CN114367644A - Continuous casting crystallizer vibration track curve switching method - Google Patents

Continuous casting crystallizer vibration track curve switching method Download PDF

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CN114367644A
CN114367644A CN202111533096.4A CN202111533096A CN114367644A CN 114367644 A CN114367644 A CN 114367644A CN 202111533096 A CN202111533096 A CN 202111533096A CN 114367644 A CN114367644 A CN 114367644A
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vibration
amplitude
curve
continuous casting
track
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CN114367644B (en
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张曦
李琰伟
李权福
张小龙
张翼
刘义
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Macquarie Beijing Intelligent Technology Co ltd
Tangshan Bohai Metallurgical Intelligent Equipment Co ltd
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Macquarie Beijing Intelligent Technology Co ltd
Tangshan Bohai Metallurgical Intelligent Equipment Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/16—Controlling or regulating processes or operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/04—Continuous casting of metals, i.e. casting in indefinite lengths into open-ended moulds
    • B22D11/053—Means for oscillating the moulds
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Continuous Casting (AREA)

Abstract

The invention discloses a method for switching a vibration track curve of a continuous casting crystallizer, which comprises the following steps of calculating different pulling speeds through a synchronous control module according to vibration system parameters set by a continuous casting operator
Figure DEST_PATH_IMAGE002
Frequency of vibration of
Figure DEST_PATH_IMAGE004
Amplitude, amplitude
Figure DEST_PATH_IMAGE006
And slope of the deviation
Figure DEST_PATH_IMAGE008
(ii) a According to vibrationFormula of track speed curve and vibration frequency calculated by synchronous control module
Figure 114987DEST_PATH_IMAGE004
Amplitude, amplitude
Figure 32127DEST_PATH_IMAGE006
And slope of the deviation
Figure 811864DEST_PATH_IMAGE008
Calculating the vibration velocity
Figure DEST_PATH_IMAGE010
Phase value of time

