from different angles, but have conducted studies on a single roll as a study object or under the same conditions of assuming the motion states of upper and lower rolls. In practice, the movement of the upper and lower work rolls of the rolling mill is represented by a reverse vibration phenomenon. The reverse vibration of the upper and lower working rolls can cause the direction of the acting force of the rolled piece on the roll to change, and in addition, the difference of the friction states of the upper and lower surfaces of the rolled piece in the deformation area can be caused, so that the neutral angle positions of the upper and lower surfaces are different, the rolling area is derived from the deformation area, and the stress state is more complicated. The dynamic derivation of the rolling area enables the deformation area to generate a new damping mechanism, changes the stability of the rolling deformation area, and has great influence on the stability of a rolling mill system, so that the severe self-excited vibration of the working roll is easy to frequently occur when a hot finishing mill set rolls high-strength thin-specification strip steel.
Disclosure of Invention
The invention aims to provide a dynamic modeling method for analyzing and considering the horizontal self-excited vibration of a working roll of a hot finishing mill in a rolling deformation area in unsteady rolling so as to solve the problem that the working roll is easy to frequently generate violent self-excited vibration when a hot finishing mill set rolls high-strength thin-specification strip steel.
The invention is realized by the following steps: a dynamic modeling method for analyzing horizontal self-excited vibration of a working roll of a hot rolling finishing mill comprises the following steps:
a. calculating the dynamic speed v of the rolled piece according to the principle that the flow volume of the rolled piece in the deformation area is not changedx,vxThe calculation formula of (2) is as follows:
Figure BDA0002527197880000011
wherein v is0For the entry velocity of the product, veIs the horizontal vibration speed of the roller, H is the inlet thickness of the rolled piece, HxThe thickness of a rolled piece at the x position on the contact arc of the roller and the rolled piece;
at neutral angle thetanAs a boundary condition of the formula (1), the following formula is obtained:
Figure BDA0002527197880000021
the neutral angle theta is obtained by processing the formula (2)nWith horizontal vibration speed v of the rollseDifferential equation:
Figure BDA0002527197880000022
wherein R is the work roll radius, vrIs the rolling speed;
b. based on the principle that the rolled piece satisfies the plastic fluid mechanics in the rolling process, the average shear stress tau borne by the rolled piece in the rolling process is calculatedm,τmMeter (2)The calculation formula is as follows:
Figure BDA0002527197880000023
wherein v isx1For the flow velocity, v, of the upper surface of the product at the x positionx2For the flow velocity, v, of the lower surface of the product in the x positione1For horizontal vibration speed of upper working roll, ve2The horizontal vibration speed of a lower working roll is set, xi is the flow viscosity of a rolled piece, k is the metal deformation resistance, and l is the length of a contact area between the rolled piece and a roll;
c. the stress state coefficient of the front and rear sliding areas is assumed to change linearly along the contact line of the rolled piece and the roller; neglecting the effect of tension, the stress state coefficients of the rolled pieces at the inlet and outlet are
Figure BDA0002527197880000024
The stress state coefficient of the rolled piece in the rolling area is a fixed value; calculating stress state coefficient eta of rolled piece when upper and lower rollers of rolling mill move asymmetricallyσ,ησThe calculation formula of (2) is as follows:
Figure BDA0002527197880000025
wherein, thetan1At dynamic upper work roll neutral angle, θn2Neutral angle of lower working roll, eta, in dynamic stateσmaxThe maximum stress state coefficient of the deformation zone;
from equation (3):
Figure BDA0002527197880000026
substituting formula (6) into formula (5) yields:
Figure BDA0002527197880000027
eta in the formulae (5) and (7)σmaxThe calculation formula of (2) is as follows:
Figure BDA0002527197880000028
wherein h is the inlet thickness of the rolled piece, hnThe thickness of the rolled piece at the neutral angle position is shown, and e is the reduction rate;
the reduction rate e is calculated by the formula:
Figure BDA0002527197880000029
θ in the formula (8)nThe calculation formula of (2) is as follows:
Figure BDA0002527197880000031
h in formula (8)nThe calculation formula of (2):
Figure BDA0002527197880000032
d. the calculation formula of the hot rolling force P is as follows:
Figure BDA0002527197880000033
substituting formula (4), formula (7), formula (8), formula (9), formula (10), and formula (11) into formula (12) yields:
Figure BDA0002527197880000034
e. the horizontal dynamic model of the working roll is as follows:
Figure BDA0002527197880000035
wherein m is the work roll and its bearing and shaftMass of bearing cxDamping coefficient, k, for horizontal movement of rollsxThe stiffness coefficient, x, for horizontal movement of the rolls1For horizontal displacement of the upper work rolls, x2Horizontal displacement of the lower working roll;
in formula (14)
Figure BDA0002527197880000036
The calculation formula is as follows:
Figure BDA0002527197880000037
mu in the formula (15) is the friction coefficient of the deformation region, and the calculation formula is as follows:
Figure BDA0002527197880000038
wherein, musIs static friction coefficient, chi is negative friction damping coefficient, mu is deformation zone friction coefficient,
Figure BDA0002527197880000039
is the first derivative of x;
sin β in formula (14) is calculated by the following formula:
Figure BDA00025271978800000310
wherein x is1Is the horizontal displacement of the upper working roll; x is the number of2Horizontal displacement of the lower working roll;
f. subtracting the two equations in the equation (14) and substituting the equations (15), (16) and (17) to obtain a kinetic analysis equation of the horizontal self-excited vibration of the work rolls of the hot finishing mill, that is:
Figure BDA00025271978800000311
wherein,
Figure BDA00025271978800000312
is x1The first derivative of (a) is,
Figure BDA00025271978800000313
is x2The first derivative of (a) is,
Figure BDA00025271978800000314
is x1The second derivative of (a) is,
Figure BDA00025271978800000315
is x2P is the rolling force calculated by the formula (13);
the rolled piece contact zone length l can be calculated according to the following formula:
l=R*α (19)
where α is the bite angle.