Description

Continuous casting crystallizer vibration track curve switching method
Technical Field
The invention relates to the technical field of metallurgical continuous casting, in particular to a method for switching a vibration track curve of a continuous casting crystallizer.
Background
With the development and wide application of the continuous casting crystallizer vibration control technology, a crystallizer vibration system greatly increases the lubrication of a crystallizer, improves the surface quality of a casting blank, improves the demoulding efficiency of the casting blank, and becomes an indispensable part of continuous casting production.
In the continuous casting crystallizer vibration control technology, the control of a vibration track curve is the most critical. At present, the problem of smooth switching between different vibration track curves is solved, and switching is often required to be carried out at the starting position and the ending position of the track curve. However, the starting position and the ending position of the track curve are positioned at the zero point of the crystallizer equipment, the crystallizer is just at the maximum value of the movement speed when the curve is switched, and the speed values of the curves of different tracks are different, so that the speed break points when the curves are switched among different curves are caused. The equipment generates violent fluctuation at the speed breakpoint, so that the running impact and abnormal sound of the equipment are caused, and the service life is reduced. The above problems are present in the control of various vibration devices such as servo motor drive, hydraulic drive, electrohydraulic drive, and the like. How to switch the vibration trajectory curve quickly, stably and smoothly is a problem to be solved urgently.
Disclosure of Invention
Aiming at the technical problems in the related art, the invention provides a method for switching a vibration trajectory curve of a continuous casting crystallizer, which can solve the problems.
In order to achieve the technical purpose, the technical scheme of the invention is realized as follows:
a method for switching a vibration track curve of a continuous casting crystallizer comprises the following steps:
s100, creating a vibration trajectory curve control model, wherein the model comprises a synchronous control module and a waveform generation module;
s200, calculating different drawing speeds through the synchronous control module according to vibration system parameters set by continuous casting operators
Figure 100002_DEST_PATH_IMAGE001
Frequency of vibration of
Figure 596032DEST_PATH_IMAGE002
Amplitude, amplitude
Figure 100002_DEST_PATH_IMAGE003
And slope of the deviation
Figure 971650DEST_PATH_IMAGE004
Preparing for the next calculation;
s300, calculating the vibration frequency according to a vibration track speed curve formula and the synchronous control module
Figure 392267DEST_PATH_IMAGE002
Amplitude, amplitude
Figure 802520DEST_PATH_IMAGE003
And slope of the deviation
Figure 915969DEST_PATH_IMAGE004
Calculating the vibration velocity
Figure 100002_DEST_PATH_IMAGE005
Phase value of time
Figure 778883DEST_PATH_IMAGE006
；
S400, utilizing vibration frequency of vibration track curve
Figure 3191DEST_PATH_IMAGE002
Amplitude, amplitude
Figure 64688DEST_PATH_IMAGE003
Slope of deflection
Figure 286722DEST_PATH_IMAGE004
And zero speed phase
Figure 699249DEST_PATH_IMAGE006
Calculating a track curve position value S of corresponding vibration through the waveform generation module;
s500, position closed-loop control of a motion controller or a servo driver is performed by utilizing the track curve position value S, switching between curves can be continuously and stably performed, and speed impact cannot be generated when online parameter modification is performed.
Further, the vibration frequency
Figure 662001DEST_PATH_IMAGE002
Amplitude, amplitude
Figure 843584DEST_PATH_IMAGE003
And slope of the deviation
Figure 33256DEST_PATH_IMAGE004
Are respectively calculated as
Figure 100002_DEST_PATH_IMAGE007
wherein ,
Figure 870762DEST_PATH_IMAGE008
the vibration frequency is zero when the pulling speed is zero,
Figure 100002_DEST_PATH_IMAGE009
is the vibration frequency and the pull rate coefficient,
Figure 374556DEST_PATH_IMAGE010
the amplitude is zero at the pull rate,
Figure 100002_DEST_PATH_IMAGE011
is the amplitude pull-rate coefficient, and is,
Figure 676224DEST_PATH_IMAGE012
is the skew factor.
Further, the formula of the vibration track speed curve is
Figure 100002_DEST_PATH_IMAGE013
, wherein
Figure 974482DEST_PATH_IMAGE014
For the angular velocity, the angular velocity is calculated by solving an transcendental equation
Figure 361601DEST_PATH_IMAGE006
Values, different skew factors can be derived
Figure 100002_DEST_PATH_IMAGE015
Corresponding to different zero-speed phase values
Figure 669085DEST_PATH_IMAGE006
。
Further, the calculation formula of the position value S of the track curve is
Figure 559681DEST_PATH_IMAGE016
。
The invention has the beneficial effects that:
(1) according to the invention, the vibration track waveform is smoothly switched at zero speed, so that the online modification of vibration parameters can be effectively realized, the shutdown setting parameters are avoided, the availability of vibration equipment is greatly improved, and the production efficiency is improved.
(2) By modifying the algorithm in the crystallizer vibration control technology, smooth and stable operation of various vibration control systems can be realized, the speed impact of the vibration equipment is reduced, and the service life of the vibration equipment is effectively prolonged.
(3) By the invention, the vibration system can effectively improve the surface quality of the casting blank and improve the demoulding efficiency of the casting blank.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
The invention is explained in further detail below with reference to the drawing.
FIG. 1 is a diagram illustrating the switching of a vibration trajectory curve at a position zero point according to the prior art in an embodiment of the present invention;
fig. 2 is a schematic diagram of the switching of the vibration trajectory curve at the position zero point when the method of the present invention is used according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
The method for switching the vibration track curve of the continuous casting crystallizer comprises the following steps:
s100, creating a vibration trajectory curve control model, wherein the model comprises a synchronous control module and a waveform generation module;
s200, calculating different drawing speeds through the synchronous control module according to vibration system parameters set by continuous casting operators
Figure 294419DEST_PATH_IMAGE001
Frequency of vibration of
Figure 903255DEST_PATH_IMAGE002
Amplitude, amplitude
Figure 76747DEST_PATH_IMAGE003
And slope of the deviation
Figure 25111DEST_PATH_IMAGE004
；
S300, calculating the vibration frequency according to a vibration track speed curve formula and the synchronous control module
Figure 993067DEST_PATH_IMAGE002
Amplitude, amplitude
Figure 89199DEST_PATH_IMAGE003
And slope of the deviation
Figure 738487DEST_PATH_IMAGE004
Calculating the vibration velocity
Figure 603674DEST_PATH_IMAGE005
Phase value of time
Figure 742532DEST_PATH_IMAGE006
；
S400, utilizing vibration frequency of vibration track curve
Figure 260713DEST_PATH_IMAGE002
Amplitude, amplitude
Figure 510429DEST_PATH_IMAGE003
Slope of deflection
Figure 495702DEST_PATH_IMAGE004
And zero speed phase
Figure 743144DEST_PATH_IMAGE006
Calculating a track curve position value S of corresponding vibration through the waveform generation module;
and S500, performing position closed-loop control on the motion controller or the servo driver by using the track curve position value S.
In one embodiment of the present invention, in order to meet the requirement of the continuous casting process on the vibration trajectory curve, the vibration trajectory curve control model is divided into two module parts, namely a synchronous control module and a waveform generation module. The synchronous control module is mainly used for calculating the crystallizer vibration track curve parameters meeting the process requirements through the casting machine pulling speed, and comprises the following steps: the waveform generation module is mainly used for generating a track curve position value which is convenient for a controller or a driver to control by utilizing the vibration track curve frequency, the amplitude and the deflection rate calculated by the synchronous control module.
During the vibration process of the continuous casting mold, the vibration equipment is required to act according to a set position curve, such as the vibration curve 1 in fig. 1, if the external conditions do not change, the vibration curve 1 will not change, and the continuous vibration state is always kept. When external conditions change (for example, pulling speed change, vibration parameter change, waveform generator algorithm change, etc.), the generated curve changes, such as the vibration curve 2 in fig. 1.
The existing curve switching technology mainly realizes the switching of the trajectory curve at the position zero point, as shown in fig. 1. Although the method is continuous in position, the speed forms a breakpoint, and speed impact is caused, so that the stability of equipment operation and the service life of the equipment are influenced.
The method can realize the switching of the vibration curve of the continuous casting crystallizer at the zero point of the speed, as shown in figure 2, the speed fluctuation of the curve can be effectively avoided, and meanwhile, the problem of fluctuation does not exist when the position difference between two curves is compensated because the speed is zero.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (4)

1. A method for switching a vibration track curve of a continuous casting crystallizer is characterized by comprising the following steps:
s100, creating a vibration trajectory curve control model, wherein the model comprises a synchronous control module and a waveform generation module;
s200, calculating different drawing speeds through the synchronous control module according to vibration system parameters set by continuous casting operators
Figure DEST_PATH_IMAGE001
Frequency of vibration of
Figure 846653DEST_PATH_IMAGE002
Amplitude, amplitude
Figure DEST_PATH_IMAGE003
And slope of the deviation
Figure 521348DEST_PATH_IMAGE004
；
S300, calculating the vibration frequency according to a vibration track speed curve formula and the synchronous control module
Figure 44733DEST_PATH_IMAGE002
Amplitude, amplitude
Figure 474577DEST_PATH_IMAGE003
And slope of the deviation
Figure 653886DEST_PATH_IMAGE004
Calculating the vibration velocity
Figure DEST_PATH_IMAGE005
Phase value of time
Figure 866693DEST_PATH_IMAGE006
；
S400, utilizing vibration frequency of vibration track curve
Figure 510163DEST_PATH_IMAGE002
Amplitude, amplitude
Figure 845330DEST_PATH_IMAGE003
Slope of deflection
Figure 509005DEST_PATH_IMAGE004
And zero speed phase
Figure 587819DEST_PATH_IMAGE006
Calculating a track curve position value S of corresponding vibration through the waveform generation module;
and S500, performing position closed-loop control on the motion controller or the servo driver by using the track curve position value S.
2. The continuous casting mold vibration trajectory curve cutting device according to claim 1Characterized in that said vibration frequency
Figure 85797DEST_PATH_IMAGE002
Amplitude, amplitude
Figure 795127DEST_PATH_IMAGE003
And slope of the deviation
Figure 745765DEST_PATH_IMAGE004
Are respectively calculated as
Figure DEST_PATH_IMAGE007
wherein ,
Figure 565954DEST_PATH_IMAGE008
the vibration frequency is zero when the pulling speed is zero,
Figure DEST_PATH_IMAGE009
is the vibration frequency and the pull rate coefficient,
Figure 918438DEST_PATH_IMAGE010
the amplitude is zero at the pull rate,
Figure DEST_PATH_IMAGE011
is the amplitude pull-rate coefficient, and is,
Figure 798669DEST_PATH_IMAGE012
is the skew factor.
3. The method for switching the vibration trajectory curve of the continuous casting mold according to claim 1, wherein the vibration trajectory speed curve is formulated as
Figure DEST_PATH_IMAGE013
, wherein
Figure 174287DEST_PATH_IMAGE014
Is the angular velocity.
4. The method for switching the vibration trajectory curve of the continuous casting mold according to claim 1, wherein the calculation formula of the position value S of the trajectory curve is
Figure DEST_PATH_IMAGE015
。
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114918392A (en) * 2022-04-29 2022-08-19 重庆钢铁股份有限公司 Vibration control method for square billet continuous casting crystallizer

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0618023A1 (en) * 1992-09-22 1994-10-05 Kawasaki Steel Corporation Method of casting continuous slab
CN101537477A (en) * 2009-04-16 2009-09-23 中冶赛迪工程技术股份有限公司 Non-sinusoidal waveform generator used for mold oscillation
CN105517729A (en) * 2013-06-27 2016-04-20 首要金属科技奥地利有限责任公司 Two-dimensional oscillation of a continuous casting mould
WO2016162141A1 (en) * 2015-04-07 2016-10-13 Primetals Technologies Austria GmbH Strand casting having optimized oscillation of the strand casting mold

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0618023A1 (en) * 1992-09-22 1994-10-05 Kawasaki Steel Corporation Method of casting continuous slab
CN101537477A (en) * 2009-04-16 2009-09-23 中冶赛迪工程技术股份有限公司 Non-sinusoidal waveform generator used for mold oscillation
CN105517729A (en) * 2013-06-27 2016-04-20 首要金属科技奥地利有限责任公司 Two-dimensional oscillation of a continuous casting mould
WO2016162141A1 (en) * 2015-04-07 2016-10-13 Primetals Technologies Austria GmbH Strand casting having optimized oscillation of the strand casting mold

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
冯科;韩志伟;: "板坯结晶器液压振动同步控制模型的优化设计", 铸造技术, no. 10, pages 1326 - 1328 *
曾晶;胡亮;王文学;李武红;: "一种新型结晶器振动同步控制模型", 重型机械, no. 05, pages 6 - 9 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114918392A (en) * 2022-04-29 2022-08-19 重庆钢铁股份有限公司 Vibration control method for square billet continuous casting crystallizer

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