The invention provides a dynamic modeling method for analyzing horizontal self-excited vibration of a working roll of a hot rolling finishing mill, which considers the factors comprehensively and truly and establishes a model more reliably. Based on the method, the mechanism of the horizontal self-excited vibration generation of the hot finishing mill can be analyzed, the influence rule of the structural parameters of the mill and the rolling process parameters on the self-excited vibration is analyzed, effective vibration suppression measures can be provided from the two aspects of the structure of the mill and the rolling process, the stable production of the mill is guaranteed, the problem of the self-excited vibration of the working roll which puzzles the production field for a long time is solved, and the method has important significance for improving the product quality and the production safety.
Drawings
FIG. 1 is a schematic view of the horizontal vibration of upper and lower work rolls.
FIG. 2 is a stress relationship diagram of a rolling deformation zone when the upper and lower working rolls move asymmetrically.
FIG. 3 is a graph of differential dynamic response of upper and lower work roll speeds at different inlet thicknesses.
FIG. 4 is a graph of differential dynamic response of upper and lower work roll speeds at different exit thicknesses.
FIG. 5 is a differential dynamic response diagram of upper and lower work roll speeds for different deformation resistances.
FIG. 6 is a differential dynamic response diagram of the upper and lower work rolls with different damping structures.
Detailed Description
As shown in fig. 1 and 2, the dynamic modeling method for analyzing the horizontal self-excited vibration of the work roll of the hot rolling finishing mill of the invention comprises the following steps:
a. under the condition of considering the horizontal vibration speed of the upper and lower working rolls, the dynamic speed v of the rolled piece is deduced according to the principle that the flow volume of the rolled piece in the deformation area is not changedx,vxCan be calculated according to the following formula:
Figure BDA0002527197880000041
wherein v is0For the entry velocity of the product, veIs the horizontal vibration speed of the roller, H is the inlet thickness of the rolled piece, HxThe thickness of a rolled piece at the x position on the contact arc of the roller and the rolled piece;
at neutral angle thetanAs a boundary condition of the dynamic velocity formula of the rolled piece, the following formula is obtained:
Figure BDA0002527197880000042
the neutral angle is the included angle between the interface of the front sliding area and the rear sliding area and the gravity vertical line of the roller;
the above formula is arranged to obtain a neutral angle thetanWith horizontal vibration speed v of the rollseDifferential equation:
Figure BDA0002527197880000043
wherein R is the work roll radius, vrThe rolling speed is used.
b. Based on the principle that the rolled piece satisfies the plastic fluid mechanics in the rolling process, the average shear stress tau borne by the rolled piece in the rolling process is calculatedm,τmThe calculation formula of (2) is as follows:
Figure BDA0002527197880000044
wherein v isx1For the flow velocity, v, of the upper surface of the product at the x positionx2For the flow velocity, v, of the lower surface of the product in the x positione1For horizontal vibration speed of upper working roll, ve2The horizontal vibration speed of the lower working roll is set,
Figure BDA0002527197880000059
the viscosity of a rolled piece is adopted, k is the metal deformation resistance, and l is the length of a contact area between the rolled piece and a roller;
l is calculated according to the following formula:
l=R*α
where α is the bite angle.
c. The stress state coefficient of the front and rear sliding areas is assumed to change linearly along the contact line of the rolled piece and the working roll; neglecting the effect of tension, the stress state coefficients of the rolled pieces at the inlet and outlet are
Figure BDA0002527197880000051
The stress state coefficient of the rolled piece in the rolling area is a fixed value; calculating stress state coefficient eta of the rolled piece when the upper and lower working rolls of the rolling mill do asymmetric motionσ,ησThe calculation formula of (2) is as follows:
Figure BDA0002527197880000052
wherein, thetan1At dynamic upper work roll neutral angle, θn2Neutral angle of lower working roll, eta, in dynamic stateσmaxMaximum stress state coefficient of deformation region
The differential equation of the neutral angle and the horizontal vibration speed of the roller can be obtained as follows:
Figure BDA0002527197880000053
substituting the above formula into etaσThe calculation formula of (2):
Figure BDA0002527197880000054
eta in the above formulaσmaxCan be calculated according to the following formula:
Figure BDA0002527197880000055
wherein h is the inlet thickness of the rolled piece, hnThe thickness of the rolled piece at the neutral angle position is shown, and e is the reduction rate;
the reduction rate e can be calculated according to the following formula:
Figure BDA0002527197880000056
neutral angle thetanCan be calculated according to the following formula:
Figure BDA0002527197880000057
rolled piece thickness h at neutral angular positionnIt can be calculated according to the following formula:
Figure BDA0002527197880000058
d. the calculation formula of the hot rolling force P is as follows:
Figure BDA0002527197880000061
substituting the above formula into the rolling force formula to obtain:
Figure BDA0002527197880000062
e. the horizontal dynamic model of the working roll is as follows:
Figure BDA0002527197880000063
wherein m is the mass of the working roll and its bearings and bearing seats, cxDamping coefficient, k, for horizontal movement of rollsxThe stiffness coefficient, x, for horizontal movement of the rolls1For horizontal displacement of the upper work rolls, x2Horizontal displacement of the lower working roll;
wherein,
Figure BDA0002527197880000064
can be calculated according to the following formula:
Figure BDA0002527197880000065
μ is the coefficient of friction in the deformation zone, which can be calculated according to the following equation:
Figure BDA0002527197880000066
wherein, musIs static friction coefficient, chi is negative friction damping coefficient, mu is deformation zone friction coefficient,
Figure BDA00025271978800000613
is the first derivative of x;
sin β can be calculated by the following formula:
Figure BDA0002527197880000067
wherein x is1Is the horizontal displacement of the upper working roll; x is the number of2Horizontal displacement of the lower working roll;
subtracting the two formulas in the horizontal dynamic model of the working roll, substituting each parameter formula to obtain a dynamic analysis equation of the horizontal self-excited vibration of the working roll of the hot rolling finishing mill, namely:
Figure BDA0002527197880000068
wherein,
Figure BDA0002527197880000069
is x1The first derivative of (a) is,
Figure BDA00025271978800000610
is x2The first derivative of (a) is,
Figure BDA00025271978800000611
is x1The second derivative of (a) is,
Figure BDA00025271978800000612
is x2P is the rolling force calculated by the formula.
Based on the established kinetic analysis model, the simulation analysis shows the differential dynamic response of the speed of the upper working roll and the lower working roll when the inlet thicknesses are respectively 13.5mm, 14.0mm and 14.5mm, and the simulation result is shown in figure 3.
Based on the established kinetic analysis model, the simulation analysis shows the differential dynamic response of the speed of the upper working roll and the lower working roll when the outlet thickness is 6.8mm, 7.0mm and 7.2mm respectively, and the simulation result is shown in FIG. 4.
Based on the established kinetic analysis model, the simulation analysis shows the differential dynamic response of the speeds of the upper working roll and the lower working roll when the deformation resistances are respectively 160MPa, 170MPa and 180MPa, and the simulation result is shown in FIG. 5.
Based on the established dynamic analysis model, the damping of the simulation analysis structure is respectively 6 multiplied by 105N/(m/s)、8×105N/(m/s)、10×105The differential dynamic response of the speeds of the upper and lower working rolls at the time of N/(m/s) is shown in FIG. 6.
The simulation result shows that when the outlet thickness of the rolled piece is unchanged, the larger the inlet thickness is, the larger the vibration intensity of the working roll is; when the inlet thickness of the rolled piece is unchanged, the larger the outlet thickness is, the smaller the vibration intensity of the working roll is; when other parameters are unchanged, the larger the deformation resistance of the rolled piece is, the larger the vibration intensity of the working roll is; when other parameters are unchanged, the larger the structural damping of the rolling mill is, the smaller the vibration intensity of the working roll is. In actual production, the larger the rolling reduction, the larger the deformation resistance of a rolled piece and the smaller the structural damping, and the more easily the horizontal self-excited vibration of the working roll occurs. The simulation result is matched with the phenomenon in actual production. Therefore, the dynamic modeling method for analyzing the horizontal self-excited vibration of the working roll of the hot rolling finishing mill provided by the invention is effective.

Claims (2)

1. A dynamic modeling method for analyzing horizontal self-excited vibration of a working roll of a hot rolling finishing mill is characterized by comprising the following steps:
a. calculating the dynamic speed v of the rolled piece according to the principle that the flow volume of the rolled piece in the deformation area is not changedx,vxThe calculation formula of (2) is as follows:
Figure FDA0003496233360000011
wherein v is0For the entry velocity of the product, veIs the horizontal vibration speed of the roller, H is the inlet thickness of the rolled piece, HxThe thickness of a rolled piece at the x position on the contact arc of the roller and the rolled piece;
at neutral angle thetanAs a boundary condition of the formula (1), the following formula is obtained:
Figure FDA0003496233360000012
wherein h isnThe rolled piece thickness at the neutral angular position;
the neutral angle theta is obtained by processing the formula (2)nWith horizontal vibration speed v of the rollseDifferential equation:
Figure FDA0003496233360000013
wherein R is the work roll radius, vrIs the rolling speed;
b. based on the principle that the rolled piece satisfies the plastic fluid mechanics in the rolling process, the average shear stress tau borne by the rolled piece in the rolling process is calculatedm,τmThe calculation formula of (2) is as follows:
Figure FDA0003496233360000014
wherein v isx1For the flow velocity, v, of the upper surface of the product at the x positionx2For the flow velocity, v, of the lower surface of the product in the x positione1For horizontal vibration speed of upper working roll, ve2The horizontal vibration speed of a lower working roll is set, xi is the flow viscosity of a rolled piece, k is the metal deformation resistance, and l is the length of a contact area between the rolled piece and a roll;
c. the stress state coefficient of the front and rear sliding areas is assumed to change linearly along the contact line of the rolled piece and the roller; neglecting the effect of tension, the stress state coefficients of the rolled pieces at the inlet and outlet are
Figure FDA0003496233360000015
The stress state coefficient of the rolled piece in the rolling area is a fixed value; calculating stress state coefficient eta of rolled piece when upper and lower rollers of rolling mill move asymmetricallyσ,ησThe calculation formula of (2) is as follows:
Figure FDA0003496233360000016
wherein, thetan1At dynamic upper work roll neutral angle, θn2Neutral angle of lower working roll, eta, in dynamic stateσmaxThe maximum stress state coefficient of the deformation zone;
from equation (3):
Figure FDA0003496233360000017
substituting formula (6) into formula (5) yields:
Figure FDA0003496233360000021
eta in the formulae (5) and (7)σmaxThe calculation formula of (2) is as follows:
Figure FDA0003496233360000022
wherein h is the inlet thickness of the rolled piece, hnThe thickness of the rolled piece at the neutral angle position is shown, and e is the reduction rate;
the reduction rate e is calculated by the formula:
Figure FDA0003496233360000023
h in formula (8)nThe calculation formula of (2):
Figure FDA0003496233360000024
theta in the formula (10)nThe calculation formula of (2) is as follows:
Figure FDA0003496233360000025
d. the calculation formula of the dynamic rolling force P of the hot rolling is as follows:
Figure FDA0003496233360000026
substituting formula (4), formula (7), formula (8), formula (9), formula (10), and formula (11) into formula (12) yields:
Figure FDA0003496233360000027
e. the horizontal dynamic model of the working roll is as follows:
Figure FDA0003496233360000028
wherein m is the mass of the working roll and its bearings and bearing seats, cxDamping coefficient, k, for horizontal movement of rollsxThe stiffness coefficient, x, for horizontal movement of the rolls1For horizontal displacement of the upper work rolls, x2Horizontal displacement of the lower working roll;
Figure FDA0003496233360000029
the calculation formula is as follows:
Figure FDA00034962333600000210
mu in the formula (15) is the friction coefficient of the deformation region, and the calculation formula is as follows:
Figure FDA00034962333600000211
wherein, musIs static friction coefficient, chi is negative friction damping coefficient,
Figure FDA00034962333600000212
is the first derivative of x;
sin β in formula (14) is calculated by the following formula:
Figure FDA00034962333600000213
wherein x is1Is the horizontal displacement of the upper working roll; x is the number of2Horizontal displacement of the lower working roll;
f. subtracting the two equations in the equation (14) and substituting the equations (15), (16) and (17) to obtain a kinetic analysis equation of the horizontal self-excited vibration of the work rolls of the hot finishing mill, that is:
Figure FDA0003496233360000031
wherein,
Figure FDA0003496233360000032
is x1The first derivative of (a) is,
Figure FDA0003496233360000033
is x2The first derivative of (a) is,
Figure FDA0003496233360000034
is x1The second derivative of (a) is,
Figure FDA0003496233360000035
is x2P is the rolling force calculated by the formula (13).
2. The dynamic modeling method of analyzing hot finishing mill work roll horizontal self-excited vibrations as set forth in claim 1, characterized in that the rolled piece contact zone length/, is calculated according to the following formula:
l=R*α (19)
where α is the bite angle.
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